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Source/tasks.c@0:8e57f3e9cc89, 2014-01-24 (annotated)

Committer:: rgrover1
Date:: Fri Jan 24 14:56:04 2014 +0000
Revision:: 0:8e57f3e9cc89

Making FreeRTOS available as a library

Who changed what in which revision?

User	Revision	Line number	New contents of line
rgrover1	0:8e57f3e9cc89	1	/*
rgrover1	0:8e57f3e9cc89	2	FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
rgrover1	0:8e57f3e9cc89	3	All rights reserved
rgrover1	0:8e57f3e9cc89	4
rgrover1	0:8e57f3e9cc89	5	VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
rgrover1	0:8e57f3e9cc89	6
rgrover1	0:8e57f3e9cc89	7	***************************************************************************
rgrover1	0:8e57f3e9cc89	8	* *
rgrover1	0:8e57f3e9cc89	9	* FreeRTOS provides completely free yet professionally developed, *
rgrover1	0:8e57f3e9cc89	10	* robust, strictly quality controlled, supported, and cross *
rgrover1	0:8e57f3e9cc89	11	* platform software that has become a de facto standard. *
rgrover1	0:8e57f3e9cc89	12	* *
rgrover1	0:8e57f3e9cc89	13	* Help yourself get started quickly and support the FreeRTOS *
rgrover1	0:8e57f3e9cc89	14	* project by purchasing a FreeRTOS tutorial book, reference *
rgrover1	0:8e57f3e9cc89	15	* manual, or both from: http://www.FreeRTOS.org/Documentation *
rgrover1	0:8e57f3e9cc89	16	* *
rgrover1	0:8e57f3e9cc89	17	* Thank you! *
rgrover1	0:8e57f3e9cc89	18	* *
rgrover1	0:8e57f3e9cc89	19	***************************************************************************
rgrover1	0:8e57f3e9cc89	20
rgrover1	0:8e57f3e9cc89	21	This file is part of the FreeRTOS distribution.
rgrover1	0:8e57f3e9cc89	22
rgrover1	0:8e57f3e9cc89	23	FreeRTOS is free software; you can redistribute it and/or modify it under
rgrover1	0:8e57f3e9cc89	24	the terms of the GNU General Public License (version 2) as published by the
rgrover1	0:8e57f3e9cc89	25	Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
rgrover1	0:8e57f3e9cc89	26
rgrover1	0:8e57f3e9cc89	27	>>! NOTE: The modification to the GPL is included to allow you to distribute
rgrover1	0:8e57f3e9cc89	28	>>! a combined work that includes FreeRTOS without being obliged to provide
rgrover1	0:8e57f3e9cc89	29	>>! the source code for proprietary components outside of the FreeRTOS
rgrover1	0:8e57f3e9cc89	30	>>! kernel.
rgrover1	0:8e57f3e9cc89	31
rgrover1	0:8e57f3e9cc89	32	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
rgrover1	0:8e57f3e9cc89	33	WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
rgrover1	0:8e57f3e9cc89	34	FOR A PARTICULAR PURPOSE. Full license text is available from the following
rgrover1	0:8e57f3e9cc89	35	link: http://www.freertos.org/a00114.html
rgrover1	0:8e57f3e9cc89	36
rgrover1	0:8e57f3e9cc89	37	1 tab == 4 spaces!
rgrover1	0:8e57f3e9cc89	38
rgrover1	0:8e57f3e9cc89	39	***************************************************************************
rgrover1	0:8e57f3e9cc89	40	* *
rgrover1	0:8e57f3e9cc89	41	* Having a problem? Start by reading the FAQ "My application does *
rgrover1	0:8e57f3e9cc89	42	* not run, what could be wrong?" *
rgrover1	0:8e57f3e9cc89	43	* *
rgrover1	0:8e57f3e9cc89	44	* http://www.FreeRTOS.org/FAQHelp.html *
rgrover1	0:8e57f3e9cc89	45	* *
rgrover1	0:8e57f3e9cc89	46	***************************************************************************
rgrover1	0:8e57f3e9cc89	47
rgrover1	0:8e57f3e9cc89	48	http://www.FreeRTOS.org - Documentation, books, training, latest versions,
rgrover1	0:8e57f3e9cc89	49	license and Real Time Engineers Ltd. contact details.
rgrover1	0:8e57f3e9cc89	50
rgrover1	0:8e57f3e9cc89	51	http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
rgrover1	0:8e57f3e9cc89	52	including FreeRTOS+Trace - an indispensable productivity tool, a DOS
rgrover1	0:8e57f3e9cc89	53	compatible FAT file system, and our tiny thread aware UDP/IP stack.
rgrover1	0:8e57f3e9cc89	54
rgrover1	0:8e57f3e9cc89	55	http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
rgrover1	0:8e57f3e9cc89	56	Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
rgrover1	0:8e57f3e9cc89	57	licenses offer ticketed support, indemnification and middleware.
rgrover1	0:8e57f3e9cc89	58
rgrover1	0:8e57f3e9cc89	59	http://www.SafeRTOS.com - High Integrity Systems also provide a safety
rgrover1	0:8e57f3e9cc89	60	engineered and independently SIL3 certified version for use in safety and
rgrover1	0:8e57f3e9cc89	61	mission critical applications that require provable dependability.
rgrover1	0:8e57f3e9cc89	62
rgrover1	0:8e57f3e9cc89	63	1 tab == 4 spaces!
rgrover1	0:8e57f3e9cc89	64	*/
rgrover1	0:8e57f3e9cc89	65
rgrover1	0:8e57f3e9cc89	66	/* Standard includes. */
rgrover1	0:8e57f3e9cc89	67	#include <stdlib.h>
rgrover1	0:8e57f3e9cc89	68	#include <string.h>
rgrover1	0:8e57f3e9cc89	69
rgrover1	0:8e57f3e9cc89	70	/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
rgrover1	0:8e57f3e9cc89	71	all the API functions to use the MPU wrappers. That should only be done when
rgrover1	0:8e57f3e9cc89	72	task.h is included from an application file. */
rgrover1	0:8e57f3e9cc89	73	#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
rgrover1	0:8e57f3e9cc89	74
rgrover1	0:8e57f3e9cc89	75	/* FreeRTOS includes. */
rgrover1	0:8e57f3e9cc89	76	#include "FreeRTOS.h"
rgrover1	0:8e57f3e9cc89	77	#include "task.h"
rgrover1	0:8e57f3e9cc89	78	#include "timers.h"
rgrover1	0:8e57f3e9cc89	79	#include "StackMacros.h"
rgrover1	0:8e57f3e9cc89	80
rgrover1	0:8e57f3e9cc89	81	/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
rgrover1	0:8e57f3e9cc89	82	MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
rgrover1	0:8e57f3e9cc89	83	header files above, but not in this file, in order to generate the correct
rgrover1	0:8e57f3e9cc89	84	privileged Vs unprivileged linkage and placement. */
rgrover1	0:8e57f3e9cc89	85	#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /lint !e961 !e750. /
rgrover1	0:8e57f3e9cc89	86
rgrover1	0:8e57f3e9cc89	87	#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
rgrover1	0:8e57f3e9cc89	88	/* At the bottom of this file are two optional functions that can be used
rgrover1	0:8e57f3e9cc89	89	to generate human readable text from the raw data generated by the
rgrover1	0:8e57f3e9cc89	90	uxTaskGetSystemState() function. Note the formatting functions are provided
rgrover1	0:8e57f3e9cc89	91	for convenience only, and are NOT considered part of the kernel. */
rgrover1	0:8e57f3e9cc89	92	#include <stdio.h>
rgrover1	0:8e57f3e9cc89	93	#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
rgrover1	0:8e57f3e9cc89	94
rgrover1	0:8e57f3e9cc89	95	/* Sanity check the configuration. */
rgrover1	0:8e57f3e9cc89	96	#if configUSE_TICKLESS_IDLE != 0
rgrover1	0:8e57f3e9cc89	97	#if INCLUDE_vTaskSuspend != 1
rgrover1	0:8e57f3e9cc89	98	#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
rgrover1	0:8e57f3e9cc89	99	#endif /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	100	#endif /* configUSE_TICKLESS_IDLE */
rgrover1	0:8e57f3e9cc89	101
rgrover1	0:8e57f3e9cc89	102	/*
rgrover1	0:8e57f3e9cc89	103	* Defines the size, in words, of the stack allocated to the idle task.
rgrover1	0:8e57f3e9cc89	104	*/
rgrover1	0:8e57f3e9cc89	105	#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
rgrover1	0:8e57f3e9cc89	106
rgrover1	0:8e57f3e9cc89	107	#if( configUSE_PREEMPTION == 0 )
rgrover1	0:8e57f3e9cc89	108	/* If the cooperative scheduler is being used then a yield should not be
rgrover1	0:8e57f3e9cc89	109	performed just because a higher priority task has been woken. */
rgrover1	0:8e57f3e9cc89	110	#define taskYIELD_IF_USING_PREEMPTION()
rgrover1	0:8e57f3e9cc89	111	#else
rgrover1	0:8e57f3e9cc89	112	#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
rgrover1	0:8e57f3e9cc89	113	#endif
rgrover1	0:8e57f3e9cc89	114
rgrover1	0:8e57f3e9cc89	115	/*
rgrover1	0:8e57f3e9cc89	116	* Task control block. A task control block (TCB) is allocated for each task,
rgrover1	0:8e57f3e9cc89	117	* and stores task state information, including a pointer to the task's context
rgrover1	0:8e57f3e9cc89	118	* (the task's run time environment, including register values)
rgrover1	0:8e57f3e9cc89	119	*/
rgrover1	0:8e57f3e9cc89	120	typedef struct tskTaskControlBlock
rgrover1	0:8e57f3e9cc89	121	{
rgrover1	0:8e57f3e9cc89	122	volatile portSTACK_TYPE pxTopOfStack; /< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
rgrover1	0:8e57f3e9cc89	123
rgrover1	0:8e57f3e9cc89	124	#if ( portUSING_MPU_WRAPPERS == 1 )
rgrover1	0:8e57f3e9cc89	125	xMPU_SETTINGS xMPUSettings; /< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. /
rgrover1	0:8e57f3e9cc89	126	#endif
rgrover1	0:8e57f3e9cc89	127
rgrover1	0:8e57f3e9cc89	128	xListItem xGenericListItem; /< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). /
rgrover1	0:8e57f3e9cc89	129	xListItem xEventListItem; /< Used to reference a task from an event list. /
rgrover1	0:8e57f3e9cc89	130	unsigned portBASE_TYPE uxPriority; /< The priority of the task. 0 is the lowest priority. /
rgrover1	0:8e57f3e9cc89	131	portSTACK_TYPE pxStack; /< Points to the start of the stack. */
rgrover1	0:8e57f3e9cc89	132	signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/< Descriptive name given to the task when created. Facilitates debugging only. /
rgrover1	0:8e57f3e9cc89	133
rgrover1	0:8e57f3e9cc89	134	#if ( portSTACK_GROWTH > 0 )
rgrover1	0:8e57f3e9cc89	135	portSTACK_TYPE pxEndOfStack; /< Points to the end of the stack on architectures where the stack grows up from low memory. */
rgrover1	0:8e57f3e9cc89	136	#endif
rgrover1	0:8e57f3e9cc89	137
rgrover1	0:8e57f3e9cc89	138	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
rgrover1	0:8e57f3e9cc89	139	unsigned portBASE_TYPE uxCriticalNesting; /< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. /
rgrover1	0:8e57f3e9cc89	140	#endif
rgrover1	0:8e57f3e9cc89	141
rgrover1	0:8e57f3e9cc89	142	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	143	unsigned portBASE_TYPE uxTCBNumber; /< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. /
rgrover1	0:8e57f3e9cc89	144	unsigned portBASE_TYPE uxTaskNumber; /< Stores a number specifically for use by third party trace code. /
rgrover1	0:8e57f3e9cc89	145	#endif
rgrover1	0:8e57f3e9cc89	146
rgrover1	0:8e57f3e9cc89	147	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	148	unsigned portBASE_TYPE uxBasePriority; /< The priority last assigned to the task - used by the priority inheritance mechanism. /
rgrover1	0:8e57f3e9cc89	149	#endif
rgrover1	0:8e57f3e9cc89	150
rgrover1	0:8e57f3e9cc89	151	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
rgrover1	0:8e57f3e9cc89	152	pdTASK_HOOK_CODE pxTaskTag;
rgrover1	0:8e57f3e9cc89	153	#endif
rgrover1	0:8e57f3e9cc89	154
rgrover1	0:8e57f3e9cc89	155	#if ( configGENERATE_RUN_TIME_STATS == 1 )
rgrover1	0:8e57f3e9cc89	156	unsigned long ulRunTimeCounter; /< Stores the amount of time the task has spent in the Running state. /
rgrover1	0:8e57f3e9cc89	157	#endif
rgrover1	0:8e57f3e9cc89	158
rgrover1	0:8e57f3e9cc89	159	#if ( configUSE_NEWLIB_REENTRANT == 1 )
rgrover1	0:8e57f3e9cc89	160	/* Allocate a Newlib reent structure that is specific to this task.
rgrover1	0:8e57f3e9cc89	161	Note Newlib support has been included by popular demand, but is not
rgrover1	0:8e57f3e9cc89	162	used by the FreeRTOS maintainers themselves. FreeRTOS is not
rgrover1	0:8e57f3e9cc89	163	responsible for resulting newlib operation. User must be familiar with
rgrover1	0:8e57f3e9cc89	164	newlib and must provide system-wide implementations of the necessary
rgrover1	0:8e57f3e9cc89	165	stubs. Be warned that (at the time of writing) the current newlib design
rgrover1	0:8e57f3e9cc89	166	implements a system-wide malloc() that must be provided with locks. */
rgrover1	0:8e57f3e9cc89	167	struct _reent xNewLib_reent;
rgrover1	0:8e57f3e9cc89	168	#endif
rgrover1	0:8e57f3e9cc89	169
rgrover1	0:8e57f3e9cc89	170	} tskTCB;
rgrover1	0:8e57f3e9cc89	171
rgrover1	0:8e57f3e9cc89	172
rgrover1	0:8e57f3e9cc89	173	/*
rgrover1	0:8e57f3e9cc89	174	* Some kernel aware debuggers require the data the debugger needs access to to
rgrover1	0:8e57f3e9cc89	175	* be global, rather than file scope.
rgrover1	0:8e57f3e9cc89	176	*/
rgrover1	0:8e57f3e9cc89	177	#ifdef portREMOVE_STATIC_QUALIFIER
rgrover1	0:8e57f3e9cc89	178	#define static
rgrover1	0:8e57f3e9cc89	179	#endif
rgrover1	0:8e57f3e9cc89	180
rgrover1	0:8e57f3e9cc89	181	/*lint -e956 A manual analysis and inspection has been used to determine which
rgrover1	0:8e57f3e9cc89	182	static variables must be declared volatile. */
rgrover1	0:8e57f3e9cc89	183
rgrover1	0:8e57f3e9cc89	184	PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
rgrover1	0:8e57f3e9cc89	185
rgrover1	0:8e57f3e9cc89	186	/* Lists for ready and blocked tasks. --------------------*/
rgrover1	0:8e57f3e9cc89	187	PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /< Prioritised ready tasks. /
rgrover1	0:8e57f3e9cc89	188	PRIVILEGED_DATA static xList xDelayedTaskList1; /< Delayed tasks. /
rgrover1	0:8e57f3e9cc89	189	PRIVILEGED_DATA static xList xDelayedTaskList2; /< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. /
rgrover1	0:8e57f3e9cc89	190	PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /< Points to the delayed task list currently being used. /
rgrover1	0:8e57f3e9cc89	191	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. /
rgrover1	0:8e57f3e9cc89	192	PRIVILEGED_DATA static xList xPendingReadyList; /< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. /
rgrover1	0:8e57f3e9cc89	193
rgrover1	0:8e57f3e9cc89	194	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	195
rgrover1	0:8e57f3e9cc89	196	PRIVILEGED_DATA static xList xTasksWaitingTermination; /< Tasks that have been deleted - but the their memory not yet freed. /
rgrover1	0:8e57f3e9cc89	197	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
rgrover1	0:8e57f3e9cc89	198
rgrover1	0:8e57f3e9cc89	199	#endif
rgrover1	0:8e57f3e9cc89	200
rgrover1	0:8e57f3e9cc89	201	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	202
rgrover1	0:8e57f3e9cc89	203	PRIVILEGED_DATA static xList xSuspendedTaskList; /< Tasks that are currently suspended. /
rgrover1	0:8e57f3e9cc89	204
rgrover1	0:8e57f3e9cc89	205	#endif
rgrover1	0:8e57f3e9cc89	206
rgrover1	0:8e57f3e9cc89	207	#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
rgrover1	0:8e57f3e9cc89	208
rgrover1	0:8e57f3e9cc89	209	PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. /
rgrover1	0:8e57f3e9cc89	210
rgrover1	0:8e57f3e9cc89	211	#endif
rgrover1	0:8e57f3e9cc89	212
rgrover1	0:8e57f3e9cc89	213	/* Other file private variables. --------------------------------*/
rgrover1	0:8e57f3e9cc89	214	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
rgrover1	0:8e57f3e9cc89	215	PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
rgrover1	0:8e57f3e9cc89	216	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
rgrover1	0:8e57f3e9cc89	217	PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
rgrover1	0:8e57f3e9cc89	218	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
rgrover1	0:8e57f3e9cc89	219	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
rgrover1	0:8e57f3e9cc89	220	PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
rgrover1	0:8e57f3e9cc89	221	PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
rgrover1	0:8e57f3e9cc89	222	PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
rgrover1	0:8e57f3e9cc89	223	PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
rgrover1	0:8e57f3e9cc89	224
rgrover1	0:8e57f3e9cc89	225	#if ( configGENERATE_RUN_TIME_STATS == 1 )
rgrover1	0:8e57f3e9cc89	226
rgrover1	0:8e57f3e9cc89	227	PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /< Holds the value of a timer/counter the last time a task was switched in. /
rgrover1	0:8e57f3e9cc89	228	PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /< Holds the total amount of execution time as defined by the run time counter clock. /
rgrover1	0:8e57f3e9cc89	229
rgrover1	0:8e57f3e9cc89	230	#endif
rgrover1	0:8e57f3e9cc89	231
rgrover1	0:8e57f3e9cc89	232	/lint +e956 /
rgrover1	0:8e57f3e9cc89	233
rgrover1	0:8e57f3e9cc89	234	/* Debugging and trace facilities private variables and macros. ------------*/
rgrover1	0:8e57f3e9cc89	235
rgrover1	0:8e57f3e9cc89	236	/*
rgrover1	0:8e57f3e9cc89	237	* The value used to fill the stack of a task when the task is created. This
rgrover1	0:8e57f3e9cc89	238	* is used purely for checking the high water mark for tasks.
rgrover1	0:8e57f3e9cc89	239	*/
rgrover1	0:8e57f3e9cc89	240	#define tskSTACK_FILL_BYTE ( 0xa5U )
rgrover1	0:8e57f3e9cc89	241
rgrover1	0:8e57f3e9cc89	242	/*
rgrover1	0:8e57f3e9cc89	243	* Macros used by vListTask to indicate which state a task is in.
rgrover1	0:8e57f3e9cc89	244	*/
rgrover1	0:8e57f3e9cc89	245	#define tskBLOCKED_CHAR ( ( signed char ) 'B' )
rgrover1	0:8e57f3e9cc89	246	#define tskREADY_CHAR ( ( signed char ) 'R' )
rgrover1	0:8e57f3e9cc89	247	#define tskDELETED_CHAR ( ( signed char ) 'D' )
rgrover1	0:8e57f3e9cc89	248	#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
rgrover1	0:8e57f3e9cc89	249
rgrover1	0:8e57f3e9cc89	250	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	251
rgrover1	0:8e57f3e9cc89	252	#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
rgrover1	0:8e57f3e9cc89	253
rgrover1	0:8e57f3e9cc89	254	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
rgrover1	0:8e57f3e9cc89	255	performed in a generic way that is not optimised to any particular
rgrover1	0:8e57f3e9cc89	256	microcontroller architecture. */
rgrover1	0:8e57f3e9cc89	257
rgrover1	0:8e57f3e9cc89	258	/* uxTopReadyPriority holds the priority of the highest priority ready
rgrover1	0:8e57f3e9cc89	259	state task. */
rgrover1	0:8e57f3e9cc89	260	#define taskRECORD_READY_PRIORITY( uxPriority ) \
rgrover1	0:8e57f3e9cc89	261	{ \
rgrover1	0:8e57f3e9cc89	262	if( ( uxPriority ) > uxTopReadyPriority ) \
rgrover1	0:8e57f3e9cc89	263	{ \
rgrover1	0:8e57f3e9cc89	264	uxTopReadyPriority = ( uxPriority ); \
rgrover1	0:8e57f3e9cc89	265	} \
rgrover1	0:8e57f3e9cc89	266	} /* taskRECORD_READY_PRIORITY */
rgrover1	0:8e57f3e9cc89	267
rgrover1	0:8e57f3e9cc89	268	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	269
rgrover1	0:8e57f3e9cc89	270	#define taskSELECT_HIGHEST_PRIORITY_TASK() \
rgrover1	0:8e57f3e9cc89	271	{ \
rgrover1	0:8e57f3e9cc89	272	/* Find the highest priority queue that contains ready tasks. */ \
rgrover1	0:8e57f3e9cc89	273	while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
rgrover1	0:8e57f3e9cc89	274	{ \
rgrover1	0:8e57f3e9cc89	275	configASSERT( uxTopReadyPriority ); \
rgrover1	0:8e57f3e9cc89	276	--uxTopReadyPriority; \
rgrover1	0:8e57f3e9cc89	277	} \
rgrover1	0:8e57f3e9cc89	278	\
rgrover1	0:8e57f3e9cc89	279	/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
rgrover1	0:8e57f3e9cc89	280	the same priority get an equal share of the processor time. */ \
rgrover1	0:8e57f3e9cc89	281	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
rgrover1	0:8e57f3e9cc89	282	} /* taskSELECT_HIGHEST_PRIORITY_TASK */
rgrover1	0:8e57f3e9cc89	283
rgrover1	0:8e57f3e9cc89	284	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	285
rgrover1	0:8e57f3e9cc89	286	/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
rgrover1	0:8e57f3e9cc89	287	they are only required when a port optimised method of task selection is
rgrover1	0:8e57f3e9cc89	288	being used. */
rgrover1	0:8e57f3e9cc89	289	#define taskRESET_READY_PRIORITY( uxPriority )
rgrover1	0:8e57f3e9cc89	290	#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
rgrover1	0:8e57f3e9cc89	291
rgrover1	0:8e57f3e9cc89	292	#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
rgrover1	0:8e57f3e9cc89	293
rgrover1	0:8e57f3e9cc89	294	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
rgrover1	0:8e57f3e9cc89	295	performed in a way that is tailored to the particular microcontroller
rgrover1	0:8e57f3e9cc89	296	architecture being used. */
rgrover1	0:8e57f3e9cc89	297
rgrover1	0:8e57f3e9cc89	298	/* A port optimised version is provided. Call the port defined macros. */
rgrover1	0:8e57f3e9cc89	299	#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
rgrover1	0:8e57f3e9cc89	300
rgrover1	0:8e57f3e9cc89	301	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	302
rgrover1	0:8e57f3e9cc89	303	#define taskSELECT_HIGHEST_PRIORITY_TASK() \
rgrover1	0:8e57f3e9cc89	304	{ \
rgrover1	0:8e57f3e9cc89	305	unsigned portBASE_TYPE uxTopPriority; \
rgrover1	0:8e57f3e9cc89	306	\
rgrover1	0:8e57f3e9cc89	307	/* Find the highest priority queue that contains ready tasks. */ \
rgrover1	0:8e57f3e9cc89	308	portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
rgrover1	0:8e57f3e9cc89	309	configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
rgrover1	0:8e57f3e9cc89	310	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
rgrover1	0:8e57f3e9cc89	311	} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
rgrover1	0:8e57f3e9cc89	312
rgrover1	0:8e57f3e9cc89	313	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	314
rgrover1	0:8e57f3e9cc89	315	/* A port optimised version is provided, call it only if the TCB being reset
rgrover1	0:8e57f3e9cc89	316	is being referenced from a ready list. If it is referenced from a delayed
rgrover1	0:8e57f3e9cc89	317	or suspended list then it won't be in a ready list. */
rgrover1	0:8e57f3e9cc89	318	#define taskRESET_READY_PRIORITY( uxPriority ) \
rgrover1	0:8e57f3e9cc89	319	{ \
rgrover1	0:8e57f3e9cc89	320	if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
rgrover1	0:8e57f3e9cc89	321	{ \
rgrover1	0:8e57f3e9cc89	322	portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
rgrover1	0:8e57f3e9cc89	323	} \
rgrover1	0:8e57f3e9cc89	324	}
rgrover1	0:8e57f3e9cc89	325
rgrover1	0:8e57f3e9cc89	326	#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
rgrover1	0:8e57f3e9cc89	327
rgrover1	0:8e57f3e9cc89	328	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	329
rgrover1	0:8e57f3e9cc89	330	/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
rgrover1	0:8e57f3e9cc89	331	count overflows. */
rgrover1	0:8e57f3e9cc89	332	#define taskSWITCH_DELAYED_LISTS() \
rgrover1	0:8e57f3e9cc89	333	{ \
rgrover1	0:8e57f3e9cc89	334	xList *pxTemp; \
rgrover1	0:8e57f3e9cc89	335	\
rgrover1	0:8e57f3e9cc89	336	/* The delayed tasks list should be empty when the lists are switched. */ \
rgrover1	0:8e57f3e9cc89	337	configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
rgrover1	0:8e57f3e9cc89	338	\
rgrover1	0:8e57f3e9cc89	339	pxTemp = pxDelayedTaskList; \
rgrover1	0:8e57f3e9cc89	340	pxDelayedTaskList = pxOverflowDelayedTaskList; \
rgrover1	0:8e57f3e9cc89	341	pxOverflowDelayedTaskList = pxTemp; \
rgrover1	0:8e57f3e9cc89	342	xNumOfOverflows++; \
rgrover1	0:8e57f3e9cc89	343	\
rgrover1	0:8e57f3e9cc89	344	if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
rgrover1	0:8e57f3e9cc89	345	{ \
rgrover1	0:8e57f3e9cc89	346	/* The new current delayed list is empty. Set \
rgrover1	0:8e57f3e9cc89	347	xNextTaskUnblockTime to the maximum possible value so it is \
rgrover1	0:8e57f3e9cc89	348	extremely unlikely that the \
rgrover1	0:8e57f3e9cc89	349	if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
rgrover1	0:8e57f3e9cc89	350	there is an item in the delayed list. */ \
rgrover1	0:8e57f3e9cc89	351	xNextTaskUnblockTime = portMAX_DELAY; \
rgrover1	0:8e57f3e9cc89	352	} \
rgrover1	0:8e57f3e9cc89	353	else \
rgrover1	0:8e57f3e9cc89	354	{ \
rgrover1	0:8e57f3e9cc89	355	/* The new current delayed list is not empty, get the value of \
rgrover1	0:8e57f3e9cc89	356	the item at the head of the delayed list. This is the time at \
rgrover1	0:8e57f3e9cc89	357	which the task at the head of the delayed list should be removed \
rgrover1	0:8e57f3e9cc89	358	from the Blocked state. */ \
rgrover1	0:8e57f3e9cc89	359	pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
rgrover1	0:8e57f3e9cc89	360	xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
rgrover1	0:8e57f3e9cc89	361	} \
rgrover1	0:8e57f3e9cc89	362	}
rgrover1	0:8e57f3e9cc89	363
rgrover1	0:8e57f3e9cc89	364	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	365
rgrover1	0:8e57f3e9cc89	366	/*
rgrover1	0:8e57f3e9cc89	367	* Place the task represented by pxTCB into the appropriate ready list for
rgrover1	0:8e57f3e9cc89	368	* the task. It is inserted at the end of the list.
rgrover1	0:8e57f3e9cc89	369	*/
rgrover1	0:8e57f3e9cc89	370	#define prvAddTaskToReadyList( pxTCB ) \
rgrover1	0:8e57f3e9cc89	371	traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
rgrover1	0:8e57f3e9cc89	372	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
rgrover1	0:8e57f3e9cc89	373	vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
rgrover1	0:8e57f3e9cc89	374	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	375
rgrover1	0:8e57f3e9cc89	376	/*
rgrover1	0:8e57f3e9cc89	377	* Several functions take an xTaskHandle parameter that can optionally be NULL,
rgrover1	0:8e57f3e9cc89	378	* where NULL is used to indicate that the handle of the currently executing
rgrover1	0:8e57f3e9cc89	379	* task should be used in place of the parameter. This macro simply checks to
rgrover1	0:8e57f3e9cc89	380	* see if the parameter is NULL and returns a pointer to the appropriate TCB.
rgrover1	0:8e57f3e9cc89	381	*/
rgrover1	0:8e57f3e9cc89	382	#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
rgrover1	0:8e57f3e9cc89	383
rgrover1	0:8e57f3e9cc89	384	/* Callback function prototypes. --------------------------*/
rgrover1	0:8e57f3e9cc89	385	extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
rgrover1	0:8e57f3e9cc89	386	extern void vApplicationTickHook( void );
rgrover1	0:8e57f3e9cc89	387
rgrover1	0:8e57f3e9cc89	388	/* File private functions. --------------------------------*/
rgrover1	0:8e57f3e9cc89	389
rgrover1	0:8e57f3e9cc89	390	/*
rgrover1	0:8e57f3e9cc89	391	* Utility to ready a TCB for a given task. Mainly just copies the parameters
rgrover1	0:8e57f3e9cc89	392	* into the TCB structure.
rgrover1	0:8e57f3e9cc89	393	*/
rgrover1	0:8e57f3e9cc89	394	static void prvInitialiseTCBVariables( tskTCB pxTCB, const signed char const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	395
rgrover1	0:8e57f3e9cc89	396	/*
rgrover1	0:8e57f3e9cc89	397	* Utility to ready all the lists used by the scheduler. This is called
rgrover1	0:8e57f3e9cc89	398	* automatically upon the creation of the first task.
rgrover1	0:8e57f3e9cc89	399	*/
rgrover1	0:8e57f3e9cc89	400	static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	401
rgrover1	0:8e57f3e9cc89	402	/*
rgrover1	0:8e57f3e9cc89	403	* The idle task, which as all tasks is implemented as a never ending loop.
rgrover1	0:8e57f3e9cc89	404	* The idle task is automatically created and added to the ready lists upon
rgrover1	0:8e57f3e9cc89	405	* creation of the first user task.
rgrover1	0:8e57f3e9cc89	406	*
rgrover1	0:8e57f3e9cc89	407	* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
rgrover1	0:8e57f3e9cc89	408	* language extensions. The equivalent prototype for this function is:
rgrover1	0:8e57f3e9cc89	409	*
rgrover1	0:8e57f3e9cc89	410	* void prvIdleTask( void *pvParameters );
rgrover1	0:8e57f3e9cc89	411	*
rgrover1	0:8e57f3e9cc89	412	*/
rgrover1	0:8e57f3e9cc89	413	static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
rgrover1	0:8e57f3e9cc89	414
rgrover1	0:8e57f3e9cc89	415	/*
rgrover1	0:8e57f3e9cc89	416	* Utility to free all memory allocated by the scheduler to hold a TCB,
rgrover1	0:8e57f3e9cc89	417	* including the stack pointed to by the TCB.
rgrover1	0:8e57f3e9cc89	418	*
rgrover1	0:8e57f3e9cc89	419	* This does not free memory allocated by the task itself (i.e. memory
rgrover1	0:8e57f3e9cc89	420	* allocated by calls to pvPortMalloc from within the tasks application code).
rgrover1	0:8e57f3e9cc89	421	*/
rgrover1	0:8e57f3e9cc89	422	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	423
rgrover1	0:8e57f3e9cc89	424	static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	425
rgrover1	0:8e57f3e9cc89	426	#endif
rgrover1	0:8e57f3e9cc89	427
rgrover1	0:8e57f3e9cc89	428	/*
rgrover1	0:8e57f3e9cc89	429	* Used only by the idle task. This checks to see if anything has been placed
rgrover1	0:8e57f3e9cc89	430	* in the list of tasks waiting to be deleted. If so the task is cleaned up
rgrover1	0:8e57f3e9cc89	431	* and its TCB deleted.
rgrover1	0:8e57f3e9cc89	432	*/
rgrover1	0:8e57f3e9cc89	433	static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	434
rgrover1	0:8e57f3e9cc89	435	/*
rgrover1	0:8e57f3e9cc89	436	* The currently executing task is entering the Blocked state. Add the task to
rgrover1	0:8e57f3e9cc89	437	* either the current or the overflow delayed task list.
rgrover1	0:8e57f3e9cc89	438	*/
rgrover1	0:8e57f3e9cc89	439	static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	440
rgrover1	0:8e57f3e9cc89	441	/*
rgrover1	0:8e57f3e9cc89	442	* Allocates memory from the heap for a TCB and associated stack. Checks the
rgrover1	0:8e57f3e9cc89	443	* allocation was successful.
rgrover1	0:8e57f3e9cc89	444	*/
rgrover1	0:8e57f3e9cc89	445	static tskTCB prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE puxStackBuffer ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	446
rgrover1	0:8e57f3e9cc89	447	/*
rgrover1	0:8e57f3e9cc89	448	* Fills an xTaskStatusType structure with information on each task that is
rgrover1	0:8e57f3e9cc89	449	* referenced from the pxList list (which may be a ready list, a delayed list,
rgrover1	0:8e57f3e9cc89	450	* a suspended list, etc.).
rgrover1	0:8e57f3e9cc89	451	*
rgrover1	0:8e57f3e9cc89	452	* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
rgrover1	0:8e57f3e9cc89	453	* NORMAL APPLICATION CODE.
rgrover1	0:8e57f3e9cc89	454	*/
rgrover1	0:8e57f3e9cc89	455	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	456
rgrover1	0:8e57f3e9cc89	457	static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType pxTaskStatusArray, xList pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	458
rgrover1	0:8e57f3e9cc89	459	#endif
rgrover1	0:8e57f3e9cc89	460
rgrover1	0:8e57f3e9cc89	461	/*
rgrover1	0:8e57f3e9cc89	462	* When a task is created, the stack of the task is filled with a known value.
rgrover1	0:8e57f3e9cc89	463	* This function determines the 'high water mark' of the task stack by
rgrover1	0:8e57f3e9cc89	464	* determining how much of the stack remains at the original preset value.
rgrover1	0:8e57f3e9cc89	465	*/
rgrover1	0:8e57f3e9cc89	466	#if ( ( configUSE_TRACE_FACILITY == 1 ) \|\| ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
rgrover1	0:8e57f3e9cc89	467
rgrover1	0:8e57f3e9cc89	468	static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	469
rgrover1	0:8e57f3e9cc89	470	#endif
rgrover1	0:8e57f3e9cc89	471
rgrover1	0:8e57f3e9cc89	472	/*
rgrover1	0:8e57f3e9cc89	473	* Return the amount of time, in ticks, that will pass before the kernel will
rgrover1	0:8e57f3e9cc89	474	* next move a task from the Blocked state to the Running state.
rgrover1	0:8e57f3e9cc89	475	*
rgrover1	0:8e57f3e9cc89	476	* This conditional compilation should use inequality to 0, not equality to 1.
rgrover1	0:8e57f3e9cc89	477	* This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
rgrover1	0:8e57f3e9cc89	478	* defined low power mode implementations require configUSE_TICKLESS_IDLE to be
rgrover1	0:8e57f3e9cc89	479	* set to a value other than 1.
rgrover1	0:8e57f3e9cc89	480	*/
rgrover1	0:8e57f3e9cc89	481	#if ( configUSE_TICKLESS_IDLE != 0 )
rgrover1	0:8e57f3e9cc89	482
rgrover1	0:8e57f3e9cc89	483	static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
rgrover1	0:8e57f3e9cc89	484
rgrover1	0:8e57f3e9cc89	485	#endif
rgrover1	0:8e57f3e9cc89	486
rgrover1	0:8e57f3e9cc89	487	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 )
rgrover1	0:8e57f3e9cc89	488	{
rgrover1	0:8e57f3e9cc89	489	signed portBASE_TYPE xReturn;
rgrover1	0:8e57f3e9cc89	490	tskTCB * pxNewTCB;
rgrover1	0:8e57f3e9cc89	491
rgrover1	0:8e57f3e9cc89	492	configASSERT( pxTaskCode );
rgrover1	0:8e57f3e9cc89	493	configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
rgrover1	0:8e57f3e9cc89	494
rgrover1	0:8e57f3e9cc89	495	/* Allocate the memory required by the TCB and stack for the new task,
rgrover1	0:8e57f3e9cc89	496	checking that the allocation was successful. */
rgrover1	0:8e57f3e9cc89	497	pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
rgrover1	0:8e57f3e9cc89	498
rgrover1	0:8e57f3e9cc89	499	if( pxNewTCB != NULL )
rgrover1	0:8e57f3e9cc89	500	{
rgrover1	0:8e57f3e9cc89	501	portSTACK_TYPE *pxTopOfStack;
rgrover1	0:8e57f3e9cc89	502
rgrover1	0:8e57f3e9cc89	503	#if( portUSING_MPU_WRAPPERS == 1 )
rgrover1	0:8e57f3e9cc89	504	/* Should the task be created in privileged mode? */
rgrover1	0:8e57f3e9cc89	505	portBASE_TYPE xRunPrivileged;
rgrover1	0:8e57f3e9cc89	506	if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
rgrover1	0:8e57f3e9cc89	507	{
rgrover1	0:8e57f3e9cc89	508	xRunPrivileged = pdTRUE;
rgrover1	0:8e57f3e9cc89	509	}
rgrover1	0:8e57f3e9cc89	510	else
rgrover1	0:8e57f3e9cc89	511	{
rgrover1	0:8e57f3e9cc89	512	xRunPrivileged = pdFALSE;
rgrover1	0:8e57f3e9cc89	513	}
rgrover1	0:8e57f3e9cc89	514	uxPriority &= ~portPRIVILEGE_BIT;
rgrover1	0:8e57f3e9cc89	515	#endif /* portUSING_MPU_WRAPPERS == 1 */
rgrover1	0:8e57f3e9cc89	516
rgrover1	0:8e57f3e9cc89	517	/* Calculate the top of stack address. This depends on whether the
rgrover1	0:8e57f3e9cc89	518	stack grows from high memory to low (as per the 80x86) or visa versa.
rgrover1	0:8e57f3e9cc89	519	portSTACK_GROWTH is used to make the result positive or negative as
rgrover1	0:8e57f3e9cc89	520	required by the port. */
rgrover1	0:8e57f3e9cc89	521	#if( portSTACK_GROWTH < 0 )
rgrover1	0:8e57f3e9cc89	522	{
rgrover1	0:8e57f3e9cc89	523	pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
rgrover1	0:8e57f3e9cc89	524	pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. /
rgrover1	0:8e57f3e9cc89	525
rgrover1	0:8e57f3e9cc89	526	/* Check the alignment of the calculated top of stack is correct. */
rgrover1	0:8e57f3e9cc89	527	configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
rgrover1	0:8e57f3e9cc89	528	}
rgrover1	0:8e57f3e9cc89	529	#else /* portSTACK_GROWTH */
rgrover1	0:8e57f3e9cc89	530	{
rgrover1	0:8e57f3e9cc89	531	pxTopOfStack = pxNewTCB->pxStack;
rgrover1	0:8e57f3e9cc89	532
rgrover1	0:8e57f3e9cc89	533	/* Check the alignment of the stack buffer is correct. */
rgrover1	0:8e57f3e9cc89	534	configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
rgrover1	0:8e57f3e9cc89	535
rgrover1	0:8e57f3e9cc89	536	/* If we want to use stack checking on architectures that use
rgrover1	0:8e57f3e9cc89	537	a positive stack growth direction then we also need to store the
rgrover1	0:8e57f3e9cc89	538	other extreme of the stack space. */
rgrover1	0:8e57f3e9cc89	539	pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
rgrover1	0:8e57f3e9cc89	540	}
rgrover1	0:8e57f3e9cc89	541	#endif /* portSTACK_GROWTH */
rgrover1	0:8e57f3e9cc89	542
rgrover1	0:8e57f3e9cc89	543	/* Setup the newly allocated TCB with the initial state of the task. */
rgrover1	0:8e57f3e9cc89	544	prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
rgrover1	0:8e57f3e9cc89	545
rgrover1	0:8e57f3e9cc89	546	/* Initialize the TCB stack to look as if the task was already running,
rgrover1	0:8e57f3e9cc89	547	but had been interrupted by the scheduler. The return address is set
rgrover1	0:8e57f3e9cc89	548	to the start of the task function. Once the stack has been initialised
rgrover1	0:8e57f3e9cc89	549	the top of stack variable is updated. */
rgrover1	0:8e57f3e9cc89	550	#if( portUSING_MPU_WRAPPERS == 1 )
rgrover1	0:8e57f3e9cc89	551	{
rgrover1	0:8e57f3e9cc89	552	pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
rgrover1	0:8e57f3e9cc89	553	}
rgrover1	0:8e57f3e9cc89	554	#else /* portUSING_MPU_WRAPPERS */
rgrover1	0:8e57f3e9cc89	555	{
rgrover1	0:8e57f3e9cc89	556	pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
rgrover1	0:8e57f3e9cc89	557	}
rgrover1	0:8e57f3e9cc89	558	#endif /* portUSING_MPU_WRAPPERS */
rgrover1	0:8e57f3e9cc89	559
rgrover1	0:8e57f3e9cc89	560	if( ( void * ) pxCreatedTask != NULL )
rgrover1	0:8e57f3e9cc89	561	{
rgrover1	0:8e57f3e9cc89	562	/* Pass the TCB out - in an anonymous way. The calling function/
rgrover1	0:8e57f3e9cc89	563	task can use this as a handle to delete the task later if
rgrover1	0:8e57f3e9cc89	564	required.*/
rgrover1	0:8e57f3e9cc89	565	*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
rgrover1	0:8e57f3e9cc89	566	}
rgrover1	0:8e57f3e9cc89	567
rgrover1	0:8e57f3e9cc89	568	/* Ensure interrupts don't access the task lists while they are being
rgrover1	0:8e57f3e9cc89	569	updated. */
rgrover1	0:8e57f3e9cc89	570	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	571	{
rgrover1	0:8e57f3e9cc89	572	uxCurrentNumberOfTasks++;
rgrover1	0:8e57f3e9cc89	573	if( pxCurrentTCB == NULL )
rgrover1	0:8e57f3e9cc89	574	{
rgrover1	0:8e57f3e9cc89	575	/* There are no other tasks, or all the other tasks are in
rgrover1	0:8e57f3e9cc89	576	the suspended state - make this the current task. */
rgrover1	0:8e57f3e9cc89	577	pxCurrentTCB = pxNewTCB;
rgrover1	0:8e57f3e9cc89	578
rgrover1	0:8e57f3e9cc89	579	if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
rgrover1	0:8e57f3e9cc89	580	{
rgrover1	0:8e57f3e9cc89	581	/* This is the first task to be created so do the preliminary
rgrover1	0:8e57f3e9cc89	582	initialisation required. We will not recover if this call
rgrover1	0:8e57f3e9cc89	583	fails, but we will report the failure. */
rgrover1	0:8e57f3e9cc89	584	prvInitialiseTaskLists();
rgrover1	0:8e57f3e9cc89	585	}
rgrover1	0:8e57f3e9cc89	586	}
rgrover1	0:8e57f3e9cc89	587	else
rgrover1	0:8e57f3e9cc89	588	{
rgrover1	0:8e57f3e9cc89	589	/* If the scheduler is not already running, make this task the
rgrover1	0:8e57f3e9cc89	590	current task if it is the highest priority task to be created
rgrover1	0:8e57f3e9cc89	591	so far. */
rgrover1	0:8e57f3e9cc89	592	if( xSchedulerRunning == pdFALSE )
rgrover1	0:8e57f3e9cc89	593	{
rgrover1	0:8e57f3e9cc89	594	if( pxCurrentTCB->uxPriority <= uxPriority )
rgrover1	0:8e57f3e9cc89	595	{
rgrover1	0:8e57f3e9cc89	596	pxCurrentTCB = pxNewTCB;
rgrover1	0:8e57f3e9cc89	597	}
rgrover1	0:8e57f3e9cc89	598	}
rgrover1	0:8e57f3e9cc89	599	}
rgrover1	0:8e57f3e9cc89	600
rgrover1	0:8e57f3e9cc89	601	uxTaskNumber++;
rgrover1	0:8e57f3e9cc89	602
rgrover1	0:8e57f3e9cc89	603	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	604	{
rgrover1	0:8e57f3e9cc89	605	/* Add a counter into the TCB for tracing only. */
rgrover1	0:8e57f3e9cc89	606	pxNewTCB->uxTCBNumber = uxTaskNumber;
rgrover1	0:8e57f3e9cc89	607	}
rgrover1	0:8e57f3e9cc89	608	#endif /* configUSE_TRACE_FACILITY */
rgrover1	0:8e57f3e9cc89	609	traceTASK_CREATE( pxNewTCB );
rgrover1	0:8e57f3e9cc89	610
rgrover1	0:8e57f3e9cc89	611	prvAddTaskToReadyList( pxNewTCB );
rgrover1	0:8e57f3e9cc89	612
rgrover1	0:8e57f3e9cc89	613	xReturn = pdPASS;
rgrover1	0:8e57f3e9cc89	614	portSETUP_TCB( pxNewTCB );
rgrover1	0:8e57f3e9cc89	615	}
rgrover1	0:8e57f3e9cc89	616	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	617	}
rgrover1	0:8e57f3e9cc89	618	else
rgrover1	0:8e57f3e9cc89	619	{
rgrover1	0:8e57f3e9cc89	620	xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
rgrover1	0:8e57f3e9cc89	621	traceTASK_CREATE_FAILED();
rgrover1	0:8e57f3e9cc89	622	}
rgrover1	0:8e57f3e9cc89	623
rgrover1	0:8e57f3e9cc89	624	if( xReturn == pdPASS )
rgrover1	0:8e57f3e9cc89	625	{
rgrover1	0:8e57f3e9cc89	626	if( xSchedulerRunning != pdFALSE )
rgrover1	0:8e57f3e9cc89	627	{
rgrover1	0:8e57f3e9cc89	628	/* If the created task is of a higher priority than the current task
rgrover1	0:8e57f3e9cc89	629	then it should run now. */
rgrover1	0:8e57f3e9cc89	630	if( pxCurrentTCB->uxPriority < uxPriority )
rgrover1	0:8e57f3e9cc89	631	{
rgrover1	0:8e57f3e9cc89	632	taskYIELD_IF_USING_PREEMPTION();
rgrover1	0:8e57f3e9cc89	633	}
rgrover1	0:8e57f3e9cc89	634	}
rgrover1	0:8e57f3e9cc89	635	}
rgrover1	0:8e57f3e9cc89	636
rgrover1	0:8e57f3e9cc89	637	return xReturn;
rgrover1	0:8e57f3e9cc89	638	}
rgrover1	0:8e57f3e9cc89	639	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	640
rgrover1	0:8e57f3e9cc89	641	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	642
rgrover1	0:8e57f3e9cc89	643	void vTaskDelete( xTaskHandle xTaskToDelete )
rgrover1	0:8e57f3e9cc89	644	{
rgrover1	0:8e57f3e9cc89	645	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	646
rgrover1	0:8e57f3e9cc89	647	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	648	{
rgrover1	0:8e57f3e9cc89	649	/* If null is passed in here then we are deleting ourselves. */
rgrover1	0:8e57f3e9cc89	650	pxTCB = prvGetTCBFromHandle( xTaskToDelete );
rgrover1	0:8e57f3e9cc89	651
rgrover1	0:8e57f3e9cc89	652	/* Remove task from the ready list and place in the termination list.
rgrover1	0:8e57f3e9cc89	653	This will stop the task from be scheduled. The idle task will check
rgrover1	0:8e57f3e9cc89	654	the termination list and free up any memory allocated by the
rgrover1	0:8e57f3e9cc89	655	scheduler for the TCB and stack. */
rgrover1	0:8e57f3e9cc89	656	if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	657	{
rgrover1	0:8e57f3e9cc89	658	taskRESET_READY_PRIORITY( pxTCB->uxPriority );
rgrover1	0:8e57f3e9cc89	659	}
rgrover1	0:8e57f3e9cc89	660
rgrover1	0:8e57f3e9cc89	661	/* Is the task waiting on an event also? */
rgrover1	0:8e57f3e9cc89	662	if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
rgrover1	0:8e57f3e9cc89	663	{
rgrover1	0:8e57f3e9cc89	664	( void ) uxListRemove( &( pxTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	665	}
rgrover1	0:8e57f3e9cc89	666
rgrover1	0:8e57f3e9cc89	667	vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	668
rgrover1	0:8e57f3e9cc89	669	/* Increment the ucTasksDeleted variable so the idle task knows
rgrover1	0:8e57f3e9cc89	670	there is a task that has been deleted and that it should therefore
rgrover1	0:8e57f3e9cc89	671	check the xTasksWaitingTermination list. */
rgrover1	0:8e57f3e9cc89	672	++uxTasksDeleted;
rgrover1	0:8e57f3e9cc89	673
rgrover1	0:8e57f3e9cc89	674	/* Increment the uxTaskNumberVariable also so kernel aware debuggers
rgrover1	0:8e57f3e9cc89	675	can detect that the task lists need re-generating. */
rgrover1	0:8e57f3e9cc89	676	uxTaskNumber++;
rgrover1	0:8e57f3e9cc89	677
rgrover1	0:8e57f3e9cc89	678	traceTASK_DELETE( pxTCB );
rgrover1	0:8e57f3e9cc89	679	}
rgrover1	0:8e57f3e9cc89	680	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	681
rgrover1	0:8e57f3e9cc89	682	/* Force a reschedule if we have just deleted the current task. */
rgrover1	0:8e57f3e9cc89	683	if( xSchedulerRunning != pdFALSE )
rgrover1	0:8e57f3e9cc89	684	{
rgrover1	0:8e57f3e9cc89	685	if( pxTCB == pxCurrentTCB )
rgrover1	0:8e57f3e9cc89	686	{
rgrover1	0:8e57f3e9cc89	687	portYIELD_WITHIN_API();
rgrover1	0:8e57f3e9cc89	688	}
rgrover1	0:8e57f3e9cc89	689	}
rgrover1	0:8e57f3e9cc89	690	}
rgrover1	0:8e57f3e9cc89	691
rgrover1	0:8e57f3e9cc89	692	#endif /* INCLUDE_vTaskDelete */
rgrover1	0:8e57f3e9cc89	693	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	694
rgrover1	0:8e57f3e9cc89	695	#if ( INCLUDE_vTaskDelayUntil == 1 )
rgrover1	0:8e57f3e9cc89	696
rgrover1	0:8e57f3e9cc89	697	void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
rgrover1	0:8e57f3e9cc89	698	{
rgrover1	0:8e57f3e9cc89	699	portTickType xTimeToWake;
rgrover1	0:8e57f3e9cc89	700	portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
rgrover1	0:8e57f3e9cc89	701
rgrover1	0:8e57f3e9cc89	702	configASSERT( pxPreviousWakeTime );
rgrover1	0:8e57f3e9cc89	703	configASSERT( ( xTimeIncrement > 0U ) );
rgrover1	0:8e57f3e9cc89	704
rgrover1	0:8e57f3e9cc89	705	vTaskSuspendAll();
rgrover1	0:8e57f3e9cc89	706	{
rgrover1	0:8e57f3e9cc89	707	/* Minor optimisation. The tick count cannot change in this
rgrover1	0:8e57f3e9cc89	708	block. */
rgrover1	0:8e57f3e9cc89	709	const portTickType xConstTickCount = xTickCount;
rgrover1	0:8e57f3e9cc89	710
rgrover1	0:8e57f3e9cc89	711	/* Generate the tick time at which the task wants to wake. */
rgrover1	0:8e57f3e9cc89	712	xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
rgrover1	0:8e57f3e9cc89	713
rgrover1	0:8e57f3e9cc89	714	if( xConstTickCount < *pxPreviousWakeTime )
rgrover1	0:8e57f3e9cc89	715	{
rgrover1	0:8e57f3e9cc89	716	/* The tick count has overflowed since this function was
rgrover1	0:8e57f3e9cc89	717	lasted called. In this case the only time we should ever
rgrover1	0:8e57f3e9cc89	718	actually delay is if the wake time has also overflowed,
rgrover1	0:8e57f3e9cc89	719	and the wake time is greater than the tick time. When this
rgrover1	0:8e57f3e9cc89	720	is the case it is as if neither time had overflowed. */
rgrover1	0:8e57f3e9cc89	721	if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
rgrover1	0:8e57f3e9cc89	722	{
rgrover1	0:8e57f3e9cc89	723	xShouldDelay = pdTRUE;
rgrover1	0:8e57f3e9cc89	724	}
rgrover1	0:8e57f3e9cc89	725	}
rgrover1	0:8e57f3e9cc89	726	else
rgrover1	0:8e57f3e9cc89	727	{
rgrover1	0:8e57f3e9cc89	728	/* The tick time has not overflowed. In this case we will
rgrover1	0:8e57f3e9cc89	729	delay if either the wake time has overflowed, and/or the
rgrover1	0:8e57f3e9cc89	730	tick time is less than the wake time. */
rgrover1	0:8e57f3e9cc89	731	if( ( xTimeToWake < *pxPreviousWakeTime ) \|\| ( xTimeToWake > xConstTickCount ) )
rgrover1	0:8e57f3e9cc89	732	{
rgrover1	0:8e57f3e9cc89	733	xShouldDelay = pdTRUE;
rgrover1	0:8e57f3e9cc89	734	}
rgrover1	0:8e57f3e9cc89	735	}
rgrover1	0:8e57f3e9cc89	736
rgrover1	0:8e57f3e9cc89	737	/* Update the wake time ready for the next call. */
rgrover1	0:8e57f3e9cc89	738	*pxPreviousWakeTime = xTimeToWake;
rgrover1	0:8e57f3e9cc89	739
rgrover1	0:8e57f3e9cc89	740	if( xShouldDelay != pdFALSE )
rgrover1	0:8e57f3e9cc89	741	{
rgrover1	0:8e57f3e9cc89	742	traceTASK_DELAY_UNTIL();
rgrover1	0:8e57f3e9cc89	743
rgrover1	0:8e57f3e9cc89	744	/* We must remove ourselves from the ready list before adding
rgrover1	0:8e57f3e9cc89	745	ourselves to the blocked list as the same list item is used for
rgrover1	0:8e57f3e9cc89	746	both lists. */
rgrover1	0:8e57f3e9cc89	747	if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	748	{
rgrover1	0:8e57f3e9cc89	749	/* The current task must be in a ready list, so there is
rgrover1	0:8e57f3e9cc89	750	no need to check, and the port reset macro can be called
rgrover1	0:8e57f3e9cc89	751	directly. */
rgrover1	0:8e57f3e9cc89	752	portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
rgrover1	0:8e57f3e9cc89	753	}
rgrover1	0:8e57f3e9cc89	754
rgrover1	0:8e57f3e9cc89	755	prvAddCurrentTaskToDelayedList( xTimeToWake );
rgrover1	0:8e57f3e9cc89	756	}
rgrover1	0:8e57f3e9cc89	757	}
rgrover1	0:8e57f3e9cc89	758	xAlreadyYielded = xTaskResumeAll();
rgrover1	0:8e57f3e9cc89	759
rgrover1	0:8e57f3e9cc89	760	/* Force a reschedule if xTaskResumeAll has not already done so, we may
rgrover1	0:8e57f3e9cc89	761	have put ourselves to sleep. */
rgrover1	0:8e57f3e9cc89	762	if( xAlreadyYielded == pdFALSE )
rgrover1	0:8e57f3e9cc89	763	{
rgrover1	0:8e57f3e9cc89	764	portYIELD_WITHIN_API();
rgrover1	0:8e57f3e9cc89	765	}
rgrover1	0:8e57f3e9cc89	766	}
rgrover1	0:8e57f3e9cc89	767
rgrover1	0:8e57f3e9cc89	768	#endif /* INCLUDE_vTaskDelayUntil */
rgrover1	0:8e57f3e9cc89	769	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	770
rgrover1	0:8e57f3e9cc89	771	#if ( INCLUDE_vTaskDelay == 1 )
rgrover1	0:8e57f3e9cc89	772
rgrover1	0:8e57f3e9cc89	773	void vTaskDelay( portTickType xTicksToDelay )
rgrover1	0:8e57f3e9cc89	774	{
rgrover1	0:8e57f3e9cc89	775	portTickType xTimeToWake;
rgrover1	0:8e57f3e9cc89	776	signed portBASE_TYPE xAlreadyYielded = pdFALSE;
rgrover1	0:8e57f3e9cc89	777
rgrover1	0:8e57f3e9cc89	778	/* A delay time of zero just forces a reschedule. */
rgrover1	0:8e57f3e9cc89	779	if( xTicksToDelay > ( portTickType ) 0U )
rgrover1	0:8e57f3e9cc89	780	{
rgrover1	0:8e57f3e9cc89	781	vTaskSuspendAll();
rgrover1	0:8e57f3e9cc89	782	{
rgrover1	0:8e57f3e9cc89	783	traceTASK_DELAY();
rgrover1	0:8e57f3e9cc89	784
rgrover1	0:8e57f3e9cc89	785	/* A task that is removed from the event list while the
rgrover1	0:8e57f3e9cc89	786	scheduler is suspended will not get placed in the ready
rgrover1	0:8e57f3e9cc89	787	list or removed from the blocked list until the scheduler
rgrover1	0:8e57f3e9cc89	788	is resumed.
rgrover1	0:8e57f3e9cc89	789
rgrover1	0:8e57f3e9cc89	790	This task cannot be in an event list as it is the currently
rgrover1	0:8e57f3e9cc89	791	executing task. */
rgrover1	0:8e57f3e9cc89	792
rgrover1	0:8e57f3e9cc89	793	/* Calculate the time to wake - this may overflow but this is
rgrover1	0:8e57f3e9cc89	794	not a problem. */
rgrover1	0:8e57f3e9cc89	795	xTimeToWake = xTickCount + xTicksToDelay;
rgrover1	0:8e57f3e9cc89	796
rgrover1	0:8e57f3e9cc89	797	/* We must remove ourselves from the ready list before adding
rgrover1	0:8e57f3e9cc89	798	ourselves to the blocked list as the same list item is used for
rgrover1	0:8e57f3e9cc89	799	both lists. */
rgrover1	0:8e57f3e9cc89	800	if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	801	{
rgrover1	0:8e57f3e9cc89	802	/* The current task must be in a ready list, so there is
rgrover1	0:8e57f3e9cc89	803	no need to check, and the port reset macro can be called
rgrover1	0:8e57f3e9cc89	804	directly. */
rgrover1	0:8e57f3e9cc89	805	portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
rgrover1	0:8e57f3e9cc89	806	}
rgrover1	0:8e57f3e9cc89	807	prvAddCurrentTaskToDelayedList( xTimeToWake );
rgrover1	0:8e57f3e9cc89	808	}
rgrover1	0:8e57f3e9cc89	809	xAlreadyYielded = xTaskResumeAll();
rgrover1	0:8e57f3e9cc89	810	}
rgrover1	0:8e57f3e9cc89	811
rgrover1	0:8e57f3e9cc89	812	/* Force a reschedule if xTaskResumeAll has not already done so, we may
rgrover1	0:8e57f3e9cc89	813	have put ourselves to sleep. */
rgrover1	0:8e57f3e9cc89	814	if( xAlreadyYielded == pdFALSE )
rgrover1	0:8e57f3e9cc89	815	{
rgrover1	0:8e57f3e9cc89	816	portYIELD_WITHIN_API();
rgrover1	0:8e57f3e9cc89	817	}
rgrover1	0:8e57f3e9cc89	818	}
rgrover1	0:8e57f3e9cc89	819
rgrover1	0:8e57f3e9cc89	820	#endif /* INCLUDE_vTaskDelay */
rgrover1	0:8e57f3e9cc89	821	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	822
rgrover1	0:8e57f3e9cc89	823	#if ( INCLUDE_eTaskGetState == 1 )
rgrover1	0:8e57f3e9cc89	824
rgrover1	0:8e57f3e9cc89	825	eTaskState eTaskGetState( xTaskHandle xTask )
rgrover1	0:8e57f3e9cc89	826	{
rgrover1	0:8e57f3e9cc89	827	eTaskState eReturn;
rgrover1	0:8e57f3e9cc89	828	xList *pxStateList;
rgrover1	0:8e57f3e9cc89	829	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	830
rgrover1	0:8e57f3e9cc89	831	if( pxTCB == pxCurrentTCB )
rgrover1	0:8e57f3e9cc89	832	{
rgrover1	0:8e57f3e9cc89	833	/* The task calling this function is querying its own state. */
rgrover1	0:8e57f3e9cc89	834	eReturn = eRunning;
rgrover1	0:8e57f3e9cc89	835	}
rgrover1	0:8e57f3e9cc89	836	else
rgrover1	0:8e57f3e9cc89	837	{
rgrover1	0:8e57f3e9cc89	838	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	839	{
rgrover1	0:8e57f3e9cc89	840	pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	841	}
rgrover1	0:8e57f3e9cc89	842	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	843
rgrover1	0:8e57f3e9cc89	844	if( ( pxStateList == pxDelayedTaskList ) \|\| ( pxStateList == pxOverflowDelayedTaskList ) )
rgrover1	0:8e57f3e9cc89	845	{
rgrover1	0:8e57f3e9cc89	846	/* The task being queried is referenced from one of the Blocked
rgrover1	0:8e57f3e9cc89	847	lists. */
rgrover1	0:8e57f3e9cc89	848	eReturn = eBlocked;
rgrover1	0:8e57f3e9cc89	849	}
rgrover1	0:8e57f3e9cc89	850
rgrover1	0:8e57f3e9cc89	851	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	852	else if( pxStateList == &xSuspendedTaskList )
rgrover1	0:8e57f3e9cc89	853	{
rgrover1	0:8e57f3e9cc89	854	/* The task being queried is referenced from the suspended
rgrover1	0:8e57f3e9cc89	855	list. Is it genuinely suspended or is it block
rgrover1	0:8e57f3e9cc89	856	indefinitely? */
rgrover1	0:8e57f3e9cc89	857	if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
rgrover1	0:8e57f3e9cc89	858	{
rgrover1	0:8e57f3e9cc89	859	eReturn = eSuspended;
rgrover1	0:8e57f3e9cc89	860	}
rgrover1	0:8e57f3e9cc89	861	else
rgrover1	0:8e57f3e9cc89	862	{
rgrover1	0:8e57f3e9cc89	863	eReturn = eBlocked;
rgrover1	0:8e57f3e9cc89	864	}
rgrover1	0:8e57f3e9cc89	865	}
rgrover1	0:8e57f3e9cc89	866	#endif
rgrover1	0:8e57f3e9cc89	867
rgrover1	0:8e57f3e9cc89	868	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	869	else if( pxStateList == &xTasksWaitingTermination )
rgrover1	0:8e57f3e9cc89	870	{
rgrover1	0:8e57f3e9cc89	871	/* The task being queried is referenced from the deleted
rgrover1	0:8e57f3e9cc89	872	tasks list. */
rgrover1	0:8e57f3e9cc89	873	eReturn = eDeleted;
rgrover1	0:8e57f3e9cc89	874	}
rgrover1	0:8e57f3e9cc89	875	#endif
rgrover1	0:8e57f3e9cc89	876
rgrover1	0:8e57f3e9cc89	877	else
rgrover1	0:8e57f3e9cc89	878	{
rgrover1	0:8e57f3e9cc89	879	/* If the task is not in any other state, it must be in the
rgrover1	0:8e57f3e9cc89	880	Ready (including pending ready) state. */
rgrover1	0:8e57f3e9cc89	881	eReturn = eReady;
rgrover1	0:8e57f3e9cc89	882	}
rgrover1	0:8e57f3e9cc89	883	}
rgrover1	0:8e57f3e9cc89	884
rgrover1	0:8e57f3e9cc89	885	return eReturn;
rgrover1	0:8e57f3e9cc89	886	}
rgrover1	0:8e57f3e9cc89	887
rgrover1	0:8e57f3e9cc89	888	#endif /* INCLUDE_eTaskGetState */
rgrover1	0:8e57f3e9cc89	889	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	890
rgrover1	0:8e57f3e9cc89	891	#if ( INCLUDE_uxTaskPriorityGet == 1 )
rgrover1	0:8e57f3e9cc89	892
rgrover1	0:8e57f3e9cc89	893	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
rgrover1	0:8e57f3e9cc89	894	{
rgrover1	0:8e57f3e9cc89	895	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	896	unsigned portBASE_TYPE uxReturn;
rgrover1	0:8e57f3e9cc89	897
rgrover1	0:8e57f3e9cc89	898	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	899	{
rgrover1	0:8e57f3e9cc89	900	/* If null is passed in here then we are changing the
rgrover1	0:8e57f3e9cc89	901	priority of the calling function. */
rgrover1	0:8e57f3e9cc89	902	pxTCB = prvGetTCBFromHandle( xTask );
rgrover1	0:8e57f3e9cc89	903	uxReturn = pxTCB->uxPriority;
rgrover1	0:8e57f3e9cc89	904	}
rgrover1	0:8e57f3e9cc89	905	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	906
rgrover1	0:8e57f3e9cc89	907	return uxReturn;
rgrover1	0:8e57f3e9cc89	908	}
rgrover1	0:8e57f3e9cc89	909
rgrover1	0:8e57f3e9cc89	910	#endif /* INCLUDE_uxTaskPriorityGet */
rgrover1	0:8e57f3e9cc89	911	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	912
rgrover1	0:8e57f3e9cc89	913	#if ( INCLUDE_vTaskPrioritySet == 1 )
rgrover1	0:8e57f3e9cc89	914
rgrover1	0:8e57f3e9cc89	915	void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
rgrover1	0:8e57f3e9cc89	916	{
rgrover1	0:8e57f3e9cc89	917	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	918	unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
rgrover1	0:8e57f3e9cc89	919	portBASE_TYPE xYieldRequired = pdFALSE;
rgrover1	0:8e57f3e9cc89	920
rgrover1	0:8e57f3e9cc89	921	configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
rgrover1	0:8e57f3e9cc89	922
rgrover1	0:8e57f3e9cc89	923	/* Ensure the new priority is valid. */
rgrover1	0:8e57f3e9cc89	924	if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
rgrover1	0:8e57f3e9cc89	925	{
rgrover1	0:8e57f3e9cc89	926	uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
rgrover1	0:8e57f3e9cc89	927	}
rgrover1	0:8e57f3e9cc89	928
rgrover1	0:8e57f3e9cc89	929	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	930	{
rgrover1	0:8e57f3e9cc89	931	/* If null is passed in here then it is the priority of the calling
rgrover1	0:8e57f3e9cc89	932	task that is being changed. */
rgrover1	0:8e57f3e9cc89	933	pxTCB = prvGetTCBFromHandle( xTask );
rgrover1	0:8e57f3e9cc89	934
rgrover1	0:8e57f3e9cc89	935	traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
rgrover1	0:8e57f3e9cc89	936
rgrover1	0:8e57f3e9cc89	937	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	938	{
rgrover1	0:8e57f3e9cc89	939	uxCurrentBasePriority = pxTCB->uxBasePriority;
rgrover1	0:8e57f3e9cc89	940	}
rgrover1	0:8e57f3e9cc89	941	#else
rgrover1	0:8e57f3e9cc89	942	{
rgrover1	0:8e57f3e9cc89	943	uxCurrentBasePriority = pxTCB->uxPriority;
rgrover1	0:8e57f3e9cc89	944	}
rgrover1	0:8e57f3e9cc89	945	#endif
rgrover1	0:8e57f3e9cc89	946
rgrover1	0:8e57f3e9cc89	947	if( uxCurrentBasePriority != uxNewPriority )
rgrover1	0:8e57f3e9cc89	948	{
rgrover1	0:8e57f3e9cc89	949	/* The priority change may have readied a task of higher
rgrover1	0:8e57f3e9cc89	950	priority than the calling task. */
rgrover1	0:8e57f3e9cc89	951	if( uxNewPriority > uxCurrentBasePriority )
rgrover1	0:8e57f3e9cc89	952	{
rgrover1	0:8e57f3e9cc89	953	if( pxTCB != pxCurrentTCB )
rgrover1	0:8e57f3e9cc89	954	{
rgrover1	0:8e57f3e9cc89	955	/* The priority of a task other than the currently
rgrover1	0:8e57f3e9cc89	956	running task is being raised. Is the priority being
rgrover1	0:8e57f3e9cc89	957	raised above that of the running task? */
rgrover1	0:8e57f3e9cc89	958	if( uxNewPriority >= pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	959	{
rgrover1	0:8e57f3e9cc89	960	xYieldRequired = pdTRUE;
rgrover1	0:8e57f3e9cc89	961	}
rgrover1	0:8e57f3e9cc89	962	}
rgrover1	0:8e57f3e9cc89	963	else
rgrover1	0:8e57f3e9cc89	964	{
rgrover1	0:8e57f3e9cc89	965	/* The priority of the running task is being raised,
rgrover1	0:8e57f3e9cc89	966	but the running task must already be the highest
rgrover1	0:8e57f3e9cc89	967	priority task able to run so no yield is required. */
rgrover1	0:8e57f3e9cc89	968	}
rgrover1	0:8e57f3e9cc89	969	}
rgrover1	0:8e57f3e9cc89	970	else if( pxTCB == pxCurrentTCB )
rgrover1	0:8e57f3e9cc89	971	{
rgrover1	0:8e57f3e9cc89	972	/* Setting the priority of the running task down means
rgrover1	0:8e57f3e9cc89	973	there may now be another task of higher priority that
rgrover1	0:8e57f3e9cc89	974	is ready to execute. */
rgrover1	0:8e57f3e9cc89	975	xYieldRequired = pdTRUE;
rgrover1	0:8e57f3e9cc89	976	}
rgrover1	0:8e57f3e9cc89	977	else
rgrover1	0:8e57f3e9cc89	978	{
rgrover1	0:8e57f3e9cc89	979	/* Setting the priority of any other task down does not
rgrover1	0:8e57f3e9cc89	980	require a yield as the running task must be above the
rgrover1	0:8e57f3e9cc89	981	new priority of the task being modified. */
rgrover1	0:8e57f3e9cc89	982	}
rgrover1	0:8e57f3e9cc89	983
rgrover1	0:8e57f3e9cc89	984	/* Remember the ready list the task might be referenced from
rgrover1	0:8e57f3e9cc89	985	before its uxPriority member is changed so the
rgrover1	0:8e57f3e9cc89	986	taskRESET_READY_PRIORITY() macro can function correctly. */
rgrover1	0:8e57f3e9cc89	987	uxPriorityUsedOnEntry = pxTCB->uxPriority;
rgrover1	0:8e57f3e9cc89	988
rgrover1	0:8e57f3e9cc89	989	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	990	{
rgrover1	0:8e57f3e9cc89	991	/* Only change the priority being used if the task is not
rgrover1	0:8e57f3e9cc89	992	currently using an inherited priority. */
rgrover1	0:8e57f3e9cc89	993	if( pxTCB->uxBasePriority == pxTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	994	{
rgrover1	0:8e57f3e9cc89	995	pxTCB->uxPriority = uxNewPriority;
rgrover1	0:8e57f3e9cc89	996	}
rgrover1	0:8e57f3e9cc89	997
rgrover1	0:8e57f3e9cc89	998	/* The base priority gets set whatever. */
rgrover1	0:8e57f3e9cc89	999	pxTCB->uxBasePriority = uxNewPriority;
rgrover1	0:8e57f3e9cc89	1000	}
rgrover1	0:8e57f3e9cc89	1001	#else
rgrover1	0:8e57f3e9cc89	1002	{
rgrover1	0:8e57f3e9cc89	1003	pxTCB->uxPriority = uxNewPriority;
rgrover1	0:8e57f3e9cc89	1004	}
rgrover1	0:8e57f3e9cc89	1005	#endif
rgrover1	0:8e57f3e9cc89	1006
rgrover1	0:8e57f3e9cc89	1007	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /lint !e961 MISRA exception as the casts are only redundant for some ports. /
rgrover1	0:8e57f3e9cc89	1008
rgrover1	0:8e57f3e9cc89	1009	/* If the task is in the blocked or suspended list we need do
rgrover1	0:8e57f3e9cc89	1010	nothing more than change it's priority variable. However, if
rgrover1	0:8e57f3e9cc89	1011	the task is in a ready list it needs to be removed and placed
rgrover1	0:8e57f3e9cc89	1012	in the list appropriate to its new priority. */
rgrover1	0:8e57f3e9cc89	1013	if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
rgrover1	0:8e57f3e9cc89	1014	{
rgrover1	0:8e57f3e9cc89	1015	/* The task is currently in its ready list - remove before adding
rgrover1	0:8e57f3e9cc89	1016	it to it's new ready list. As we are in a critical section we
rgrover1	0:8e57f3e9cc89	1017	can do this even if the scheduler is suspended. */
rgrover1	0:8e57f3e9cc89	1018	if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	1019	{
rgrover1	0:8e57f3e9cc89	1020	/* It is known that the task is in its ready list so
rgrover1	0:8e57f3e9cc89	1021	there is no need to check again and the port level
rgrover1	0:8e57f3e9cc89	1022	reset macro can be called directly. */
rgrover1	0:8e57f3e9cc89	1023	portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
rgrover1	0:8e57f3e9cc89	1024	}
rgrover1	0:8e57f3e9cc89	1025	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	1026	}
rgrover1	0:8e57f3e9cc89	1027
rgrover1	0:8e57f3e9cc89	1028	if( xYieldRequired == pdTRUE )
rgrover1	0:8e57f3e9cc89	1029	{
rgrover1	0:8e57f3e9cc89	1030	taskYIELD_IF_USING_PREEMPTION();
rgrover1	0:8e57f3e9cc89	1031	}
rgrover1	0:8e57f3e9cc89	1032
rgrover1	0:8e57f3e9cc89	1033	/* Remove compiler warning about unused variables when the port
rgrover1	0:8e57f3e9cc89	1034	optimised task selection is not being used. */
rgrover1	0:8e57f3e9cc89	1035	( void ) uxPriorityUsedOnEntry;
rgrover1	0:8e57f3e9cc89	1036	}
rgrover1	0:8e57f3e9cc89	1037	}
rgrover1	0:8e57f3e9cc89	1038	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1039	}
rgrover1	0:8e57f3e9cc89	1040
rgrover1	0:8e57f3e9cc89	1041	#endif /* INCLUDE_vTaskPrioritySet */
rgrover1	0:8e57f3e9cc89	1042	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1043
rgrover1	0:8e57f3e9cc89	1044	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	1045
rgrover1	0:8e57f3e9cc89	1046	void vTaskSuspend( xTaskHandle xTaskToSuspend )
rgrover1	0:8e57f3e9cc89	1047	{
rgrover1	0:8e57f3e9cc89	1048	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	1049
rgrover1	0:8e57f3e9cc89	1050	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	1051	{
rgrover1	0:8e57f3e9cc89	1052	/* If null is passed in here then it is the running task that is
rgrover1	0:8e57f3e9cc89	1053	being suspended. */
rgrover1	0:8e57f3e9cc89	1054	pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
rgrover1	0:8e57f3e9cc89	1055
rgrover1	0:8e57f3e9cc89	1056	traceTASK_SUSPEND( pxTCB );
rgrover1	0:8e57f3e9cc89	1057
rgrover1	0:8e57f3e9cc89	1058	/* Remove task from the ready/delayed list and place in the suspended list. */
rgrover1	0:8e57f3e9cc89	1059	if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	1060	{
rgrover1	0:8e57f3e9cc89	1061	taskRESET_READY_PRIORITY( pxTCB->uxPriority );
rgrover1	0:8e57f3e9cc89	1062	}
rgrover1	0:8e57f3e9cc89	1063
rgrover1	0:8e57f3e9cc89	1064	/* Is the task waiting on an event also? */
rgrover1	0:8e57f3e9cc89	1065	if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
rgrover1	0:8e57f3e9cc89	1066	{
rgrover1	0:8e57f3e9cc89	1067	( void ) uxListRemove( &( pxTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	1068	}
rgrover1	0:8e57f3e9cc89	1069
rgrover1	0:8e57f3e9cc89	1070	vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1071	}
rgrover1	0:8e57f3e9cc89	1072	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1073
rgrover1	0:8e57f3e9cc89	1074	if( pxTCB == pxCurrentTCB )
rgrover1	0:8e57f3e9cc89	1075	{
rgrover1	0:8e57f3e9cc89	1076	if( xSchedulerRunning != pdFALSE )
rgrover1	0:8e57f3e9cc89	1077	{
rgrover1	0:8e57f3e9cc89	1078	/* The current task has just been suspended. */
rgrover1	0:8e57f3e9cc89	1079	portYIELD_WITHIN_API();
rgrover1	0:8e57f3e9cc89	1080	}
rgrover1	0:8e57f3e9cc89	1081	else
rgrover1	0:8e57f3e9cc89	1082	{
rgrover1	0:8e57f3e9cc89	1083	/* The scheduler is not running, but the task that was pointed
rgrover1	0:8e57f3e9cc89	1084	to by pxCurrentTCB has just been suspended and pxCurrentTCB
rgrover1	0:8e57f3e9cc89	1085	must be adjusted to point to a different task. */
rgrover1	0:8e57f3e9cc89	1086	if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
rgrover1	0:8e57f3e9cc89	1087	{
rgrover1	0:8e57f3e9cc89	1088	/* No other tasks are ready, so set pxCurrentTCB back to
rgrover1	0:8e57f3e9cc89	1089	NULL so when the next task is created pxCurrentTCB will
rgrover1	0:8e57f3e9cc89	1090	be set to point to it no matter what its relative priority
rgrover1	0:8e57f3e9cc89	1091	is. */
rgrover1	0:8e57f3e9cc89	1092	pxCurrentTCB = NULL;
rgrover1	0:8e57f3e9cc89	1093	}
rgrover1	0:8e57f3e9cc89	1094	else
rgrover1	0:8e57f3e9cc89	1095	{
rgrover1	0:8e57f3e9cc89	1096	vTaskSwitchContext();
rgrover1	0:8e57f3e9cc89	1097	}
rgrover1	0:8e57f3e9cc89	1098	}
rgrover1	0:8e57f3e9cc89	1099	}
rgrover1	0:8e57f3e9cc89	1100	}
rgrover1	0:8e57f3e9cc89	1101
rgrover1	0:8e57f3e9cc89	1102	#endif /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	1103	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1104
rgrover1	0:8e57f3e9cc89	1105	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	1106
rgrover1	0:8e57f3e9cc89	1107	signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
rgrover1	0:8e57f3e9cc89	1108	{
rgrover1	0:8e57f3e9cc89	1109	portBASE_TYPE xReturn = pdFALSE;
rgrover1	0:8e57f3e9cc89	1110	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	1111
rgrover1	0:8e57f3e9cc89	1112	/* It does not make sense to check if the calling task is suspended. */
rgrover1	0:8e57f3e9cc89	1113	configASSERT( xTask );
rgrover1	0:8e57f3e9cc89	1114
rgrover1	0:8e57f3e9cc89	1115	/* Is the task we are attempting to resume actually in the
rgrover1	0:8e57f3e9cc89	1116	suspended list? */
rgrover1	0:8e57f3e9cc89	1117	if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
rgrover1	0:8e57f3e9cc89	1118	{
rgrover1	0:8e57f3e9cc89	1119	/* Has the task already been resumed from within an ISR? */
rgrover1	0:8e57f3e9cc89	1120	if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
rgrover1	0:8e57f3e9cc89	1121	{
rgrover1	0:8e57f3e9cc89	1122	/* Is it in the suspended list because it is in the
rgrover1	0:8e57f3e9cc89	1123	Suspended state? It is possible to be in the suspended
rgrover1	0:8e57f3e9cc89	1124	list because it is blocked on a task with no timeout
rgrover1	0:8e57f3e9cc89	1125	specified. */
rgrover1	0:8e57f3e9cc89	1126	if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
rgrover1	0:8e57f3e9cc89	1127	{
rgrover1	0:8e57f3e9cc89	1128	xReturn = pdTRUE;
rgrover1	0:8e57f3e9cc89	1129	}
rgrover1	0:8e57f3e9cc89	1130	}
rgrover1	0:8e57f3e9cc89	1131	}
rgrover1	0:8e57f3e9cc89	1132
rgrover1	0:8e57f3e9cc89	1133	return xReturn;
rgrover1	0:8e57f3e9cc89	1134	} /lint !e818 xTask cannot be a pointer to const because it is a typedef. /
rgrover1	0:8e57f3e9cc89	1135
rgrover1	0:8e57f3e9cc89	1136	#endif /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	1137	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1138
rgrover1	0:8e57f3e9cc89	1139	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	1140
rgrover1	0:8e57f3e9cc89	1141	void vTaskResume( xTaskHandle xTaskToResume )
rgrover1	0:8e57f3e9cc89	1142	{
rgrover1	0:8e57f3e9cc89	1143	tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
rgrover1	0:8e57f3e9cc89	1144
rgrover1	0:8e57f3e9cc89	1145	/* It does not make sense to resume the calling task. */
rgrover1	0:8e57f3e9cc89	1146	configASSERT( xTaskToResume );
rgrover1	0:8e57f3e9cc89	1147
rgrover1	0:8e57f3e9cc89	1148	/* The parameter cannot be NULL as it is impossible to resume the
rgrover1	0:8e57f3e9cc89	1149	currently executing task. */
rgrover1	0:8e57f3e9cc89	1150	if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
rgrover1	0:8e57f3e9cc89	1151	{
rgrover1	0:8e57f3e9cc89	1152	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	1153	{
rgrover1	0:8e57f3e9cc89	1154	if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
rgrover1	0:8e57f3e9cc89	1155	{
rgrover1	0:8e57f3e9cc89	1156	traceTASK_RESUME( pxTCB );
rgrover1	0:8e57f3e9cc89	1157
rgrover1	0:8e57f3e9cc89	1158	/* As we are in a critical section we can access the ready
rgrover1	0:8e57f3e9cc89	1159	lists even if the scheduler is suspended. */
rgrover1	0:8e57f3e9cc89	1160	( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1161	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	1162
rgrover1	0:8e57f3e9cc89	1163	/* We may have just resumed a higher priority task. */
rgrover1	0:8e57f3e9cc89	1164	if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	1165	{
rgrover1	0:8e57f3e9cc89	1166	/* This yield may not cause the task just resumed to run,
rgrover1	0:8e57f3e9cc89	1167	but will leave the lists in the correct state for the
rgrover1	0:8e57f3e9cc89	1168	next yield. */
rgrover1	0:8e57f3e9cc89	1169	taskYIELD_IF_USING_PREEMPTION();
rgrover1	0:8e57f3e9cc89	1170	}
rgrover1	0:8e57f3e9cc89	1171	}
rgrover1	0:8e57f3e9cc89	1172	}
rgrover1	0:8e57f3e9cc89	1173	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1174	}
rgrover1	0:8e57f3e9cc89	1175	}
rgrover1	0:8e57f3e9cc89	1176
rgrover1	0:8e57f3e9cc89	1177	#endif /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	1178
rgrover1	0:8e57f3e9cc89	1179	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1180
rgrover1	0:8e57f3e9cc89	1181	#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
rgrover1	0:8e57f3e9cc89	1182
rgrover1	0:8e57f3e9cc89	1183	portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
rgrover1	0:8e57f3e9cc89	1184	{
rgrover1	0:8e57f3e9cc89	1185	portBASE_TYPE xYieldRequired = pdFALSE;
rgrover1	0:8e57f3e9cc89	1186	tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
rgrover1	0:8e57f3e9cc89	1187	unsigned portBASE_TYPE uxSavedInterruptStatus;
rgrover1	0:8e57f3e9cc89	1188
rgrover1	0:8e57f3e9cc89	1189	configASSERT( xTaskToResume );
rgrover1	0:8e57f3e9cc89	1190
rgrover1	0:8e57f3e9cc89	1191	/* RTOS ports that support interrupt nesting have the concept of a
rgrover1	0:8e57f3e9cc89	1192	maximum system call (or maximum API call) interrupt priority.
rgrover1	0:8e57f3e9cc89	1193	Interrupts that are above the maximum system call priority are keep
rgrover1	0:8e57f3e9cc89	1194	permanently enabled, even when the RTOS kernel is in a critical section,
rgrover1	0:8e57f3e9cc89	1195	but cannot make any calls to FreeRTOS API functions. If configASSERT()
rgrover1	0:8e57f3e9cc89	1196	is defined in FreeRTOSConfig.h then
rgrover1	0:8e57f3e9cc89	1197	portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
rgrover1	0:8e57f3e9cc89	1198	failure if a FreeRTOS API function is called from an interrupt that has
rgrover1	0:8e57f3e9cc89	1199	been assigned a priority above the configured maximum system call
rgrover1	0:8e57f3e9cc89	1200	priority. Only FreeRTOS functions that end in FromISR can be called
rgrover1	0:8e57f3e9cc89	1201	from interrupts that have been assigned a priority at or (logically)
rgrover1	0:8e57f3e9cc89	1202	below the maximum system call interrupt priority. FreeRTOS maintains a
rgrover1	0:8e57f3e9cc89	1203	separate interrupt safe API to ensure interrupt entry is as fast and as
rgrover1	0:8e57f3e9cc89	1204	simple as possible. More information (albeit Cortex-M specific) is
rgrover1	0:8e57f3e9cc89	1205	provided on the following link:
rgrover1	0:8e57f3e9cc89	1206	http://www.freertos.org/RTOS-Cortex-M3-M4.html */
rgrover1	0:8e57f3e9cc89	1207	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
rgrover1	0:8e57f3e9cc89	1208
rgrover1	0:8e57f3e9cc89	1209	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
rgrover1	0:8e57f3e9cc89	1210	{
rgrover1	0:8e57f3e9cc89	1211	if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
rgrover1	0:8e57f3e9cc89	1212	{
rgrover1	0:8e57f3e9cc89	1213	traceTASK_RESUME_FROM_ISR( pxTCB );
rgrover1	0:8e57f3e9cc89	1214
rgrover1	0:8e57f3e9cc89	1215	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
rgrover1	0:8e57f3e9cc89	1216	{
rgrover1	0:8e57f3e9cc89	1217	if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	1218	{
rgrover1	0:8e57f3e9cc89	1219	xYieldRequired = pdTRUE;
rgrover1	0:8e57f3e9cc89	1220	}
rgrover1	0:8e57f3e9cc89	1221
rgrover1	0:8e57f3e9cc89	1222	( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1223	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	1224	}
rgrover1	0:8e57f3e9cc89	1225	else
rgrover1	0:8e57f3e9cc89	1226	{
rgrover1	0:8e57f3e9cc89	1227	/* We cannot access the delayed or ready lists, so will hold this
rgrover1	0:8e57f3e9cc89	1228	task pending until the scheduler is resumed, at which point a
rgrover1	0:8e57f3e9cc89	1229	yield will be performed if necessary. */
rgrover1	0:8e57f3e9cc89	1230	vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	1231	}
rgrover1	0:8e57f3e9cc89	1232	}
rgrover1	0:8e57f3e9cc89	1233	}
rgrover1	0:8e57f3e9cc89	1234	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
rgrover1	0:8e57f3e9cc89	1235
rgrover1	0:8e57f3e9cc89	1236	return xYieldRequired;
rgrover1	0:8e57f3e9cc89	1237	}
rgrover1	0:8e57f3e9cc89	1238
rgrover1	0:8e57f3e9cc89	1239	#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
rgrover1	0:8e57f3e9cc89	1240	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1241
rgrover1	0:8e57f3e9cc89	1242	void vTaskStartScheduler( void )
rgrover1	0:8e57f3e9cc89	1243	{
rgrover1	0:8e57f3e9cc89	1244	portBASE_TYPE xReturn;
rgrover1	0:8e57f3e9cc89	1245
rgrover1	0:8e57f3e9cc89	1246	/* Add the idle task at the lowest priority. */
rgrover1	0:8e57f3e9cc89	1247	#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
rgrover1	0:8e57f3e9cc89	1248	{
rgrover1	0:8e57f3e9cc89	1249	/* Create the idle task, storing its handle in xIdleTaskHandle so it can
rgrover1	0:8e57f3e9cc89	1250	be returned by the xTaskGetIdleTaskHandle() function. */
rgrover1	0:8e57f3e9cc89	1251	xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY \| portPRIVILEGE_BIT ), &xIdleTaskHandle ); /lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. /
rgrover1	0:8e57f3e9cc89	1252	}
rgrover1	0:8e57f3e9cc89	1253	#else
rgrover1	0:8e57f3e9cc89	1254	{
rgrover1	0:8e57f3e9cc89	1255	/* Create the idle task without storing its handle. */
rgrover1	0:8e57f3e9cc89	1256	xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY \| portPRIVILEGE_BIT ), NULL ); /lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. /
rgrover1	0:8e57f3e9cc89	1257	}
rgrover1	0:8e57f3e9cc89	1258	#endif /* INCLUDE_xTaskGetIdleTaskHandle */
rgrover1	0:8e57f3e9cc89	1259
rgrover1	0:8e57f3e9cc89	1260	#if ( configUSE_TIMERS == 1 )
rgrover1	0:8e57f3e9cc89	1261	{
rgrover1	0:8e57f3e9cc89	1262	if( xReturn == pdPASS )
rgrover1	0:8e57f3e9cc89	1263	{
rgrover1	0:8e57f3e9cc89	1264	xReturn = xTimerCreateTimerTask();
rgrover1	0:8e57f3e9cc89	1265	}
rgrover1	0:8e57f3e9cc89	1266	}
rgrover1	0:8e57f3e9cc89	1267	#endif /* configUSE_TIMERS */
rgrover1	0:8e57f3e9cc89	1268
rgrover1	0:8e57f3e9cc89	1269	if( xReturn == pdPASS )
rgrover1	0:8e57f3e9cc89	1270	{
rgrover1	0:8e57f3e9cc89	1271	/* Interrupts are turned off here, to ensure a tick does not occur
rgrover1	0:8e57f3e9cc89	1272	before or during the call to xPortStartScheduler(). The stacks of
rgrover1	0:8e57f3e9cc89	1273	the created tasks contain a status word with interrupts switched on
rgrover1	0:8e57f3e9cc89	1274	so interrupts will automatically get re-enabled when the first task
rgrover1	0:8e57f3e9cc89	1275	starts to run. */
rgrover1	0:8e57f3e9cc89	1276	portDISABLE_INTERRUPTS();
rgrover1	0:8e57f3e9cc89	1277
rgrover1	0:8e57f3e9cc89	1278	#if ( configUSE_NEWLIB_REENTRANT == 1 )
rgrover1	0:8e57f3e9cc89	1279	{
rgrover1	0:8e57f3e9cc89	1280	/* Switch Newlib's _impure_ptr variable to point to the _reent
rgrover1	0:8e57f3e9cc89	1281	structure specific to the task that will run first. */
rgrover1	0:8e57f3e9cc89	1282	_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
rgrover1	0:8e57f3e9cc89	1283	}
rgrover1	0:8e57f3e9cc89	1284	#endif /* configUSE_NEWLIB_REENTRANT */
rgrover1	0:8e57f3e9cc89	1285
rgrover1	0:8e57f3e9cc89	1286	xSchedulerRunning = pdTRUE;
rgrover1	0:8e57f3e9cc89	1287	xTickCount = ( portTickType ) 0U;
rgrover1	0:8e57f3e9cc89	1288
rgrover1	0:8e57f3e9cc89	1289	/* If configGENERATE_RUN_TIME_STATS is defined then the following
rgrover1	0:8e57f3e9cc89	1290	macro must be defined to configure the timer/counter used to generate
rgrover1	0:8e57f3e9cc89	1291	the run time counter time base. */
rgrover1	0:8e57f3e9cc89	1292	portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
rgrover1	0:8e57f3e9cc89	1293
rgrover1	0:8e57f3e9cc89	1294	/* Setting up the timer tick is hardware specific and thus in the
rgrover1	0:8e57f3e9cc89	1295	portable interface. */
rgrover1	0:8e57f3e9cc89	1296	if( xPortStartScheduler() != pdFALSE )
rgrover1	0:8e57f3e9cc89	1297	{
rgrover1	0:8e57f3e9cc89	1298	/* Should not reach here as if the scheduler is running the
rgrover1	0:8e57f3e9cc89	1299	function will not return. */
rgrover1	0:8e57f3e9cc89	1300	}
rgrover1	0:8e57f3e9cc89	1301	else
rgrover1	0:8e57f3e9cc89	1302	{
rgrover1	0:8e57f3e9cc89	1303	/* Should only reach here if a task calls xTaskEndScheduler(). */
rgrover1	0:8e57f3e9cc89	1304	}
rgrover1	0:8e57f3e9cc89	1305	}
rgrover1	0:8e57f3e9cc89	1306	else
rgrover1	0:8e57f3e9cc89	1307	{
rgrover1	0:8e57f3e9cc89	1308	/* This line will only be reached if the kernel could not be started,
rgrover1	0:8e57f3e9cc89	1309	because there was not enough FreeRTOS heap to create the idle task
rgrover1	0:8e57f3e9cc89	1310	or the timer task. */
rgrover1	0:8e57f3e9cc89	1311	configASSERT( xReturn );
rgrover1	0:8e57f3e9cc89	1312	}
rgrover1	0:8e57f3e9cc89	1313	}
rgrover1	0:8e57f3e9cc89	1314	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1315
rgrover1	0:8e57f3e9cc89	1316	void vTaskEndScheduler( void )
rgrover1	0:8e57f3e9cc89	1317	{
rgrover1	0:8e57f3e9cc89	1318	/* Stop the scheduler interrupts and call the portable scheduler end
rgrover1	0:8e57f3e9cc89	1319	routine so the original ISRs can be restored if necessary. The port
rgrover1	0:8e57f3e9cc89	1320	layer must ensure interrupts enable bit is left in the correct state. */
rgrover1	0:8e57f3e9cc89	1321	portDISABLE_INTERRUPTS();
rgrover1	0:8e57f3e9cc89	1322	xSchedulerRunning = pdFALSE;
rgrover1	0:8e57f3e9cc89	1323	vPortEndScheduler();
rgrover1	0:8e57f3e9cc89	1324	}
rgrover1	0:8e57f3e9cc89	1325	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1326
rgrover1	0:8e57f3e9cc89	1327	void vTaskSuspendAll( void )
rgrover1	0:8e57f3e9cc89	1328	{
rgrover1	0:8e57f3e9cc89	1329	/* A critical section is not required as the variable is of type
rgrover1	0:8e57f3e9cc89	1330	portBASE_TYPE. */
rgrover1	0:8e57f3e9cc89	1331	++uxSchedulerSuspended;
rgrover1	0:8e57f3e9cc89	1332	}
rgrover1	0:8e57f3e9cc89	1333	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1334
rgrover1	0:8e57f3e9cc89	1335	#if ( configUSE_TICKLESS_IDLE != 0 )
rgrover1	0:8e57f3e9cc89	1336
rgrover1	0:8e57f3e9cc89	1337	static portTickType prvGetExpectedIdleTime( void )
rgrover1	0:8e57f3e9cc89	1338	{
rgrover1	0:8e57f3e9cc89	1339	portTickType xReturn;
rgrover1	0:8e57f3e9cc89	1340
rgrover1	0:8e57f3e9cc89	1341	if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
rgrover1	0:8e57f3e9cc89	1342	{
rgrover1	0:8e57f3e9cc89	1343	xReturn = 0;
rgrover1	0:8e57f3e9cc89	1344	}
rgrover1	0:8e57f3e9cc89	1345	else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
rgrover1	0:8e57f3e9cc89	1346	{
rgrover1	0:8e57f3e9cc89	1347	/* There are other idle priority tasks in the ready state. If
rgrover1	0:8e57f3e9cc89	1348	time slicing is used then the very next tick interrupt must be
rgrover1	0:8e57f3e9cc89	1349	processed. */
rgrover1	0:8e57f3e9cc89	1350	xReturn = 0;
rgrover1	0:8e57f3e9cc89	1351	}
rgrover1	0:8e57f3e9cc89	1352	else
rgrover1	0:8e57f3e9cc89	1353	{
rgrover1	0:8e57f3e9cc89	1354	xReturn = xNextTaskUnblockTime - xTickCount;
rgrover1	0:8e57f3e9cc89	1355	}
rgrover1	0:8e57f3e9cc89	1356
rgrover1	0:8e57f3e9cc89	1357	return xReturn;
rgrover1	0:8e57f3e9cc89	1358	}
rgrover1	0:8e57f3e9cc89	1359
rgrover1	0:8e57f3e9cc89	1360	#endif /* configUSE_TICKLESS_IDLE */
rgrover1	0:8e57f3e9cc89	1361	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1362
rgrover1	0:8e57f3e9cc89	1363	signed portBASE_TYPE xTaskResumeAll( void )
rgrover1	0:8e57f3e9cc89	1364	{
rgrover1	0:8e57f3e9cc89	1365	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	1366	portBASE_TYPE xAlreadyYielded = pdFALSE;
rgrover1	0:8e57f3e9cc89	1367
rgrover1	0:8e57f3e9cc89	1368	/* If uxSchedulerSuspended is zero then this function does not match a
rgrover1	0:8e57f3e9cc89	1369	previous call to vTaskSuspendAll(). */
rgrover1	0:8e57f3e9cc89	1370	configASSERT( uxSchedulerSuspended );
rgrover1	0:8e57f3e9cc89	1371
rgrover1	0:8e57f3e9cc89	1372	/* It is possible that an ISR caused a task to be removed from an event
rgrover1	0:8e57f3e9cc89	1373	list while the scheduler was suspended. If this was the case then the
rgrover1	0:8e57f3e9cc89	1374	removed task will have been added to the xPendingReadyList. Once the
rgrover1	0:8e57f3e9cc89	1375	scheduler has been resumed it is safe to move all the pending ready
rgrover1	0:8e57f3e9cc89	1376	tasks from this list into their appropriate ready list. */
rgrover1	0:8e57f3e9cc89	1377	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	1378	{
rgrover1	0:8e57f3e9cc89	1379	--uxSchedulerSuspended;
rgrover1	0:8e57f3e9cc89	1380
rgrover1	0:8e57f3e9cc89	1381	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
rgrover1	0:8e57f3e9cc89	1382	{
rgrover1	0:8e57f3e9cc89	1383	if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
rgrover1	0:8e57f3e9cc89	1384	{
rgrover1	0:8e57f3e9cc89	1385	/* Move any readied tasks from the pending list into the
rgrover1	0:8e57f3e9cc89	1386	appropriate ready list. */
rgrover1	0:8e57f3e9cc89	1387	while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
rgrover1	0:8e57f3e9cc89	1388	{
rgrover1	0:8e57f3e9cc89	1389	pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
rgrover1	0:8e57f3e9cc89	1390	( void ) uxListRemove( &( pxTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	1391	( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1392	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	1393
rgrover1	0:8e57f3e9cc89	1394	/* If we have moved a task that has a priority higher than
rgrover1	0:8e57f3e9cc89	1395	the current task then we should yield. */
rgrover1	0:8e57f3e9cc89	1396	if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	1397	{
rgrover1	0:8e57f3e9cc89	1398	xYieldPending = pdTRUE;
rgrover1	0:8e57f3e9cc89	1399	}
rgrover1	0:8e57f3e9cc89	1400	}
rgrover1	0:8e57f3e9cc89	1401
rgrover1	0:8e57f3e9cc89	1402	/* If any ticks occurred while the scheduler was suspended then
rgrover1	0:8e57f3e9cc89	1403	they should be processed now. This ensures the tick count does not
rgrover1	0:8e57f3e9cc89	1404	slip, and that any delayed tasks are resumed at the correct time. */
rgrover1	0:8e57f3e9cc89	1405	if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
rgrover1	0:8e57f3e9cc89	1406	{
rgrover1	0:8e57f3e9cc89	1407	while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
rgrover1	0:8e57f3e9cc89	1408	{
rgrover1	0:8e57f3e9cc89	1409	if( xTaskIncrementTick() != pdFALSE )
rgrover1	0:8e57f3e9cc89	1410	{
rgrover1	0:8e57f3e9cc89	1411	xYieldPending = pdTRUE;
rgrover1	0:8e57f3e9cc89	1412	}
rgrover1	0:8e57f3e9cc89	1413	--uxPendedTicks;
rgrover1	0:8e57f3e9cc89	1414	}
rgrover1	0:8e57f3e9cc89	1415	}
rgrover1	0:8e57f3e9cc89	1416
rgrover1	0:8e57f3e9cc89	1417	if( xYieldPending == pdTRUE )
rgrover1	0:8e57f3e9cc89	1418	{
rgrover1	0:8e57f3e9cc89	1419	#if( configUSE_PREEMPTION != 0 )
rgrover1	0:8e57f3e9cc89	1420	{
rgrover1	0:8e57f3e9cc89	1421	xAlreadyYielded = pdTRUE;
rgrover1	0:8e57f3e9cc89	1422	}
rgrover1	0:8e57f3e9cc89	1423	#endif
rgrover1	0:8e57f3e9cc89	1424	taskYIELD_IF_USING_PREEMPTION();
rgrover1	0:8e57f3e9cc89	1425	}
rgrover1	0:8e57f3e9cc89	1426	}
rgrover1	0:8e57f3e9cc89	1427	}
rgrover1	0:8e57f3e9cc89	1428	}
rgrover1	0:8e57f3e9cc89	1429	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1430
rgrover1	0:8e57f3e9cc89	1431	return xAlreadyYielded;
rgrover1	0:8e57f3e9cc89	1432	}
rgrover1	0:8e57f3e9cc89	1433	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1434
rgrover1	0:8e57f3e9cc89	1435	portTickType xTaskGetTickCount( void )
rgrover1	0:8e57f3e9cc89	1436	{
rgrover1	0:8e57f3e9cc89	1437	portTickType xTicks;
rgrover1	0:8e57f3e9cc89	1438
rgrover1	0:8e57f3e9cc89	1439	/* Critical section required if running on a 16 bit processor. */
rgrover1	0:8e57f3e9cc89	1440	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	1441	{
rgrover1	0:8e57f3e9cc89	1442	xTicks = xTickCount;
rgrover1	0:8e57f3e9cc89	1443	}
rgrover1	0:8e57f3e9cc89	1444	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1445
rgrover1	0:8e57f3e9cc89	1446	return xTicks;
rgrover1	0:8e57f3e9cc89	1447	}
rgrover1	0:8e57f3e9cc89	1448	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1449
rgrover1	0:8e57f3e9cc89	1450	portTickType xTaskGetTickCountFromISR( void )
rgrover1	0:8e57f3e9cc89	1451	{
rgrover1	0:8e57f3e9cc89	1452	portTickType xReturn;
rgrover1	0:8e57f3e9cc89	1453	unsigned portBASE_TYPE uxSavedInterruptStatus;
rgrover1	0:8e57f3e9cc89	1454
rgrover1	0:8e57f3e9cc89	1455	/* RTOS ports that support interrupt nesting have the concept of a maximum
rgrover1	0:8e57f3e9cc89	1456	system call (or maximum API call) interrupt priority. Interrupts that are
rgrover1	0:8e57f3e9cc89	1457	above the maximum system call priority are keep permanently enabled, even
rgrover1	0:8e57f3e9cc89	1458	when the RTOS kernel is in a critical section, but cannot make any calls to
rgrover1	0:8e57f3e9cc89	1459	FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
rgrover1	0:8e57f3e9cc89	1460	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
rgrover1	0:8e57f3e9cc89	1461	failure if a FreeRTOS API function is called from an interrupt that has been
rgrover1	0:8e57f3e9cc89	1462	assigned a priority above the configured maximum system call priority.
rgrover1	0:8e57f3e9cc89	1463	Only FreeRTOS functions that end in FromISR can be called from interrupts
rgrover1	0:8e57f3e9cc89	1464	that have been assigned a priority at or (logically) below the maximum
rgrover1	0:8e57f3e9cc89	1465	system call interrupt priority. FreeRTOS maintains a separate interrupt
rgrover1	0:8e57f3e9cc89	1466	safe API to ensure interrupt entry is as fast and as simple as possible.
rgrover1	0:8e57f3e9cc89	1467	More information (albeit Cortex-M specific) is provided on the following
rgrover1	0:8e57f3e9cc89	1468	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
rgrover1	0:8e57f3e9cc89	1469	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
rgrover1	0:8e57f3e9cc89	1470
rgrover1	0:8e57f3e9cc89	1471	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
rgrover1	0:8e57f3e9cc89	1472	xReturn = xTickCount;
rgrover1	0:8e57f3e9cc89	1473	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
rgrover1	0:8e57f3e9cc89	1474
rgrover1	0:8e57f3e9cc89	1475	return xReturn;
rgrover1	0:8e57f3e9cc89	1476	}
rgrover1	0:8e57f3e9cc89	1477	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1478
rgrover1	0:8e57f3e9cc89	1479	unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
rgrover1	0:8e57f3e9cc89	1480	{
rgrover1	0:8e57f3e9cc89	1481	/* A critical section is not required because the variables are of type
rgrover1	0:8e57f3e9cc89	1482	portBASE_TYPE. */
rgrover1	0:8e57f3e9cc89	1483	return uxCurrentNumberOfTasks;
rgrover1	0:8e57f3e9cc89	1484	}
rgrover1	0:8e57f3e9cc89	1485	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1486
rgrover1	0:8e57f3e9cc89	1487	#if ( INCLUDE_pcTaskGetTaskName == 1 )
rgrover1	0:8e57f3e9cc89	1488
rgrover1	0:8e57f3e9cc89	1489	signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
rgrover1	0:8e57f3e9cc89	1490	{
rgrover1	0:8e57f3e9cc89	1491	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	1492
rgrover1	0:8e57f3e9cc89	1493	/* If null is passed in here then the name of the calling task is being queried. */
rgrover1	0:8e57f3e9cc89	1494	pxTCB = prvGetTCBFromHandle( xTaskToQuery );
rgrover1	0:8e57f3e9cc89	1495	configASSERT( pxTCB );
rgrover1	0:8e57f3e9cc89	1496	return &( pxTCB->pcTaskName[ 0 ] );
rgrover1	0:8e57f3e9cc89	1497	}
rgrover1	0:8e57f3e9cc89	1498
rgrover1	0:8e57f3e9cc89	1499	#endif /* INCLUDE_pcTaskGetTaskName */
rgrover1	0:8e57f3e9cc89	1500	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1501
rgrover1	0:8e57f3e9cc89	1502	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	1503
rgrover1	0:8e57f3e9cc89	1504	unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long pulTotalRunTime )
rgrover1	0:8e57f3e9cc89	1505	{
rgrover1	0:8e57f3e9cc89	1506	unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
rgrover1	0:8e57f3e9cc89	1507
rgrover1	0:8e57f3e9cc89	1508	vTaskSuspendAll();
rgrover1	0:8e57f3e9cc89	1509	{
rgrover1	0:8e57f3e9cc89	1510	/* Is there a space in the array for each task in the system? */
rgrover1	0:8e57f3e9cc89	1511	if( uxArraySize >= uxCurrentNumberOfTasks )
rgrover1	0:8e57f3e9cc89	1512	{
rgrover1	0:8e57f3e9cc89	1513	/* Fill in an xTaskStatusType structure with information on each
rgrover1	0:8e57f3e9cc89	1514	task in the Ready state. */
rgrover1	0:8e57f3e9cc89	1515	do
rgrover1	0:8e57f3e9cc89	1516	{
rgrover1	0:8e57f3e9cc89	1517	uxQueue--;
rgrover1	0:8e57f3e9cc89	1518	uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
rgrover1	0:8e57f3e9cc89	1519
rgrover1	0:8e57f3e9cc89	1520	} while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /lint !e961 MISRA exception as the casts are only redundant for some ports. /
rgrover1	0:8e57f3e9cc89	1521
rgrover1	0:8e57f3e9cc89	1522	/* Fill in an xTaskStatusType structure with information on each
rgrover1	0:8e57f3e9cc89	1523	task in the Blocked state. */
rgrover1	0:8e57f3e9cc89	1524	uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
rgrover1	0:8e57f3e9cc89	1525	uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
rgrover1	0:8e57f3e9cc89	1526
rgrover1	0:8e57f3e9cc89	1527	#if( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	1528	{
rgrover1	0:8e57f3e9cc89	1529	/* Fill in an xTaskStatusType structure with information on
rgrover1	0:8e57f3e9cc89	1530	each task that has been deleted but not yet cleaned up. */
rgrover1	0:8e57f3e9cc89	1531	uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
rgrover1	0:8e57f3e9cc89	1532	}
rgrover1	0:8e57f3e9cc89	1533	#endif
rgrover1	0:8e57f3e9cc89	1534
rgrover1	0:8e57f3e9cc89	1535	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	1536	{
rgrover1	0:8e57f3e9cc89	1537	/* Fill in an xTaskStatusType structure with information on
rgrover1	0:8e57f3e9cc89	1538	each task in the Suspended state. */
rgrover1	0:8e57f3e9cc89	1539	uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
rgrover1	0:8e57f3e9cc89	1540	}
rgrover1	0:8e57f3e9cc89	1541	#endif
rgrover1	0:8e57f3e9cc89	1542
rgrover1	0:8e57f3e9cc89	1543	#if ( configGENERATE_RUN_TIME_STATS == 1)
rgrover1	0:8e57f3e9cc89	1544	{
rgrover1	0:8e57f3e9cc89	1545	if( pulTotalRunTime != NULL )
rgrover1	0:8e57f3e9cc89	1546	{
rgrover1	0:8e57f3e9cc89	1547	#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
rgrover1	0:8e57f3e9cc89	1548	portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
rgrover1	0:8e57f3e9cc89	1549	#else
rgrover1	0:8e57f3e9cc89	1550	*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
rgrover1	0:8e57f3e9cc89	1551	#endif
rgrover1	0:8e57f3e9cc89	1552	}
rgrover1	0:8e57f3e9cc89	1553	}
rgrover1	0:8e57f3e9cc89	1554	#else
rgrover1	0:8e57f3e9cc89	1555	{
rgrover1	0:8e57f3e9cc89	1556	if( pulTotalRunTime != NULL )
rgrover1	0:8e57f3e9cc89	1557	{
rgrover1	0:8e57f3e9cc89	1558	*pulTotalRunTime = 0;
rgrover1	0:8e57f3e9cc89	1559	}
rgrover1	0:8e57f3e9cc89	1560	}
rgrover1	0:8e57f3e9cc89	1561	#endif
rgrover1	0:8e57f3e9cc89	1562	}
rgrover1	0:8e57f3e9cc89	1563	}
rgrover1	0:8e57f3e9cc89	1564	( void ) xTaskResumeAll();
rgrover1	0:8e57f3e9cc89	1565
rgrover1	0:8e57f3e9cc89	1566	return uxTask;
rgrover1	0:8e57f3e9cc89	1567	}
rgrover1	0:8e57f3e9cc89	1568
rgrover1	0:8e57f3e9cc89	1569	#endif /* configUSE_TRACE_FACILITY */
rgrover1	0:8e57f3e9cc89	1570	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1571
rgrover1	0:8e57f3e9cc89	1572	#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
rgrover1	0:8e57f3e9cc89	1573
rgrover1	0:8e57f3e9cc89	1574	xTaskHandle xTaskGetIdleTaskHandle( void )
rgrover1	0:8e57f3e9cc89	1575	{
rgrover1	0:8e57f3e9cc89	1576	/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
rgrover1	0:8e57f3e9cc89	1577	started, then xIdleTaskHandle will be NULL. */
rgrover1	0:8e57f3e9cc89	1578	configASSERT( ( xIdleTaskHandle != NULL ) );
rgrover1	0:8e57f3e9cc89	1579	return xIdleTaskHandle;
rgrover1	0:8e57f3e9cc89	1580	}
rgrover1	0:8e57f3e9cc89	1581
rgrover1	0:8e57f3e9cc89	1582	#endif /* INCLUDE_xTaskGetIdleTaskHandle */
rgrover1	0:8e57f3e9cc89	1583	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1584
rgrover1	0:8e57f3e9cc89	1585	/* This conditional compilation should use inequality to 0, not equality to 1.
rgrover1	0:8e57f3e9cc89	1586	This is to ensure vTaskStepTick() is available when user defined low power mode
rgrover1	0:8e57f3e9cc89	1587	implementations require configUSE_TICKLESS_IDLE to be set to a value other than
rgrover1	0:8e57f3e9cc89	1588	1. */
rgrover1	0:8e57f3e9cc89	1589	#if ( configUSE_TICKLESS_IDLE != 0 )
rgrover1	0:8e57f3e9cc89	1590
rgrover1	0:8e57f3e9cc89	1591	void vTaskStepTick( portTickType xTicksToJump )
rgrover1	0:8e57f3e9cc89	1592	{
rgrover1	0:8e57f3e9cc89	1593	/* Correct the tick count value after a period during which the tick
rgrover1	0:8e57f3e9cc89	1594	was suppressed. Note this does not call the tick hook function for
rgrover1	0:8e57f3e9cc89	1595	each stepped tick. */
rgrover1	0:8e57f3e9cc89	1596	configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
rgrover1	0:8e57f3e9cc89	1597	xTickCount += xTicksToJump;
rgrover1	0:8e57f3e9cc89	1598	traceINCREASE_TICK_COUNT( xTicksToJump );
rgrover1	0:8e57f3e9cc89	1599	}
rgrover1	0:8e57f3e9cc89	1600
rgrover1	0:8e57f3e9cc89	1601	#endif /* configUSE_TICKLESS_IDLE */
rgrover1	0:8e57f3e9cc89	1602	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1603
rgrover1	0:8e57f3e9cc89	1604	portBASE_TYPE xTaskIncrementTick( void )
rgrover1	0:8e57f3e9cc89	1605	{
rgrover1	0:8e57f3e9cc89	1606	tskTCB * pxTCB;
rgrover1	0:8e57f3e9cc89	1607	portTickType xItemValue;
rgrover1	0:8e57f3e9cc89	1608	portBASE_TYPE xSwitchRequired = pdFALSE;
rgrover1	0:8e57f3e9cc89	1609
rgrover1	0:8e57f3e9cc89	1610	/* Called by the portable layer each time a tick interrupt occurs.
rgrover1	0:8e57f3e9cc89	1611	Increments the tick then checks to see if the new tick value will cause any
rgrover1	0:8e57f3e9cc89	1612	tasks to be unblocked. */
rgrover1	0:8e57f3e9cc89	1613	traceTASK_INCREMENT_TICK( xTickCount );
rgrover1	0:8e57f3e9cc89	1614	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
rgrover1	0:8e57f3e9cc89	1615	{
rgrover1	0:8e57f3e9cc89	1616	/* Increment the RTOS tick, switching the delayed and overflowed
rgrover1	0:8e57f3e9cc89	1617	delayed lists if it wraps to 0. */
rgrover1	0:8e57f3e9cc89	1618	++xTickCount;
rgrover1	0:8e57f3e9cc89	1619
rgrover1	0:8e57f3e9cc89	1620	{
rgrover1	0:8e57f3e9cc89	1621	/* Minor optimisation. The tick count cannot change in this
rgrover1	0:8e57f3e9cc89	1622	block. */
rgrover1	0:8e57f3e9cc89	1623	const portTickType xConstTickCount = xTickCount;
rgrover1	0:8e57f3e9cc89	1624
rgrover1	0:8e57f3e9cc89	1625	if( xConstTickCount == ( portTickType ) 0U )
rgrover1	0:8e57f3e9cc89	1626	{
rgrover1	0:8e57f3e9cc89	1627	taskSWITCH_DELAYED_LISTS();
rgrover1	0:8e57f3e9cc89	1628	}
rgrover1	0:8e57f3e9cc89	1629
rgrover1	0:8e57f3e9cc89	1630	/* See if this tick has made a timeout expire. Tasks are stored in the
rgrover1	0:8e57f3e9cc89	1631	queue in the order of their wake time - meaning once one tasks has been
rgrover1	0:8e57f3e9cc89	1632	found whose block time has not expired there is no need not look any
rgrover1	0:8e57f3e9cc89	1633	further down the list. */
rgrover1	0:8e57f3e9cc89	1634	if( xConstTickCount >= xNextTaskUnblockTime )
rgrover1	0:8e57f3e9cc89	1635	{
rgrover1	0:8e57f3e9cc89	1636	for( ;; )
rgrover1	0:8e57f3e9cc89	1637	{
rgrover1	0:8e57f3e9cc89	1638	if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
rgrover1	0:8e57f3e9cc89	1639	{
rgrover1	0:8e57f3e9cc89	1640	/* The delayed list is empty. Set xNextTaskUnblockTime to
rgrover1	0:8e57f3e9cc89	1641	the maximum possible value so it is extremely unlikely that
rgrover1	0:8e57f3e9cc89	1642	the if( xTickCount >= xNextTaskUnblockTime ) test will pass
rgrover1	0:8e57f3e9cc89	1643	next time through. */
rgrover1	0:8e57f3e9cc89	1644	xNextTaskUnblockTime = portMAX_DELAY;
rgrover1	0:8e57f3e9cc89	1645	break;
rgrover1	0:8e57f3e9cc89	1646	}
rgrover1	0:8e57f3e9cc89	1647	else
rgrover1	0:8e57f3e9cc89	1648	{
rgrover1	0:8e57f3e9cc89	1649	/* The delayed list is not empty, get the value of the item
rgrover1	0:8e57f3e9cc89	1650	at the head of the delayed list. This is the time at which
rgrover1	0:8e57f3e9cc89	1651	the task at the head of the delayed list must be removed
rgrover1	0:8e57f3e9cc89	1652	from the Blocked state. */
rgrover1	0:8e57f3e9cc89	1653	pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
rgrover1	0:8e57f3e9cc89	1654	xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1655
rgrover1	0:8e57f3e9cc89	1656	if( xConstTickCount < xItemValue )
rgrover1	0:8e57f3e9cc89	1657	{
rgrover1	0:8e57f3e9cc89	1658	/* It is not time to unblock this item yet, but the item
rgrover1	0:8e57f3e9cc89	1659	value is the time at which the task at the head of the
rgrover1	0:8e57f3e9cc89	1660	blocked list must be removed from the Blocked state -
rgrover1	0:8e57f3e9cc89	1661	so record the item value in xNextTaskUnblockTime. */
rgrover1	0:8e57f3e9cc89	1662	xNextTaskUnblockTime = xItemValue;
rgrover1	0:8e57f3e9cc89	1663	break;
rgrover1	0:8e57f3e9cc89	1664	}
rgrover1	0:8e57f3e9cc89	1665
rgrover1	0:8e57f3e9cc89	1666	/* It is time to remove the item from the Blocked state. */
rgrover1	0:8e57f3e9cc89	1667	( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1668
rgrover1	0:8e57f3e9cc89	1669	/* Is the task waiting on an event also? If so remove it
rgrover1	0:8e57f3e9cc89	1670	from the event list. */
rgrover1	0:8e57f3e9cc89	1671	if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
rgrover1	0:8e57f3e9cc89	1672	{
rgrover1	0:8e57f3e9cc89	1673	( void ) uxListRemove( &( pxTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	1674	}
rgrover1	0:8e57f3e9cc89	1675
rgrover1	0:8e57f3e9cc89	1676	/* Place the unblocked task into the appropriate ready
rgrover1	0:8e57f3e9cc89	1677	list. */
rgrover1	0:8e57f3e9cc89	1678	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	1679
rgrover1	0:8e57f3e9cc89	1680	/* A task being unblocked cannot cause an immediate context
rgrover1	0:8e57f3e9cc89	1681	switch if preemption is turned off. */
rgrover1	0:8e57f3e9cc89	1682	#if ( configUSE_PREEMPTION == 1 )
rgrover1	0:8e57f3e9cc89	1683	{
rgrover1	0:8e57f3e9cc89	1684	/* Preemption is on, but a context switch should only
rgrover1	0:8e57f3e9cc89	1685	be performed if the unblocked task has a priority that
rgrover1	0:8e57f3e9cc89	1686	is equal to or higher than the currently executing
rgrover1	0:8e57f3e9cc89	1687	task. */
rgrover1	0:8e57f3e9cc89	1688	if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	1689	{
rgrover1	0:8e57f3e9cc89	1690	xSwitchRequired = pdTRUE;
rgrover1	0:8e57f3e9cc89	1691	}
rgrover1	0:8e57f3e9cc89	1692	}
rgrover1	0:8e57f3e9cc89	1693	#endif /* configUSE_PREEMPTION */
rgrover1	0:8e57f3e9cc89	1694	}
rgrover1	0:8e57f3e9cc89	1695	}
rgrover1	0:8e57f3e9cc89	1696	}
rgrover1	0:8e57f3e9cc89	1697	}
rgrover1	0:8e57f3e9cc89	1698
rgrover1	0:8e57f3e9cc89	1699	/* Tasks of equal priority to the currently running task will share
rgrover1	0:8e57f3e9cc89	1700	processing time (time slice) if preemption is on, and the application
rgrover1	0:8e57f3e9cc89	1701	writer has not explicitly turned time slicing off. */
rgrover1	0:8e57f3e9cc89	1702	#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
rgrover1	0:8e57f3e9cc89	1703	{
rgrover1	0:8e57f3e9cc89	1704	if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
rgrover1	0:8e57f3e9cc89	1705	{
rgrover1	0:8e57f3e9cc89	1706	xSwitchRequired = pdTRUE;
rgrover1	0:8e57f3e9cc89	1707	}
rgrover1	0:8e57f3e9cc89	1708	}
rgrover1	0:8e57f3e9cc89	1709	#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
rgrover1	0:8e57f3e9cc89	1710
rgrover1	0:8e57f3e9cc89	1711	#if ( configUSE_TICK_HOOK == 1 )
rgrover1	0:8e57f3e9cc89	1712	{
rgrover1	0:8e57f3e9cc89	1713	/* Guard against the tick hook being called when the pended tick
rgrover1	0:8e57f3e9cc89	1714	count is being unwound (when the scheduler is being unlocked). */
rgrover1	0:8e57f3e9cc89	1715	if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
rgrover1	0:8e57f3e9cc89	1716	{
rgrover1	0:8e57f3e9cc89	1717	vApplicationTickHook();
rgrover1	0:8e57f3e9cc89	1718	}
rgrover1	0:8e57f3e9cc89	1719	}
rgrover1	0:8e57f3e9cc89	1720	#endif /* configUSE_TICK_HOOK */
rgrover1	0:8e57f3e9cc89	1721	}
rgrover1	0:8e57f3e9cc89	1722	else
rgrover1	0:8e57f3e9cc89	1723	{
rgrover1	0:8e57f3e9cc89	1724	++uxPendedTicks;
rgrover1	0:8e57f3e9cc89	1725
rgrover1	0:8e57f3e9cc89	1726	/* The tick hook gets called at regular intervals, even if the
rgrover1	0:8e57f3e9cc89	1727	scheduler is locked. */
rgrover1	0:8e57f3e9cc89	1728	#if ( configUSE_TICK_HOOK == 1 )
rgrover1	0:8e57f3e9cc89	1729	{
rgrover1	0:8e57f3e9cc89	1730	vApplicationTickHook();
rgrover1	0:8e57f3e9cc89	1731	}
rgrover1	0:8e57f3e9cc89	1732	#endif
rgrover1	0:8e57f3e9cc89	1733	}
rgrover1	0:8e57f3e9cc89	1734
rgrover1	0:8e57f3e9cc89	1735	#if ( configUSE_PREEMPTION == 1 )
rgrover1	0:8e57f3e9cc89	1736	{
rgrover1	0:8e57f3e9cc89	1737	if( xYieldPending != pdFALSE )
rgrover1	0:8e57f3e9cc89	1738	{
rgrover1	0:8e57f3e9cc89	1739	xSwitchRequired = pdTRUE;
rgrover1	0:8e57f3e9cc89	1740	}
rgrover1	0:8e57f3e9cc89	1741	}
rgrover1	0:8e57f3e9cc89	1742	#endif /* configUSE_PREEMPTION */
rgrover1	0:8e57f3e9cc89	1743
rgrover1	0:8e57f3e9cc89	1744	return xSwitchRequired;
rgrover1	0:8e57f3e9cc89	1745	}
rgrover1	0:8e57f3e9cc89	1746	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1747
rgrover1	0:8e57f3e9cc89	1748	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
rgrover1	0:8e57f3e9cc89	1749
rgrover1	0:8e57f3e9cc89	1750	void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
rgrover1	0:8e57f3e9cc89	1751	{
rgrover1	0:8e57f3e9cc89	1752	tskTCB *xTCB;
rgrover1	0:8e57f3e9cc89	1753
rgrover1	0:8e57f3e9cc89	1754	/* If xTask is NULL then we are setting our own task hook. */
rgrover1	0:8e57f3e9cc89	1755	if( xTask == NULL )
rgrover1	0:8e57f3e9cc89	1756	{
rgrover1	0:8e57f3e9cc89	1757	xTCB = ( tskTCB * ) pxCurrentTCB;
rgrover1	0:8e57f3e9cc89	1758	}
rgrover1	0:8e57f3e9cc89	1759	else
rgrover1	0:8e57f3e9cc89	1760	{
rgrover1	0:8e57f3e9cc89	1761	xTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	1762	}
rgrover1	0:8e57f3e9cc89	1763
rgrover1	0:8e57f3e9cc89	1764	/* Save the hook function in the TCB. A critical section is required as
rgrover1	0:8e57f3e9cc89	1765	the value can be accessed from an interrupt. */
rgrover1	0:8e57f3e9cc89	1766	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	1767	xTCB->pxTaskTag = pxHookFunction;
rgrover1	0:8e57f3e9cc89	1768	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1769	}
rgrover1	0:8e57f3e9cc89	1770
rgrover1	0:8e57f3e9cc89	1771	#endif /* configUSE_APPLICATION_TASK_TAG */
rgrover1	0:8e57f3e9cc89	1772	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1773
rgrover1	0:8e57f3e9cc89	1774	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
rgrover1	0:8e57f3e9cc89	1775
rgrover1	0:8e57f3e9cc89	1776	pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
rgrover1	0:8e57f3e9cc89	1777	{
rgrover1	0:8e57f3e9cc89	1778	tskTCB *xTCB;
rgrover1	0:8e57f3e9cc89	1779	pdTASK_HOOK_CODE xReturn;
rgrover1	0:8e57f3e9cc89	1780
rgrover1	0:8e57f3e9cc89	1781	/* If xTask is NULL then we are setting our own task hook. */
rgrover1	0:8e57f3e9cc89	1782	if( xTask == NULL )
rgrover1	0:8e57f3e9cc89	1783	{
rgrover1	0:8e57f3e9cc89	1784	xTCB = ( tskTCB * ) pxCurrentTCB;
rgrover1	0:8e57f3e9cc89	1785	}
rgrover1	0:8e57f3e9cc89	1786	else
rgrover1	0:8e57f3e9cc89	1787	{
rgrover1	0:8e57f3e9cc89	1788	xTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	1789	}
rgrover1	0:8e57f3e9cc89	1790
rgrover1	0:8e57f3e9cc89	1791	/* Save the hook function in the TCB. A critical section is required as
rgrover1	0:8e57f3e9cc89	1792	the value can be accessed from an interrupt. */
rgrover1	0:8e57f3e9cc89	1793	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	1794	xReturn = xTCB->pxTaskTag;
rgrover1	0:8e57f3e9cc89	1795	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	1796
rgrover1	0:8e57f3e9cc89	1797	return xReturn;
rgrover1	0:8e57f3e9cc89	1798	}
rgrover1	0:8e57f3e9cc89	1799
rgrover1	0:8e57f3e9cc89	1800	#endif /* configUSE_APPLICATION_TASK_TAG */
rgrover1	0:8e57f3e9cc89	1801	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1802
rgrover1	0:8e57f3e9cc89	1803	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
rgrover1	0:8e57f3e9cc89	1804
rgrover1	0:8e57f3e9cc89	1805	portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
rgrover1	0:8e57f3e9cc89	1806	{
rgrover1	0:8e57f3e9cc89	1807	tskTCB *xTCB;
rgrover1	0:8e57f3e9cc89	1808	portBASE_TYPE xReturn;
rgrover1	0:8e57f3e9cc89	1809
rgrover1	0:8e57f3e9cc89	1810	/* If xTask is NULL then we are calling our own task hook. */
rgrover1	0:8e57f3e9cc89	1811	if( xTask == NULL )
rgrover1	0:8e57f3e9cc89	1812	{
rgrover1	0:8e57f3e9cc89	1813	xTCB = ( tskTCB * ) pxCurrentTCB;
rgrover1	0:8e57f3e9cc89	1814	}
rgrover1	0:8e57f3e9cc89	1815	else
rgrover1	0:8e57f3e9cc89	1816	{
rgrover1	0:8e57f3e9cc89	1817	xTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	1818	}
rgrover1	0:8e57f3e9cc89	1819
rgrover1	0:8e57f3e9cc89	1820	if( xTCB->pxTaskTag != NULL )
rgrover1	0:8e57f3e9cc89	1821	{
rgrover1	0:8e57f3e9cc89	1822	xReturn = xTCB->pxTaskTag( pvParameter );
rgrover1	0:8e57f3e9cc89	1823	}
rgrover1	0:8e57f3e9cc89	1824	else
rgrover1	0:8e57f3e9cc89	1825	{
rgrover1	0:8e57f3e9cc89	1826	xReturn = pdFAIL;
rgrover1	0:8e57f3e9cc89	1827	}
rgrover1	0:8e57f3e9cc89	1828
rgrover1	0:8e57f3e9cc89	1829	return xReturn;
rgrover1	0:8e57f3e9cc89	1830	}
rgrover1	0:8e57f3e9cc89	1831
rgrover1	0:8e57f3e9cc89	1832	#endif /* configUSE_APPLICATION_TASK_TAG */
rgrover1	0:8e57f3e9cc89	1833	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1834
rgrover1	0:8e57f3e9cc89	1835	void vTaskSwitchContext( void )
rgrover1	0:8e57f3e9cc89	1836	{
rgrover1	0:8e57f3e9cc89	1837	if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
rgrover1	0:8e57f3e9cc89	1838	{
rgrover1	0:8e57f3e9cc89	1839	/* The scheduler is currently suspended - do not allow a context
rgrover1	0:8e57f3e9cc89	1840	switch. */
rgrover1	0:8e57f3e9cc89	1841	xYieldPending = pdTRUE;
rgrover1	0:8e57f3e9cc89	1842	}
rgrover1	0:8e57f3e9cc89	1843	else
rgrover1	0:8e57f3e9cc89	1844	{
rgrover1	0:8e57f3e9cc89	1845	xYieldPending = pdFALSE;
rgrover1	0:8e57f3e9cc89	1846	traceTASK_SWITCHED_OUT();
rgrover1	0:8e57f3e9cc89	1847
rgrover1	0:8e57f3e9cc89	1848	#if ( configGENERATE_RUN_TIME_STATS == 1 )
rgrover1	0:8e57f3e9cc89	1849	{
rgrover1	0:8e57f3e9cc89	1850	#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
rgrover1	0:8e57f3e9cc89	1851	portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
rgrover1	0:8e57f3e9cc89	1852	#else
rgrover1	0:8e57f3e9cc89	1853	ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
rgrover1	0:8e57f3e9cc89	1854	#endif
rgrover1	0:8e57f3e9cc89	1855
rgrover1	0:8e57f3e9cc89	1856	/* Add the amount of time the task has been running to the
rgrover1	0:8e57f3e9cc89	1857	accumulated time so far. The time the task started running was
rgrover1	0:8e57f3e9cc89	1858	stored in ulTaskSwitchedInTime. Note that there is no overflow
rgrover1	0:8e57f3e9cc89	1859	protection here so count values are only valid until the timer
rgrover1	0:8e57f3e9cc89	1860	overflows. The guard against negative values is to protect
rgrover1	0:8e57f3e9cc89	1861	against suspect run time stat counter implementations - which
rgrover1	0:8e57f3e9cc89	1862	are provided by the application, not the kernel. */
rgrover1	0:8e57f3e9cc89	1863	if( ulTotalRunTime > ulTaskSwitchedInTime )
rgrover1	0:8e57f3e9cc89	1864	{
rgrover1	0:8e57f3e9cc89	1865	pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
rgrover1	0:8e57f3e9cc89	1866	}
rgrover1	0:8e57f3e9cc89	1867	ulTaskSwitchedInTime = ulTotalRunTime;
rgrover1	0:8e57f3e9cc89	1868	}
rgrover1	0:8e57f3e9cc89	1869	#endif /* configGENERATE_RUN_TIME_STATS */
rgrover1	0:8e57f3e9cc89	1870
rgrover1	0:8e57f3e9cc89	1871	taskFIRST_CHECK_FOR_STACK_OVERFLOW();
rgrover1	0:8e57f3e9cc89	1872	taskSECOND_CHECK_FOR_STACK_OVERFLOW();
rgrover1	0:8e57f3e9cc89	1873
rgrover1	0:8e57f3e9cc89	1874	taskSELECT_HIGHEST_PRIORITY_TASK();
rgrover1	0:8e57f3e9cc89	1875
rgrover1	0:8e57f3e9cc89	1876	traceTASK_SWITCHED_IN();
rgrover1	0:8e57f3e9cc89	1877
rgrover1	0:8e57f3e9cc89	1878	#if ( configUSE_NEWLIB_REENTRANT == 1 )
rgrover1	0:8e57f3e9cc89	1879	{
rgrover1	0:8e57f3e9cc89	1880	/* Switch Newlib's _impure_ptr variable to point to the _reent
rgrover1	0:8e57f3e9cc89	1881	structure specific to this task. */
rgrover1	0:8e57f3e9cc89	1882	_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
rgrover1	0:8e57f3e9cc89	1883	}
rgrover1	0:8e57f3e9cc89	1884	#endif /* configUSE_NEWLIB_REENTRANT */
rgrover1	0:8e57f3e9cc89	1885	}
rgrover1	0:8e57f3e9cc89	1886	}
rgrover1	0:8e57f3e9cc89	1887	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1888
rgrover1	0:8e57f3e9cc89	1889	void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
rgrover1	0:8e57f3e9cc89	1890	{
rgrover1	0:8e57f3e9cc89	1891	portTickType xTimeToWake;
rgrover1	0:8e57f3e9cc89	1892
rgrover1	0:8e57f3e9cc89	1893	configASSERT( pxEventList );
rgrover1	0:8e57f3e9cc89	1894
rgrover1	0:8e57f3e9cc89	1895	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
rgrover1	0:8e57f3e9cc89	1896	SCHEDULER SUSPENDED. */
rgrover1	0:8e57f3e9cc89	1897
rgrover1	0:8e57f3e9cc89	1898	/* Place the event list item of the TCB in the appropriate event list.
rgrover1	0:8e57f3e9cc89	1899	This is placed in the list in priority order so the highest priority task
rgrover1	0:8e57f3e9cc89	1900	is the first to be woken by the event. */
rgrover1	0:8e57f3e9cc89	1901	vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	1902
rgrover1	0:8e57f3e9cc89	1903	/* We must remove ourselves from the ready list before adding ourselves
rgrover1	0:8e57f3e9cc89	1904	to the blocked list as the same list item is used for both lists. We have
rgrover1	0:8e57f3e9cc89	1905	exclusive access to the ready lists as the scheduler is locked. */
rgrover1	0:8e57f3e9cc89	1906	if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	1907	{
rgrover1	0:8e57f3e9cc89	1908	/* The current task must be in a ready list, so there is no need to
rgrover1	0:8e57f3e9cc89	1909	check, and the port reset macro can be called directly. */
rgrover1	0:8e57f3e9cc89	1910	portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
rgrover1	0:8e57f3e9cc89	1911	}
rgrover1	0:8e57f3e9cc89	1912
rgrover1	0:8e57f3e9cc89	1913	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	1914	{
rgrover1	0:8e57f3e9cc89	1915	if( xTicksToWait == portMAX_DELAY )
rgrover1	0:8e57f3e9cc89	1916	{
rgrover1	0:8e57f3e9cc89	1917	/* Add ourselves to the suspended task list instead of a delayed task
rgrover1	0:8e57f3e9cc89	1918	list to ensure we are not woken by a timing event. We will block
rgrover1	0:8e57f3e9cc89	1919	indefinitely. */
rgrover1	0:8e57f3e9cc89	1920	vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	1921	}
rgrover1	0:8e57f3e9cc89	1922	else
rgrover1	0:8e57f3e9cc89	1923	{
rgrover1	0:8e57f3e9cc89	1924	/* Calculate the time at which the task should be woken if the event does
rgrover1	0:8e57f3e9cc89	1925	not occur. This may overflow but this doesn't matter. */
rgrover1	0:8e57f3e9cc89	1926	xTimeToWake = xTickCount + xTicksToWait;
rgrover1	0:8e57f3e9cc89	1927	prvAddCurrentTaskToDelayedList( xTimeToWake );
rgrover1	0:8e57f3e9cc89	1928	}
rgrover1	0:8e57f3e9cc89	1929	}
rgrover1	0:8e57f3e9cc89	1930	#else /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	1931	{
rgrover1	0:8e57f3e9cc89	1932	/* Calculate the time at which the task should be woken if the event does
rgrover1	0:8e57f3e9cc89	1933	not occur. This may overflow but this doesn't matter. */
rgrover1	0:8e57f3e9cc89	1934	xTimeToWake = xTickCount + xTicksToWait;
rgrover1	0:8e57f3e9cc89	1935	prvAddCurrentTaskToDelayedList( xTimeToWake );
rgrover1	0:8e57f3e9cc89	1936	}
rgrover1	0:8e57f3e9cc89	1937	#endif /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	1938	}
rgrover1	0:8e57f3e9cc89	1939	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1940
rgrover1	0:8e57f3e9cc89	1941	#if configUSE_TIMERS == 1
rgrover1	0:8e57f3e9cc89	1942
rgrover1	0:8e57f3e9cc89	1943	void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
rgrover1	0:8e57f3e9cc89	1944	{
rgrover1	0:8e57f3e9cc89	1945	portTickType xTimeToWake;
rgrover1	0:8e57f3e9cc89	1946
rgrover1	0:8e57f3e9cc89	1947	configASSERT( pxEventList );
rgrover1	0:8e57f3e9cc89	1948
rgrover1	0:8e57f3e9cc89	1949	/* This function should not be called by application code hence the
rgrover1	0:8e57f3e9cc89	1950	'Restricted' in its name. It is not part of the public API. It is
rgrover1	0:8e57f3e9cc89	1951	designed for use by kernel code, and has special calling requirements -
rgrover1	0:8e57f3e9cc89	1952	it should be called from a critical section. */
rgrover1	0:8e57f3e9cc89	1953
rgrover1	0:8e57f3e9cc89	1954
rgrover1	0:8e57f3e9cc89	1955	/* Place the event list item of the TCB in the appropriate event list.
rgrover1	0:8e57f3e9cc89	1956	In this case it is assume that this is the only task that is going to
rgrover1	0:8e57f3e9cc89	1957	be waiting on this event list, so the faster vListInsertEnd() function
rgrover1	0:8e57f3e9cc89	1958	can be used in place of vListInsert. */
rgrover1	0:8e57f3e9cc89	1959	vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	1960
rgrover1	0:8e57f3e9cc89	1961	/* We must remove this task from the ready list before adding it to the
rgrover1	0:8e57f3e9cc89	1962	blocked list as the same list item is used for both lists. This
rgrover1	0:8e57f3e9cc89	1963	function is called form a critical section. */
rgrover1	0:8e57f3e9cc89	1964	if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	1965	{
rgrover1	0:8e57f3e9cc89	1966	/* The current task must be in a ready list, so there is no need to
rgrover1	0:8e57f3e9cc89	1967	check, and the port reset macro can be called directly. */
rgrover1	0:8e57f3e9cc89	1968	portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
rgrover1	0:8e57f3e9cc89	1969	}
rgrover1	0:8e57f3e9cc89	1970
rgrover1	0:8e57f3e9cc89	1971	/* Calculate the time at which the task should be woken if the event does
rgrover1	0:8e57f3e9cc89	1972	not occur. This may overflow but this doesn't matter. */
rgrover1	0:8e57f3e9cc89	1973	xTimeToWake = xTickCount + xTicksToWait;
rgrover1	0:8e57f3e9cc89	1974
rgrover1	0:8e57f3e9cc89	1975	traceTASK_DELAY_UNTIL();
rgrover1	0:8e57f3e9cc89	1976	prvAddCurrentTaskToDelayedList( xTimeToWake );
rgrover1	0:8e57f3e9cc89	1977	}
rgrover1	0:8e57f3e9cc89	1978
rgrover1	0:8e57f3e9cc89	1979	#endif /* configUSE_TIMERS */
rgrover1	0:8e57f3e9cc89	1980	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	1981
rgrover1	0:8e57f3e9cc89	1982	signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
rgrover1	0:8e57f3e9cc89	1983	{
rgrover1	0:8e57f3e9cc89	1984	tskTCB *pxUnblockedTCB;
rgrover1	0:8e57f3e9cc89	1985	portBASE_TYPE xReturn;
rgrover1	0:8e57f3e9cc89	1986
rgrover1	0:8e57f3e9cc89	1987	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
rgrover1	0:8e57f3e9cc89	1988	SCHEDULER SUSPENDED. It can also be called from within an ISR. */
rgrover1	0:8e57f3e9cc89	1989
rgrover1	0:8e57f3e9cc89	1990	/* The event list is sorted in priority order, so we can remove the
rgrover1	0:8e57f3e9cc89	1991	first in the list, remove the TCB from the delayed list, and add
rgrover1	0:8e57f3e9cc89	1992	it to the ready list.
rgrover1	0:8e57f3e9cc89	1993
rgrover1	0:8e57f3e9cc89	1994	If an event is for a queue that is locked then this function will never
rgrover1	0:8e57f3e9cc89	1995	get called - the lock count on the queue will get modified instead. This
rgrover1	0:8e57f3e9cc89	1996	means we can always expect exclusive access to the event list here.
rgrover1	0:8e57f3e9cc89	1997
rgrover1	0:8e57f3e9cc89	1998	This function assumes that a check has already been made to ensure that
rgrover1	0:8e57f3e9cc89	1999	pxEventList is not empty. */
rgrover1	0:8e57f3e9cc89	2000	pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
rgrover1	0:8e57f3e9cc89	2001	configASSERT( pxUnblockedTCB );
rgrover1	0:8e57f3e9cc89	2002	( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	2003
rgrover1	0:8e57f3e9cc89	2004	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
rgrover1	0:8e57f3e9cc89	2005	{
rgrover1	0:8e57f3e9cc89	2006	( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	2007	prvAddTaskToReadyList( pxUnblockedTCB );
rgrover1	0:8e57f3e9cc89	2008	}
rgrover1	0:8e57f3e9cc89	2009	else
rgrover1	0:8e57f3e9cc89	2010	{
rgrover1	0:8e57f3e9cc89	2011	/* We cannot access the delayed or ready lists, so will hold this
rgrover1	0:8e57f3e9cc89	2012	task pending until the scheduler is resumed. */
rgrover1	0:8e57f3e9cc89	2013	vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	2014	}
rgrover1	0:8e57f3e9cc89	2015
rgrover1	0:8e57f3e9cc89	2016	if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	2017	{
rgrover1	0:8e57f3e9cc89	2018	/* Return true if the task removed from the event list has
rgrover1	0:8e57f3e9cc89	2019	a higher priority than the calling task. This allows
rgrover1	0:8e57f3e9cc89	2020	the calling task to know if it should force a context
rgrover1	0:8e57f3e9cc89	2021	switch now. */
rgrover1	0:8e57f3e9cc89	2022	xReturn = pdTRUE;
rgrover1	0:8e57f3e9cc89	2023
rgrover1	0:8e57f3e9cc89	2024	/* Mark that a yield is pending in case the user is not using the
rgrover1	0:8e57f3e9cc89	2025	"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
rgrover1	0:8e57f3e9cc89	2026	xYieldPending = pdTRUE;
rgrover1	0:8e57f3e9cc89	2027	}
rgrover1	0:8e57f3e9cc89	2028	else
rgrover1	0:8e57f3e9cc89	2029	{
rgrover1	0:8e57f3e9cc89	2030	xReturn = pdFALSE;
rgrover1	0:8e57f3e9cc89	2031	}
rgrover1	0:8e57f3e9cc89	2032
rgrover1	0:8e57f3e9cc89	2033	return xReturn;
rgrover1	0:8e57f3e9cc89	2034	}
rgrover1	0:8e57f3e9cc89	2035	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2036
rgrover1	0:8e57f3e9cc89	2037	void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
rgrover1	0:8e57f3e9cc89	2038	{
rgrover1	0:8e57f3e9cc89	2039	configASSERT( pxTimeOut );
rgrover1	0:8e57f3e9cc89	2040	pxTimeOut->xOverflowCount = xNumOfOverflows;
rgrover1	0:8e57f3e9cc89	2041	pxTimeOut->xTimeOnEntering = xTickCount;
rgrover1	0:8e57f3e9cc89	2042	}
rgrover1	0:8e57f3e9cc89	2043	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2044
rgrover1	0:8e57f3e9cc89	2045	portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
rgrover1	0:8e57f3e9cc89	2046	{
rgrover1	0:8e57f3e9cc89	2047	portBASE_TYPE xReturn;
rgrover1	0:8e57f3e9cc89	2048
rgrover1	0:8e57f3e9cc89	2049	configASSERT( pxTimeOut );
rgrover1	0:8e57f3e9cc89	2050	configASSERT( pxTicksToWait );
rgrover1	0:8e57f3e9cc89	2051
rgrover1	0:8e57f3e9cc89	2052	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	2053	{
rgrover1	0:8e57f3e9cc89	2054	/* Minor optimisation. The tick count cannot change in this block. */
rgrover1	0:8e57f3e9cc89	2055	const portTickType xConstTickCount = xTickCount;
rgrover1	0:8e57f3e9cc89	2056
rgrover1	0:8e57f3e9cc89	2057	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	2058	/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
rgrover1	0:8e57f3e9cc89	2059	the maximum block time then the task should block indefinitely, and
rgrover1	0:8e57f3e9cc89	2060	therefore never time out. */
rgrover1	0:8e57f3e9cc89	2061	if( *pxTicksToWait == portMAX_DELAY )
rgrover1	0:8e57f3e9cc89	2062	{
rgrover1	0:8e57f3e9cc89	2063	xReturn = pdFALSE;
rgrover1	0:8e57f3e9cc89	2064	}
rgrover1	0:8e57f3e9cc89	2065	else /* We are not blocking indefinitely, perform the checks below. */
rgrover1	0:8e57f3e9cc89	2066	#endif
rgrover1	0:8e57f3e9cc89	2067
rgrover1	0:8e57f3e9cc89	2068	if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. /
rgrover1	0:8e57f3e9cc89	2069	{
rgrover1	0:8e57f3e9cc89	2070	/* The tick count is greater than the time at which vTaskSetTimeout()
rgrover1	0:8e57f3e9cc89	2071	was called, but has also overflowed since vTaskSetTimeOut() was called.
rgrover1	0:8e57f3e9cc89	2072	It must have wrapped all the way around and gone past us again. This
rgrover1	0:8e57f3e9cc89	2073	passed since vTaskSetTimeout() was called. */
rgrover1	0:8e57f3e9cc89	2074	xReturn = pdTRUE;
rgrover1	0:8e57f3e9cc89	2075	}
rgrover1	0:8e57f3e9cc89	2076	else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
rgrover1	0:8e57f3e9cc89	2077	{
rgrover1	0:8e57f3e9cc89	2078	/* Not a genuine timeout. Adjust parameters for time remaining. */
rgrover1	0:8e57f3e9cc89	2079	*pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
rgrover1	0:8e57f3e9cc89	2080	vTaskSetTimeOutState( pxTimeOut );
rgrover1	0:8e57f3e9cc89	2081	xReturn = pdFALSE;
rgrover1	0:8e57f3e9cc89	2082	}
rgrover1	0:8e57f3e9cc89	2083	else
rgrover1	0:8e57f3e9cc89	2084	{
rgrover1	0:8e57f3e9cc89	2085	xReturn = pdTRUE;
rgrover1	0:8e57f3e9cc89	2086	}
rgrover1	0:8e57f3e9cc89	2087	}
rgrover1	0:8e57f3e9cc89	2088	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	2089
rgrover1	0:8e57f3e9cc89	2090	return xReturn;
rgrover1	0:8e57f3e9cc89	2091	}
rgrover1	0:8e57f3e9cc89	2092	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2093
rgrover1	0:8e57f3e9cc89	2094	void vTaskMissedYield( void )
rgrover1	0:8e57f3e9cc89	2095	{
rgrover1	0:8e57f3e9cc89	2096	xYieldPending = pdTRUE;
rgrover1	0:8e57f3e9cc89	2097	}
rgrover1	0:8e57f3e9cc89	2098	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2099
rgrover1	0:8e57f3e9cc89	2100	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	2101
rgrover1	0:8e57f3e9cc89	2102	unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
rgrover1	0:8e57f3e9cc89	2103	{
rgrover1	0:8e57f3e9cc89	2104	unsigned portBASE_TYPE uxReturn;
rgrover1	0:8e57f3e9cc89	2105	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	2106
rgrover1	0:8e57f3e9cc89	2107	if( xTask != NULL )
rgrover1	0:8e57f3e9cc89	2108	{
rgrover1	0:8e57f3e9cc89	2109	pxTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	2110	uxReturn = pxTCB->uxTaskNumber;
rgrover1	0:8e57f3e9cc89	2111	}
rgrover1	0:8e57f3e9cc89	2112	else
rgrover1	0:8e57f3e9cc89	2113	{
rgrover1	0:8e57f3e9cc89	2114	uxReturn = 0U;
rgrover1	0:8e57f3e9cc89	2115	}
rgrover1	0:8e57f3e9cc89	2116
rgrover1	0:8e57f3e9cc89	2117	return uxReturn;
rgrover1	0:8e57f3e9cc89	2118	}
rgrover1	0:8e57f3e9cc89	2119
rgrover1	0:8e57f3e9cc89	2120	#endif /* configUSE_TRACE_FACILITY */
rgrover1	0:8e57f3e9cc89	2121	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2122
rgrover1	0:8e57f3e9cc89	2123	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	2124
rgrover1	0:8e57f3e9cc89	2125	void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
rgrover1	0:8e57f3e9cc89	2126	{
rgrover1	0:8e57f3e9cc89	2127	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	2128
rgrover1	0:8e57f3e9cc89	2129	if( xTask != NULL )
rgrover1	0:8e57f3e9cc89	2130	{
rgrover1	0:8e57f3e9cc89	2131	pxTCB = ( tskTCB * ) xTask;
rgrover1	0:8e57f3e9cc89	2132	pxTCB->uxTaskNumber = uxHandle;
rgrover1	0:8e57f3e9cc89	2133	}
rgrover1	0:8e57f3e9cc89	2134	}
rgrover1	0:8e57f3e9cc89	2135
rgrover1	0:8e57f3e9cc89	2136	#endif /* configUSE_TRACE_FACILITY */
rgrover1	0:8e57f3e9cc89	2137
rgrover1	0:8e57f3e9cc89	2138	/*
rgrover1	0:8e57f3e9cc89	2139	* -----------------------------------------------------------
rgrover1	0:8e57f3e9cc89	2140	* The Idle task.
rgrover1	0:8e57f3e9cc89	2141	* ----------------------------------------------------------
rgrover1	0:8e57f3e9cc89	2142	*
rgrover1	0:8e57f3e9cc89	2143	* The portTASK_FUNCTION() macro is used to allow port/compiler specific
rgrover1	0:8e57f3e9cc89	2144	* language extensions. The equivalent prototype for this function is:
rgrover1	0:8e57f3e9cc89	2145	*
rgrover1	0:8e57f3e9cc89	2146	* void prvIdleTask( void *pvParameters );
rgrover1	0:8e57f3e9cc89	2147	*
rgrover1	0:8e57f3e9cc89	2148	*/
rgrover1	0:8e57f3e9cc89	2149	static portTASK_FUNCTION( prvIdleTask, pvParameters )
rgrover1	0:8e57f3e9cc89	2150	{
rgrover1	0:8e57f3e9cc89	2151	/* Stop warnings. */
rgrover1	0:8e57f3e9cc89	2152	( void ) pvParameters;
rgrover1	0:8e57f3e9cc89	2153
rgrover1	0:8e57f3e9cc89	2154	for( ;; )
rgrover1	0:8e57f3e9cc89	2155	{
rgrover1	0:8e57f3e9cc89	2156	/* See if any tasks have been deleted. */
rgrover1	0:8e57f3e9cc89	2157	prvCheckTasksWaitingTermination();
rgrover1	0:8e57f3e9cc89	2158
rgrover1	0:8e57f3e9cc89	2159	#if ( configUSE_PREEMPTION == 0 )
rgrover1	0:8e57f3e9cc89	2160	{
rgrover1	0:8e57f3e9cc89	2161	/* If we are not using preemption we keep forcing a task switch to
rgrover1	0:8e57f3e9cc89	2162	see if any other task has become available. If we are using
rgrover1	0:8e57f3e9cc89	2163	preemption we don't need to do this as any task becoming available
rgrover1	0:8e57f3e9cc89	2164	will automatically get the processor anyway. */
rgrover1	0:8e57f3e9cc89	2165	taskYIELD();
rgrover1	0:8e57f3e9cc89	2166	}
rgrover1	0:8e57f3e9cc89	2167	#endif /* configUSE_PREEMPTION */
rgrover1	0:8e57f3e9cc89	2168
rgrover1	0:8e57f3e9cc89	2169	#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
rgrover1	0:8e57f3e9cc89	2170	{
rgrover1	0:8e57f3e9cc89	2171	/* When using preemption tasks of equal priority will be
rgrover1	0:8e57f3e9cc89	2172	timesliced. If a task that is sharing the idle priority is ready
rgrover1	0:8e57f3e9cc89	2173	to run then the idle task should yield before the end of the
rgrover1	0:8e57f3e9cc89	2174	timeslice.
rgrover1	0:8e57f3e9cc89	2175
rgrover1	0:8e57f3e9cc89	2176	A critical region is not required here as we are just reading from
rgrover1	0:8e57f3e9cc89	2177	the list, and an occasional incorrect value will not matter. If
rgrover1	0:8e57f3e9cc89	2178	the ready list at the idle priority contains more than one task
rgrover1	0:8e57f3e9cc89	2179	then a task other than the idle task is ready to execute. */
rgrover1	0:8e57f3e9cc89	2180	if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
rgrover1	0:8e57f3e9cc89	2181	{
rgrover1	0:8e57f3e9cc89	2182	taskYIELD();
rgrover1	0:8e57f3e9cc89	2183	}
rgrover1	0:8e57f3e9cc89	2184	}
rgrover1	0:8e57f3e9cc89	2185	#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
rgrover1	0:8e57f3e9cc89	2186
rgrover1	0:8e57f3e9cc89	2187	#if ( configUSE_IDLE_HOOK == 1 )
rgrover1	0:8e57f3e9cc89	2188	{
rgrover1	0:8e57f3e9cc89	2189	extern void vApplicationIdleHook( void );
rgrover1	0:8e57f3e9cc89	2190
rgrover1	0:8e57f3e9cc89	2191	/* Call the user defined function from within the idle task. This
rgrover1	0:8e57f3e9cc89	2192	allows the application designer to add background functionality
rgrover1	0:8e57f3e9cc89	2193	without the overhead of a separate task.
rgrover1	0:8e57f3e9cc89	2194	NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
rgrover1	0:8e57f3e9cc89	2195	CALL A FUNCTION THAT MIGHT BLOCK. */
rgrover1	0:8e57f3e9cc89	2196	vApplicationIdleHook();
rgrover1	0:8e57f3e9cc89	2197	}
rgrover1	0:8e57f3e9cc89	2198	#endif /* configUSE_IDLE_HOOK */
rgrover1	0:8e57f3e9cc89	2199
rgrover1	0:8e57f3e9cc89	2200	/* This conditional compilation should use inequality to 0, not equality
rgrover1	0:8e57f3e9cc89	2201	to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
rgrover1	0:8e57f3e9cc89	2202	user defined low power mode implementations require
rgrover1	0:8e57f3e9cc89	2203	configUSE_TICKLESS_IDLE to be set to a value other than 1. */
rgrover1	0:8e57f3e9cc89	2204	#if ( configUSE_TICKLESS_IDLE != 0 )
rgrover1	0:8e57f3e9cc89	2205	{
rgrover1	0:8e57f3e9cc89	2206	portTickType xExpectedIdleTime;
rgrover1	0:8e57f3e9cc89	2207
rgrover1	0:8e57f3e9cc89	2208	/* It is not desirable to suspend then resume the scheduler on
rgrover1	0:8e57f3e9cc89	2209	each iteration of the idle task. Therefore, a preliminary
rgrover1	0:8e57f3e9cc89	2210	test of the expected idle time is performed without the
rgrover1	0:8e57f3e9cc89	2211	scheduler suspended. The result here is not necessarily
rgrover1	0:8e57f3e9cc89	2212	valid. */
rgrover1	0:8e57f3e9cc89	2213	xExpectedIdleTime = prvGetExpectedIdleTime();
rgrover1	0:8e57f3e9cc89	2214
rgrover1	0:8e57f3e9cc89	2215	if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
rgrover1	0:8e57f3e9cc89	2216	{
rgrover1	0:8e57f3e9cc89	2217	vTaskSuspendAll();
rgrover1	0:8e57f3e9cc89	2218	{
rgrover1	0:8e57f3e9cc89	2219	/* Now the scheduler is suspended, the expected idle
rgrover1	0:8e57f3e9cc89	2220	time can be sampled again, and this time its value can
rgrover1	0:8e57f3e9cc89	2221	be used. */
rgrover1	0:8e57f3e9cc89	2222	configASSERT( xNextTaskUnblockTime >= xTickCount );
rgrover1	0:8e57f3e9cc89	2223	xExpectedIdleTime = prvGetExpectedIdleTime();
rgrover1	0:8e57f3e9cc89	2224
rgrover1	0:8e57f3e9cc89	2225	if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
rgrover1	0:8e57f3e9cc89	2226	{
rgrover1	0:8e57f3e9cc89	2227	traceLOW_POWER_IDLE_BEGIN();
rgrover1	0:8e57f3e9cc89	2228	portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
rgrover1	0:8e57f3e9cc89	2229	traceLOW_POWER_IDLE_END();
rgrover1	0:8e57f3e9cc89	2230	}
rgrover1	0:8e57f3e9cc89	2231	}
rgrover1	0:8e57f3e9cc89	2232	( void ) xTaskResumeAll();
rgrover1	0:8e57f3e9cc89	2233	}
rgrover1	0:8e57f3e9cc89	2234	}
rgrover1	0:8e57f3e9cc89	2235	#endif /* configUSE_TICKLESS_IDLE */
rgrover1	0:8e57f3e9cc89	2236	}
rgrover1	0:8e57f3e9cc89	2237	}
rgrover1	0:8e57f3e9cc89	2238	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2239
rgrover1	0:8e57f3e9cc89	2240	#if configUSE_TICKLESS_IDLE != 0
rgrover1	0:8e57f3e9cc89	2241
rgrover1	0:8e57f3e9cc89	2242	eSleepModeStatus eTaskConfirmSleepModeStatus( void )
rgrover1	0:8e57f3e9cc89	2243	{
rgrover1	0:8e57f3e9cc89	2244	eSleepModeStatus eReturn = eStandardSleep;
rgrover1	0:8e57f3e9cc89	2245
rgrover1	0:8e57f3e9cc89	2246	if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
rgrover1	0:8e57f3e9cc89	2247	{
rgrover1	0:8e57f3e9cc89	2248	/* A task was made ready while the scheduler was suspended. */
rgrover1	0:8e57f3e9cc89	2249	eReturn = eAbortSleep;
rgrover1	0:8e57f3e9cc89	2250	}
rgrover1	0:8e57f3e9cc89	2251	else if( xYieldPending != pdFALSE )
rgrover1	0:8e57f3e9cc89	2252	{
rgrover1	0:8e57f3e9cc89	2253	/* A yield was pended while the scheduler was suspended. */
rgrover1	0:8e57f3e9cc89	2254	eReturn = eAbortSleep;
rgrover1	0:8e57f3e9cc89	2255	}
rgrover1	0:8e57f3e9cc89	2256	else
rgrover1	0:8e57f3e9cc89	2257	{
rgrover1	0:8e57f3e9cc89	2258	#if configUSE_TIMERS == 0
rgrover1	0:8e57f3e9cc89	2259	{
rgrover1	0:8e57f3e9cc89	2260	/* The idle task exists in addition to the application tasks. */
rgrover1	0:8e57f3e9cc89	2261	const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
rgrover1	0:8e57f3e9cc89	2262
rgrover1	0:8e57f3e9cc89	2263	/* If timers are not being used and all the tasks are in the
rgrover1	0:8e57f3e9cc89	2264	suspended list (which might mean they have an infinite block
rgrover1	0:8e57f3e9cc89	2265	time rather than actually being suspended) then it is safe to
rgrover1	0:8e57f3e9cc89	2266	turn all clocks off and just wait for external interrupts. */
rgrover1	0:8e57f3e9cc89	2267	if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
rgrover1	0:8e57f3e9cc89	2268	{
rgrover1	0:8e57f3e9cc89	2269	eReturn = eNoTasksWaitingTimeout;
rgrover1	0:8e57f3e9cc89	2270	}
rgrover1	0:8e57f3e9cc89	2271	}
rgrover1	0:8e57f3e9cc89	2272	#endif /* configUSE_TIMERS */
rgrover1	0:8e57f3e9cc89	2273	}
rgrover1	0:8e57f3e9cc89	2274
rgrover1	0:8e57f3e9cc89	2275	return eReturn;
rgrover1	0:8e57f3e9cc89	2276	}
rgrover1	0:8e57f3e9cc89	2277	#endif /* configUSE_TICKLESS_IDLE */
rgrover1	0:8e57f3e9cc89	2278	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2279
rgrover1	0:8e57f3e9cc89	2280	static void prvInitialiseTCBVariables( tskTCB pxTCB, const signed char const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
rgrover1	0:8e57f3e9cc89	2281	{
rgrover1	0:8e57f3e9cc89	2282	unsigned portBASE_TYPE x;
rgrover1	0:8e57f3e9cc89	2283
rgrover1	0:8e57f3e9cc89	2284	/* Store the task name in the TCB. */
rgrover1	0:8e57f3e9cc89	2285	for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
rgrover1	0:8e57f3e9cc89	2286	{
rgrover1	0:8e57f3e9cc89	2287	pxTCB->pcTaskName[ x ] = pcName[ x ];
rgrover1	0:8e57f3e9cc89	2288
rgrover1	0:8e57f3e9cc89	2289	/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
rgrover1	0:8e57f3e9cc89	2290	configMAX_TASK_NAME_LEN characters just in case the memory after the
rgrover1	0:8e57f3e9cc89	2291	string is not accessible (extremely unlikely). */
rgrover1	0:8e57f3e9cc89	2292	if( pcName[ x ] == 0x00 )
rgrover1	0:8e57f3e9cc89	2293	{
rgrover1	0:8e57f3e9cc89	2294	break;
rgrover1	0:8e57f3e9cc89	2295	}
rgrover1	0:8e57f3e9cc89	2296	}
rgrover1	0:8e57f3e9cc89	2297
rgrover1	0:8e57f3e9cc89	2298	/* Ensure the name string is terminated in the case that the string length
rgrover1	0:8e57f3e9cc89	2299	was greater or equal to configMAX_TASK_NAME_LEN. */
rgrover1	0:8e57f3e9cc89	2300	pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
rgrover1	0:8e57f3e9cc89	2301
rgrover1	0:8e57f3e9cc89	2302	/* This is used as an array index so must ensure it's not too large. First
rgrover1	0:8e57f3e9cc89	2303	remove the privilege bit if one is present. */
rgrover1	0:8e57f3e9cc89	2304	if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
rgrover1	0:8e57f3e9cc89	2305	{
rgrover1	0:8e57f3e9cc89	2306	uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
rgrover1	0:8e57f3e9cc89	2307	}
rgrover1	0:8e57f3e9cc89	2308
rgrover1	0:8e57f3e9cc89	2309	pxTCB->uxPriority = uxPriority;
rgrover1	0:8e57f3e9cc89	2310	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	2311	{
rgrover1	0:8e57f3e9cc89	2312	pxTCB->uxBasePriority = uxPriority;
rgrover1	0:8e57f3e9cc89	2313	}
rgrover1	0:8e57f3e9cc89	2314	#endif /* configUSE_MUTEXES */
rgrover1	0:8e57f3e9cc89	2315
rgrover1	0:8e57f3e9cc89	2316	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	2317	vListInitialiseItem( &( pxTCB->xEventListItem ) );
rgrover1	0:8e57f3e9cc89	2318
rgrover1	0:8e57f3e9cc89	2319	/* Set the pxTCB as a link back from the xListItem. This is so we can get
rgrover1	0:8e57f3e9cc89	2320	back to the containing TCB from a generic item in a list. */
rgrover1	0:8e57f3e9cc89	2321	listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
rgrover1	0:8e57f3e9cc89	2322
rgrover1	0:8e57f3e9cc89	2323	/* Event lists are always in priority order. */
rgrover1	0:8e57f3e9cc89	2324	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /lint !e961 MISRA exception as the casts are only redundant for some ports. /
rgrover1	0:8e57f3e9cc89	2325	listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
rgrover1	0:8e57f3e9cc89	2326
rgrover1	0:8e57f3e9cc89	2327	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
rgrover1	0:8e57f3e9cc89	2328	{
rgrover1	0:8e57f3e9cc89	2329	pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
rgrover1	0:8e57f3e9cc89	2330	}
rgrover1	0:8e57f3e9cc89	2331	#endif /* portCRITICAL_NESTING_IN_TCB */
rgrover1	0:8e57f3e9cc89	2332
rgrover1	0:8e57f3e9cc89	2333	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
rgrover1	0:8e57f3e9cc89	2334	{
rgrover1	0:8e57f3e9cc89	2335	pxTCB->pxTaskTag = NULL;
rgrover1	0:8e57f3e9cc89	2336	}
rgrover1	0:8e57f3e9cc89	2337	#endif /* configUSE_APPLICATION_TASK_TAG */
rgrover1	0:8e57f3e9cc89	2338
rgrover1	0:8e57f3e9cc89	2339	#if ( configGENERATE_RUN_TIME_STATS == 1 )
rgrover1	0:8e57f3e9cc89	2340	{
rgrover1	0:8e57f3e9cc89	2341	pxTCB->ulRunTimeCounter = 0UL;
rgrover1	0:8e57f3e9cc89	2342	}
rgrover1	0:8e57f3e9cc89	2343	#endif /* configGENERATE_RUN_TIME_STATS */
rgrover1	0:8e57f3e9cc89	2344
rgrover1	0:8e57f3e9cc89	2345	#if ( portUSING_MPU_WRAPPERS == 1 )
rgrover1	0:8e57f3e9cc89	2346	{
rgrover1	0:8e57f3e9cc89	2347	vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
rgrover1	0:8e57f3e9cc89	2348	}
rgrover1	0:8e57f3e9cc89	2349	#else /* portUSING_MPU_WRAPPERS */
rgrover1	0:8e57f3e9cc89	2350	{
rgrover1	0:8e57f3e9cc89	2351	( void ) xRegions;
rgrover1	0:8e57f3e9cc89	2352	( void ) usStackDepth;
rgrover1	0:8e57f3e9cc89	2353	}
rgrover1	0:8e57f3e9cc89	2354	#endif /* portUSING_MPU_WRAPPERS */
rgrover1	0:8e57f3e9cc89	2355
rgrover1	0:8e57f3e9cc89	2356	#if ( configUSE_NEWLIB_REENTRANT == 1 )
rgrover1	0:8e57f3e9cc89	2357	{
rgrover1	0:8e57f3e9cc89	2358	/* Initialise this task's Newlib reent structure. */
rgrover1	0:8e57f3e9cc89	2359	_REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
rgrover1	0:8e57f3e9cc89	2360	}
rgrover1	0:8e57f3e9cc89	2361	#endif /* configUSE_NEWLIB_REENTRANT */
rgrover1	0:8e57f3e9cc89	2362	}
rgrover1	0:8e57f3e9cc89	2363	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2364
rgrover1	0:8e57f3e9cc89	2365	#if ( portUSING_MPU_WRAPPERS == 1 )
rgrover1	0:8e57f3e9cc89	2366
rgrover1	0:8e57f3e9cc89	2367	void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
rgrover1	0:8e57f3e9cc89	2368	{
rgrover1	0:8e57f3e9cc89	2369	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	2370
rgrover1	0:8e57f3e9cc89	2371	/* If null is passed in here then we are deleting ourselves. */
rgrover1	0:8e57f3e9cc89	2372	pxTCB = prvGetTCBFromHandle( xTaskToModify );
rgrover1	0:8e57f3e9cc89	2373
rgrover1	0:8e57f3e9cc89	2374	vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
rgrover1	0:8e57f3e9cc89	2375	}
rgrover1	0:8e57f3e9cc89	2376
rgrover1	0:8e57f3e9cc89	2377	#endif /* portUSING_MPU_WRAPPERS */
rgrover1	0:8e57f3e9cc89	2378	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2379
rgrover1	0:8e57f3e9cc89	2380	static void prvInitialiseTaskLists( void )
rgrover1	0:8e57f3e9cc89	2381	{
rgrover1	0:8e57f3e9cc89	2382	unsigned portBASE_TYPE uxPriority;
rgrover1	0:8e57f3e9cc89	2383
rgrover1	0:8e57f3e9cc89	2384	for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
rgrover1	0:8e57f3e9cc89	2385	{
rgrover1	0:8e57f3e9cc89	2386	vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
rgrover1	0:8e57f3e9cc89	2387	}
rgrover1	0:8e57f3e9cc89	2388
rgrover1	0:8e57f3e9cc89	2389	vListInitialise( &xDelayedTaskList1 );
rgrover1	0:8e57f3e9cc89	2390	vListInitialise( &xDelayedTaskList2 );
rgrover1	0:8e57f3e9cc89	2391	vListInitialise( &xPendingReadyList );
rgrover1	0:8e57f3e9cc89	2392
rgrover1	0:8e57f3e9cc89	2393	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	2394	{
rgrover1	0:8e57f3e9cc89	2395	vListInitialise( &xTasksWaitingTermination );
rgrover1	0:8e57f3e9cc89	2396	}
rgrover1	0:8e57f3e9cc89	2397	#endif /* INCLUDE_vTaskDelete */
rgrover1	0:8e57f3e9cc89	2398
rgrover1	0:8e57f3e9cc89	2399	#if ( INCLUDE_vTaskSuspend == 1 )
rgrover1	0:8e57f3e9cc89	2400	{
rgrover1	0:8e57f3e9cc89	2401	vListInitialise( &xSuspendedTaskList );
rgrover1	0:8e57f3e9cc89	2402	}
rgrover1	0:8e57f3e9cc89	2403	#endif /* INCLUDE_vTaskSuspend */
rgrover1	0:8e57f3e9cc89	2404
rgrover1	0:8e57f3e9cc89	2405	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
rgrover1	0:8e57f3e9cc89	2406	using list2. */
rgrover1	0:8e57f3e9cc89	2407	pxDelayedTaskList = &xDelayedTaskList1;
rgrover1	0:8e57f3e9cc89	2408	pxOverflowDelayedTaskList = &xDelayedTaskList2;
rgrover1	0:8e57f3e9cc89	2409	}
rgrover1	0:8e57f3e9cc89	2410	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2411
rgrover1	0:8e57f3e9cc89	2412	static void prvCheckTasksWaitingTermination( void )
rgrover1	0:8e57f3e9cc89	2413	{
rgrover1	0:8e57f3e9cc89	2414	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	2415	{
rgrover1	0:8e57f3e9cc89	2416	portBASE_TYPE xListIsEmpty;
rgrover1	0:8e57f3e9cc89	2417
rgrover1	0:8e57f3e9cc89	2418	/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
rgrover1	0:8e57f3e9cc89	2419	too often in the idle task. */
rgrover1	0:8e57f3e9cc89	2420	while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
rgrover1	0:8e57f3e9cc89	2421	{
rgrover1	0:8e57f3e9cc89	2422	vTaskSuspendAll();
rgrover1	0:8e57f3e9cc89	2423	xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
rgrover1	0:8e57f3e9cc89	2424	( void ) xTaskResumeAll();
rgrover1	0:8e57f3e9cc89	2425
rgrover1	0:8e57f3e9cc89	2426	if( xListIsEmpty == pdFALSE )
rgrover1	0:8e57f3e9cc89	2427	{
rgrover1	0:8e57f3e9cc89	2428	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	2429
rgrover1	0:8e57f3e9cc89	2430	taskENTER_CRITICAL();
rgrover1	0:8e57f3e9cc89	2431	{
rgrover1	0:8e57f3e9cc89	2432	pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
rgrover1	0:8e57f3e9cc89	2433	( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	2434	--uxCurrentNumberOfTasks;
rgrover1	0:8e57f3e9cc89	2435	--uxTasksDeleted;
rgrover1	0:8e57f3e9cc89	2436	}
rgrover1	0:8e57f3e9cc89	2437	taskEXIT_CRITICAL();
rgrover1	0:8e57f3e9cc89	2438
rgrover1	0:8e57f3e9cc89	2439	prvDeleteTCB( pxTCB );
rgrover1	0:8e57f3e9cc89	2440	}
rgrover1	0:8e57f3e9cc89	2441	}
rgrover1	0:8e57f3e9cc89	2442	}
rgrover1	0:8e57f3e9cc89	2443	#endif /* vTaskDelete */
rgrover1	0:8e57f3e9cc89	2444	}
rgrover1	0:8e57f3e9cc89	2445	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2446
rgrover1	0:8e57f3e9cc89	2447	static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
rgrover1	0:8e57f3e9cc89	2448	{
rgrover1	0:8e57f3e9cc89	2449	/* The list item will be inserted in wake time order. */
rgrover1	0:8e57f3e9cc89	2450	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
rgrover1	0:8e57f3e9cc89	2451
rgrover1	0:8e57f3e9cc89	2452	if( xTimeToWake < xTickCount )
rgrover1	0:8e57f3e9cc89	2453	{
rgrover1	0:8e57f3e9cc89	2454	/* Wake time has overflowed. Place this item in the overflow list. */
rgrover1	0:8e57f3e9cc89	2455	vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	2456	}
rgrover1	0:8e57f3e9cc89	2457	else
rgrover1	0:8e57f3e9cc89	2458	{
rgrover1	0:8e57f3e9cc89	2459	/* The wake time has not overflowed, so we can use the current block list. */
rgrover1	0:8e57f3e9cc89	2460	vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
rgrover1	0:8e57f3e9cc89	2461
rgrover1	0:8e57f3e9cc89	2462	/* If the task entering the blocked state was placed at the head of the
rgrover1	0:8e57f3e9cc89	2463	list of blocked tasks then xNextTaskUnblockTime needs to be updated
rgrover1	0:8e57f3e9cc89	2464	too. */
rgrover1	0:8e57f3e9cc89	2465	if( xTimeToWake < xNextTaskUnblockTime )
rgrover1	0:8e57f3e9cc89	2466	{
rgrover1	0:8e57f3e9cc89	2467	xNextTaskUnblockTime = xTimeToWake;
rgrover1	0:8e57f3e9cc89	2468	}
rgrover1	0:8e57f3e9cc89	2469	}
rgrover1	0:8e57f3e9cc89	2470	}
rgrover1	0:8e57f3e9cc89	2471	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2472
rgrover1	0:8e57f3e9cc89	2473	static tskTCB prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE puxStackBuffer )
rgrover1	0:8e57f3e9cc89	2474	{
rgrover1	0:8e57f3e9cc89	2475	tskTCB *pxNewTCB;
rgrover1	0:8e57f3e9cc89	2476
rgrover1	0:8e57f3e9cc89	2477	/* Allocate space for the TCB. Where the memory comes from depends on
rgrover1	0:8e57f3e9cc89	2478	the implementation of the port malloc function. */
rgrover1	0:8e57f3e9cc89	2479	pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
rgrover1	0:8e57f3e9cc89	2480
rgrover1	0:8e57f3e9cc89	2481	if( pxNewTCB != NULL )
rgrover1	0:8e57f3e9cc89	2482	{
rgrover1	0:8e57f3e9cc89	2483	/* Allocate space for the stack used by the task being created.
rgrover1	0:8e57f3e9cc89	2484	The base of the stack memory stored in the TCB so the task can
rgrover1	0:8e57f3e9cc89	2485	be deleted later if required. */
rgrover1	0:8e57f3e9cc89	2486	pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /lint !e961 MISRA exception as the casts are only redundant for some ports. /
rgrover1	0:8e57f3e9cc89	2487
rgrover1	0:8e57f3e9cc89	2488	if( pxNewTCB->pxStack == NULL )
rgrover1	0:8e57f3e9cc89	2489	{
rgrover1	0:8e57f3e9cc89	2490	/* Could not allocate the stack. Delete the allocated TCB. */
rgrover1	0:8e57f3e9cc89	2491	vPortFree( pxNewTCB );
rgrover1	0:8e57f3e9cc89	2492	pxNewTCB = NULL;
rgrover1	0:8e57f3e9cc89	2493	}
rgrover1	0:8e57f3e9cc89	2494	else
rgrover1	0:8e57f3e9cc89	2495	{
rgrover1	0:8e57f3e9cc89	2496	/* Just to help debugging. */
rgrover1	0:8e57f3e9cc89	2497	( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
rgrover1	0:8e57f3e9cc89	2498	}
rgrover1	0:8e57f3e9cc89	2499	}
rgrover1	0:8e57f3e9cc89	2500
rgrover1	0:8e57f3e9cc89	2501	return pxNewTCB;
rgrover1	0:8e57f3e9cc89	2502	}
rgrover1	0:8e57f3e9cc89	2503	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2504
rgrover1	0:8e57f3e9cc89	2505	#if ( configUSE_TRACE_FACILITY == 1 )
rgrover1	0:8e57f3e9cc89	2506
rgrover1	0:8e57f3e9cc89	2507	static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType pxTaskStatusArray, xList pxList, eTaskState eState )
rgrover1	0:8e57f3e9cc89	2508	{
rgrover1	0:8e57f3e9cc89	2509	volatile tskTCB pxNextTCB, pxFirstTCB;
rgrover1	0:8e57f3e9cc89	2510	unsigned portBASE_TYPE uxTask = 0;
rgrover1	0:8e57f3e9cc89	2511
rgrover1	0:8e57f3e9cc89	2512	if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	2513	{
rgrover1	0:8e57f3e9cc89	2514	listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
rgrover1	0:8e57f3e9cc89	2515
rgrover1	0:8e57f3e9cc89	2516	/* Populate an xTaskStatusType structure within the
rgrover1	0:8e57f3e9cc89	2517	pxTaskStatusArray array for each task that is referenced from
rgrover1	0:8e57f3e9cc89	2518	pxList. See the definition of xTaskStatusType in task.h for the
rgrover1	0:8e57f3e9cc89	2519	meaning of each xTaskStatusType structure member. */
rgrover1	0:8e57f3e9cc89	2520	do
rgrover1	0:8e57f3e9cc89	2521	{
rgrover1	0:8e57f3e9cc89	2522	listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
rgrover1	0:8e57f3e9cc89	2523
rgrover1	0:8e57f3e9cc89	2524	pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
rgrover1	0:8e57f3e9cc89	2525	pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
rgrover1	0:8e57f3e9cc89	2526	pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
rgrover1	0:8e57f3e9cc89	2527	pxTaskStatusArray[ uxTask ].eCurrentState = eState;
rgrover1	0:8e57f3e9cc89	2528	pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
rgrover1	0:8e57f3e9cc89	2529
rgrover1	0:8e57f3e9cc89	2530	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	2531	{
rgrover1	0:8e57f3e9cc89	2532	pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
rgrover1	0:8e57f3e9cc89	2533	}
rgrover1	0:8e57f3e9cc89	2534	#else
rgrover1	0:8e57f3e9cc89	2535	{
rgrover1	0:8e57f3e9cc89	2536	pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
rgrover1	0:8e57f3e9cc89	2537	}
rgrover1	0:8e57f3e9cc89	2538	#endif
rgrover1	0:8e57f3e9cc89	2539
rgrover1	0:8e57f3e9cc89	2540	#if ( configGENERATE_RUN_TIME_STATS == 1 )
rgrover1	0:8e57f3e9cc89	2541	{
rgrover1	0:8e57f3e9cc89	2542	pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
rgrover1	0:8e57f3e9cc89	2543	}
rgrover1	0:8e57f3e9cc89	2544	#else
rgrover1	0:8e57f3e9cc89	2545	{
rgrover1	0:8e57f3e9cc89	2546	pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
rgrover1	0:8e57f3e9cc89	2547	}
rgrover1	0:8e57f3e9cc89	2548	#endif
rgrover1	0:8e57f3e9cc89	2549
rgrover1	0:8e57f3e9cc89	2550	#if ( portSTACK_GROWTH > 0 )
rgrover1	0:8e57f3e9cc89	2551	{
rgrover1	0:8e57f3e9cc89	2552	pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
rgrover1	0:8e57f3e9cc89	2553	}
rgrover1	0:8e57f3e9cc89	2554	#else
rgrover1	0:8e57f3e9cc89	2555	{
rgrover1	0:8e57f3e9cc89	2556	pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
rgrover1	0:8e57f3e9cc89	2557	}
rgrover1	0:8e57f3e9cc89	2558	#endif
rgrover1	0:8e57f3e9cc89	2559
rgrover1	0:8e57f3e9cc89	2560	uxTask++;
rgrover1	0:8e57f3e9cc89	2561
rgrover1	0:8e57f3e9cc89	2562	} while( pxNextTCB != pxFirstTCB );
rgrover1	0:8e57f3e9cc89	2563	}
rgrover1	0:8e57f3e9cc89	2564
rgrover1	0:8e57f3e9cc89	2565	return uxTask;
rgrover1	0:8e57f3e9cc89	2566	}
rgrover1	0:8e57f3e9cc89	2567
rgrover1	0:8e57f3e9cc89	2568	#endif /* configUSE_TRACE_FACILITY */
rgrover1	0:8e57f3e9cc89	2569	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2570
rgrover1	0:8e57f3e9cc89	2571	#if ( ( configUSE_TRACE_FACILITY == 1 ) \|\| ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
rgrover1	0:8e57f3e9cc89	2572
rgrover1	0:8e57f3e9cc89	2573	static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
rgrover1	0:8e57f3e9cc89	2574	{
rgrover1	0:8e57f3e9cc89	2575	unsigned short usCount = 0U;
rgrover1	0:8e57f3e9cc89	2576
rgrover1	0:8e57f3e9cc89	2577	while( *pucStackByte == tskSTACK_FILL_BYTE )
rgrover1	0:8e57f3e9cc89	2578	{
rgrover1	0:8e57f3e9cc89	2579	pucStackByte -= portSTACK_GROWTH;
rgrover1	0:8e57f3e9cc89	2580	usCount++;
rgrover1	0:8e57f3e9cc89	2581	}
rgrover1	0:8e57f3e9cc89	2582
rgrover1	0:8e57f3e9cc89	2583	usCount /= sizeof( portSTACK_TYPE );
rgrover1	0:8e57f3e9cc89	2584
rgrover1	0:8e57f3e9cc89	2585	return usCount;
rgrover1	0:8e57f3e9cc89	2586	}
rgrover1	0:8e57f3e9cc89	2587
rgrover1	0:8e57f3e9cc89	2588	#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) \|\| ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
rgrover1	0:8e57f3e9cc89	2589	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2590
rgrover1	0:8e57f3e9cc89	2591	#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
rgrover1	0:8e57f3e9cc89	2592
rgrover1	0:8e57f3e9cc89	2593	unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
rgrover1	0:8e57f3e9cc89	2594	{
rgrover1	0:8e57f3e9cc89	2595	tskTCB *pxTCB;
rgrover1	0:8e57f3e9cc89	2596	unsigned char *pcEndOfStack;
rgrover1	0:8e57f3e9cc89	2597	unsigned portBASE_TYPE uxReturn;
rgrover1	0:8e57f3e9cc89	2598
rgrover1	0:8e57f3e9cc89	2599	pxTCB = prvGetTCBFromHandle( xTask );
rgrover1	0:8e57f3e9cc89	2600
rgrover1	0:8e57f3e9cc89	2601	#if portSTACK_GROWTH < 0
rgrover1	0:8e57f3e9cc89	2602	{
rgrover1	0:8e57f3e9cc89	2603	pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
rgrover1	0:8e57f3e9cc89	2604	}
rgrover1	0:8e57f3e9cc89	2605	#else
rgrover1	0:8e57f3e9cc89	2606	{
rgrover1	0:8e57f3e9cc89	2607	pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
rgrover1	0:8e57f3e9cc89	2608	}
rgrover1	0:8e57f3e9cc89	2609	#endif
rgrover1	0:8e57f3e9cc89	2610
rgrover1	0:8e57f3e9cc89	2611	uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
rgrover1	0:8e57f3e9cc89	2612
rgrover1	0:8e57f3e9cc89	2613	return uxReturn;
rgrover1	0:8e57f3e9cc89	2614	}
rgrover1	0:8e57f3e9cc89	2615
rgrover1	0:8e57f3e9cc89	2616	#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
rgrover1	0:8e57f3e9cc89	2617	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2618
rgrover1	0:8e57f3e9cc89	2619	#if ( INCLUDE_vTaskDelete == 1 )
rgrover1	0:8e57f3e9cc89	2620
rgrover1	0:8e57f3e9cc89	2621	static void prvDeleteTCB( tskTCB *pxTCB )
rgrover1	0:8e57f3e9cc89	2622	{
rgrover1	0:8e57f3e9cc89	2623	/* This call is required specifically for the TriCore port. It must be
rgrover1	0:8e57f3e9cc89	2624	above the vPortFree() calls. The call is also used by ports/demos that
rgrover1	0:8e57f3e9cc89	2625	want to allocate and clean RAM statically. */
rgrover1	0:8e57f3e9cc89	2626	portCLEAN_UP_TCB( pxTCB );
rgrover1	0:8e57f3e9cc89	2627
rgrover1	0:8e57f3e9cc89	2628	/* Free up the memory allocated by the scheduler for the task. It is up to
rgrover1	0:8e57f3e9cc89	2629	the task to free any memory allocated at the application level. */
rgrover1	0:8e57f3e9cc89	2630	vPortFreeAligned( pxTCB->pxStack );
rgrover1	0:8e57f3e9cc89	2631	vPortFree( pxTCB );
rgrover1	0:8e57f3e9cc89	2632	}
rgrover1	0:8e57f3e9cc89	2633
rgrover1	0:8e57f3e9cc89	2634	#endif /* INCLUDE_vTaskDelete */
rgrover1	0:8e57f3e9cc89	2635	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2636
rgrover1	0:8e57f3e9cc89	2637	#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) \|\| ( configUSE_MUTEXES == 1 ) )
rgrover1	0:8e57f3e9cc89	2638
rgrover1	0:8e57f3e9cc89	2639	xTaskHandle xTaskGetCurrentTaskHandle( void )
rgrover1	0:8e57f3e9cc89	2640	{
rgrover1	0:8e57f3e9cc89	2641	xTaskHandle xReturn;
rgrover1	0:8e57f3e9cc89	2642
rgrover1	0:8e57f3e9cc89	2643	/* A critical section is not required as this is not called from
rgrover1	0:8e57f3e9cc89	2644	an interrupt and the current TCB will always be the same for any
rgrover1	0:8e57f3e9cc89	2645	individual execution thread. */
rgrover1	0:8e57f3e9cc89	2646	xReturn = pxCurrentTCB;
rgrover1	0:8e57f3e9cc89	2647
rgrover1	0:8e57f3e9cc89	2648	return xReturn;
rgrover1	0:8e57f3e9cc89	2649	}
rgrover1	0:8e57f3e9cc89	2650
rgrover1	0:8e57f3e9cc89	2651	#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) \|\| ( configUSE_MUTEXES == 1 ) ) */
rgrover1	0:8e57f3e9cc89	2652	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2653
rgrover1	0:8e57f3e9cc89	2654	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) \|\| ( configUSE_TIMERS == 1 ) )
rgrover1	0:8e57f3e9cc89	2655
rgrover1	0:8e57f3e9cc89	2656	portBASE_TYPE xTaskGetSchedulerState( void )
rgrover1	0:8e57f3e9cc89	2657	{
rgrover1	0:8e57f3e9cc89	2658	portBASE_TYPE xReturn;
rgrover1	0:8e57f3e9cc89	2659
rgrover1	0:8e57f3e9cc89	2660	if( xSchedulerRunning == pdFALSE )
rgrover1	0:8e57f3e9cc89	2661	{
rgrover1	0:8e57f3e9cc89	2662	xReturn = taskSCHEDULER_NOT_STARTED;
rgrover1	0:8e57f3e9cc89	2663	}
rgrover1	0:8e57f3e9cc89	2664	else
rgrover1	0:8e57f3e9cc89	2665	{
rgrover1	0:8e57f3e9cc89	2666	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
rgrover1	0:8e57f3e9cc89	2667	{
rgrover1	0:8e57f3e9cc89	2668	xReturn = taskSCHEDULER_RUNNING;
rgrover1	0:8e57f3e9cc89	2669	}
rgrover1	0:8e57f3e9cc89	2670	else
rgrover1	0:8e57f3e9cc89	2671	{
rgrover1	0:8e57f3e9cc89	2672	xReturn = taskSCHEDULER_SUSPENDED;
rgrover1	0:8e57f3e9cc89	2673	}
rgrover1	0:8e57f3e9cc89	2674	}
rgrover1	0:8e57f3e9cc89	2675
rgrover1	0:8e57f3e9cc89	2676	return xReturn;
rgrover1	0:8e57f3e9cc89	2677	}
rgrover1	0:8e57f3e9cc89	2678
rgrover1	0:8e57f3e9cc89	2679	#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) \|\| ( configUSE_TIMERS == 1 ) ) */
rgrover1	0:8e57f3e9cc89	2680	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2681
rgrover1	0:8e57f3e9cc89	2682	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	2683
rgrover1	0:8e57f3e9cc89	2684	void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
rgrover1	0:8e57f3e9cc89	2685	{
rgrover1	0:8e57f3e9cc89	2686	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
rgrover1	0:8e57f3e9cc89	2687
rgrover1	0:8e57f3e9cc89	2688	/* If the mutex was given back by an interrupt while the queue was
rgrover1	0:8e57f3e9cc89	2689	locked then the mutex holder might now be NULL. */
rgrover1	0:8e57f3e9cc89	2690	if( pxMutexHolder != NULL )
rgrover1	0:8e57f3e9cc89	2691	{
rgrover1	0:8e57f3e9cc89	2692	if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
rgrover1	0:8e57f3e9cc89	2693	{
rgrover1	0:8e57f3e9cc89	2694	/* Adjust the mutex holder state to account for its new priority. */
rgrover1	0:8e57f3e9cc89	2695	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /lint !e961 MISRA exception as the casts are only redundant for some ports. /
rgrover1	0:8e57f3e9cc89	2696
rgrover1	0:8e57f3e9cc89	2697	/* If the task being modified is in the ready state it will need to
rgrover1	0:8e57f3e9cc89	2698	be moved into a new list. */
rgrover1	0:8e57f3e9cc89	2699	if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
rgrover1	0:8e57f3e9cc89	2700	{
rgrover1	0:8e57f3e9cc89	2701	if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	2702	{
rgrover1	0:8e57f3e9cc89	2703	taskRESET_READY_PRIORITY( pxTCB->uxPriority );
rgrover1	0:8e57f3e9cc89	2704	}
rgrover1	0:8e57f3e9cc89	2705
rgrover1	0:8e57f3e9cc89	2706	/* Inherit the priority before being moved into the new list. */
rgrover1	0:8e57f3e9cc89	2707	pxTCB->uxPriority = pxCurrentTCB->uxPriority;
rgrover1	0:8e57f3e9cc89	2708	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	2709	}
rgrover1	0:8e57f3e9cc89	2710	else
rgrover1	0:8e57f3e9cc89	2711	{
rgrover1	0:8e57f3e9cc89	2712	/* Just inherit the priority. */
rgrover1	0:8e57f3e9cc89	2713	pxTCB->uxPriority = pxCurrentTCB->uxPriority;
rgrover1	0:8e57f3e9cc89	2714	}
rgrover1	0:8e57f3e9cc89	2715
rgrover1	0:8e57f3e9cc89	2716	traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
rgrover1	0:8e57f3e9cc89	2717	}
rgrover1	0:8e57f3e9cc89	2718	}
rgrover1	0:8e57f3e9cc89	2719	}
rgrover1	0:8e57f3e9cc89	2720
rgrover1	0:8e57f3e9cc89	2721	#endif /* configUSE_MUTEXES */
rgrover1	0:8e57f3e9cc89	2722	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2723
rgrover1	0:8e57f3e9cc89	2724	#if ( configUSE_MUTEXES == 1 )
rgrover1	0:8e57f3e9cc89	2725
rgrover1	0:8e57f3e9cc89	2726	void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
rgrover1	0:8e57f3e9cc89	2727	{
rgrover1	0:8e57f3e9cc89	2728	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
rgrover1	0:8e57f3e9cc89	2729
rgrover1	0:8e57f3e9cc89	2730	if( pxMutexHolder != NULL )
rgrover1	0:8e57f3e9cc89	2731	{
rgrover1	0:8e57f3e9cc89	2732	if( pxTCB->uxPriority != pxTCB->uxBasePriority )
rgrover1	0:8e57f3e9cc89	2733	{
rgrover1	0:8e57f3e9cc89	2734	/* We must be the running task to be able to give the mutex back.
rgrover1	0:8e57f3e9cc89	2735	Remove ourselves from the ready list we currently appear in. */
rgrover1	0:8e57f3e9cc89	2736	if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
rgrover1	0:8e57f3e9cc89	2737	{
rgrover1	0:8e57f3e9cc89	2738	taskRESET_READY_PRIORITY( pxTCB->uxPriority );
rgrover1	0:8e57f3e9cc89	2739	}
rgrover1	0:8e57f3e9cc89	2740
rgrover1	0:8e57f3e9cc89	2741	/* Disinherit the priority before adding the task into the new
rgrover1	0:8e57f3e9cc89	2742	ready list. */
rgrover1	0:8e57f3e9cc89	2743	traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
rgrover1	0:8e57f3e9cc89	2744	pxTCB->uxPriority = pxTCB->uxBasePriority;
rgrover1	0:8e57f3e9cc89	2745	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /lint !e961 MISRA exception as the casts are only redundant for some ports. /
rgrover1	0:8e57f3e9cc89	2746	prvAddTaskToReadyList( pxTCB );
rgrover1	0:8e57f3e9cc89	2747	}
rgrover1	0:8e57f3e9cc89	2748	}
rgrover1	0:8e57f3e9cc89	2749	}
rgrover1	0:8e57f3e9cc89	2750
rgrover1	0:8e57f3e9cc89	2751	#endif /* configUSE_MUTEXES */
rgrover1	0:8e57f3e9cc89	2752	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2753
rgrover1	0:8e57f3e9cc89	2754	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
rgrover1	0:8e57f3e9cc89	2755
rgrover1	0:8e57f3e9cc89	2756	void vTaskEnterCritical( void )
rgrover1	0:8e57f3e9cc89	2757	{
rgrover1	0:8e57f3e9cc89	2758	portDISABLE_INTERRUPTS();
rgrover1	0:8e57f3e9cc89	2759
rgrover1	0:8e57f3e9cc89	2760	if( xSchedulerRunning != pdFALSE )
rgrover1	0:8e57f3e9cc89	2761	{
rgrover1	0:8e57f3e9cc89	2762	( pxCurrentTCB->uxCriticalNesting )++;
rgrover1	0:8e57f3e9cc89	2763	}
rgrover1	0:8e57f3e9cc89	2764	}
rgrover1	0:8e57f3e9cc89	2765
rgrover1	0:8e57f3e9cc89	2766	#endif /* portCRITICAL_NESTING_IN_TCB */
rgrover1	0:8e57f3e9cc89	2767	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2768
rgrover1	0:8e57f3e9cc89	2769	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
rgrover1	0:8e57f3e9cc89	2770
rgrover1	0:8e57f3e9cc89	2771	void vTaskExitCritical( void )
rgrover1	0:8e57f3e9cc89	2772	{
rgrover1	0:8e57f3e9cc89	2773	if( xSchedulerRunning != pdFALSE )
rgrover1	0:8e57f3e9cc89	2774	{
rgrover1	0:8e57f3e9cc89	2775	if( pxCurrentTCB->uxCriticalNesting > 0U )
rgrover1	0:8e57f3e9cc89	2776	{
rgrover1	0:8e57f3e9cc89	2777	( pxCurrentTCB->uxCriticalNesting )--;
rgrover1	0:8e57f3e9cc89	2778
rgrover1	0:8e57f3e9cc89	2779	if( pxCurrentTCB->uxCriticalNesting == 0U )
rgrover1	0:8e57f3e9cc89	2780	{
rgrover1	0:8e57f3e9cc89	2781	portENABLE_INTERRUPTS();
rgrover1	0:8e57f3e9cc89	2782	}
rgrover1	0:8e57f3e9cc89	2783	}
rgrover1	0:8e57f3e9cc89	2784	}
rgrover1	0:8e57f3e9cc89	2785	}
rgrover1	0:8e57f3e9cc89	2786
rgrover1	0:8e57f3e9cc89	2787	#endif /* portCRITICAL_NESTING_IN_TCB */
rgrover1	0:8e57f3e9cc89	2788	/-----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2789
rgrover1	0:8e57f3e9cc89	2790	#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
rgrover1	0:8e57f3e9cc89	2791
rgrover1	0:8e57f3e9cc89	2792	void vTaskList( signed char *pcWriteBuffer )
rgrover1	0:8e57f3e9cc89	2793	{
rgrover1	0:8e57f3e9cc89	2794	xTaskStatusType *pxTaskStatusArray;
rgrover1	0:8e57f3e9cc89	2795	volatile unsigned portBASE_TYPE uxArraySize, x;
rgrover1	0:8e57f3e9cc89	2796	char cStatus;
rgrover1	0:8e57f3e9cc89	2797
rgrover1	0:8e57f3e9cc89	2798	/*
rgrover1	0:8e57f3e9cc89	2799	* PLEASE NOTE:
rgrover1	0:8e57f3e9cc89	2800	*
rgrover1	0:8e57f3e9cc89	2801	* This function is provided for convenience only, and is used by many
rgrover1	0:8e57f3e9cc89	2802	* of the demo applications. Do not consider it to be part of the
rgrover1	0:8e57f3e9cc89	2803	* scheduler.
rgrover1	0:8e57f3e9cc89	2804	*
rgrover1	0:8e57f3e9cc89	2805	* vTaskList() calls uxTaskGetSystemState(), then formats part of the
rgrover1	0:8e57f3e9cc89	2806	* uxTaskGetSystemState() output into a human readable table that
rgrover1	0:8e57f3e9cc89	2807	* displays task names, states and stack usage.
rgrover1	0:8e57f3e9cc89	2808	*
rgrover1	0:8e57f3e9cc89	2809	* vTaskList() has a dependency on the sprintf() C library function that
rgrover1	0:8e57f3e9cc89	2810	* might bloat the code size, use a lot of stack, and provide different
rgrover1	0:8e57f3e9cc89	2811	* results on different platforms. An alternative, tiny, third party,
rgrover1	0:8e57f3e9cc89	2812	* and limited functionality implementation of sprintf() is provided in
rgrover1	0:8e57f3e9cc89	2813	* many of the FreeRTOS/Demo sub-directories in a file called
rgrover1	0:8e57f3e9cc89	2814	* printf-stdarg.c (note printf-stdarg.c does not provide a full
rgrover1	0:8e57f3e9cc89	2815	* snprintf() implementation!).
rgrover1	0:8e57f3e9cc89	2816	*
rgrover1	0:8e57f3e9cc89	2817	* It is recommended that production systems call uxTaskGetSystemState()
rgrover1	0:8e57f3e9cc89	2818	* directly to get access to raw stats data, rather than indirectly
rgrover1	0:8e57f3e9cc89	2819	* through a call to vTaskList().
rgrover1	0:8e57f3e9cc89	2820	*/
rgrover1	0:8e57f3e9cc89	2821
rgrover1	0:8e57f3e9cc89	2822
rgrover1	0:8e57f3e9cc89	2823	/* Make sure the write buffer does not contain a string. */
rgrover1	0:8e57f3e9cc89	2824	*pcWriteBuffer = 0x00;
rgrover1	0:8e57f3e9cc89	2825
rgrover1	0:8e57f3e9cc89	2826	/* Take a snapshot of the number of tasks in case it changes while this
rgrover1	0:8e57f3e9cc89	2827	function is executing. */
rgrover1	0:8e57f3e9cc89	2828	uxArraySize = uxCurrentNumberOfTasks;
rgrover1	0:8e57f3e9cc89	2829
rgrover1	0:8e57f3e9cc89	2830	/* Allocate an array index for each task. */
rgrover1	0:8e57f3e9cc89	2831	pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
rgrover1	0:8e57f3e9cc89	2832
rgrover1	0:8e57f3e9cc89	2833	if( pxTaskStatusArray != NULL )
rgrover1	0:8e57f3e9cc89	2834	{
rgrover1	0:8e57f3e9cc89	2835	/* Generate the (binary) data. */
rgrover1	0:8e57f3e9cc89	2836	uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
rgrover1	0:8e57f3e9cc89	2837
rgrover1	0:8e57f3e9cc89	2838	/* Create a human readable table from the binary data. */
rgrover1	0:8e57f3e9cc89	2839	for( x = 0; x < uxArraySize; x++ )
rgrover1	0:8e57f3e9cc89	2840	{
rgrover1	0:8e57f3e9cc89	2841	switch( pxTaskStatusArray[ x ].eCurrentState )
rgrover1	0:8e57f3e9cc89	2842	{
rgrover1	0:8e57f3e9cc89	2843	case eReady: cStatus = tskREADY_CHAR;
rgrover1	0:8e57f3e9cc89	2844	break;
rgrover1	0:8e57f3e9cc89	2845
rgrover1	0:8e57f3e9cc89	2846	case eBlocked: cStatus = tskBLOCKED_CHAR;
rgrover1	0:8e57f3e9cc89	2847	break;
rgrover1	0:8e57f3e9cc89	2848
rgrover1	0:8e57f3e9cc89	2849	case eSuspended: cStatus = tskSUSPENDED_CHAR;
rgrover1	0:8e57f3e9cc89	2850	break;
rgrover1	0:8e57f3e9cc89	2851
rgrover1	0:8e57f3e9cc89	2852	case eDeleted: cStatus = tskDELETED_CHAR;
rgrover1	0:8e57f3e9cc89	2853	break;
rgrover1	0:8e57f3e9cc89	2854
rgrover1	0:8e57f3e9cc89	2855	default: /* Should not get here, but it is included
rgrover1	0:8e57f3e9cc89	2856	to prevent static checking errors. */
rgrover1	0:8e57f3e9cc89	2857	cStatus = 0x00;
rgrover1	0:8e57f3e9cc89	2858	break;
rgrover1	0:8e57f3e9cc89	2859	}
rgrover1	0:8e57f3e9cc89	2860
rgrover1	0:8e57f3e9cc89	2861	sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
rgrover1	0:8e57f3e9cc89	2862	pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
rgrover1	0:8e57f3e9cc89	2863	}
rgrover1	0:8e57f3e9cc89	2864
rgrover1	0:8e57f3e9cc89	2865	/* Free the array again. */
rgrover1	0:8e57f3e9cc89	2866	vPortFree( pxTaskStatusArray );
rgrover1	0:8e57f3e9cc89	2867	}
rgrover1	0:8e57f3e9cc89	2868	}
rgrover1	0:8e57f3e9cc89	2869
rgrover1	0:8e57f3e9cc89	2870	#endif /* configUSE_TRACE_FACILITY */
rgrover1	0:8e57f3e9cc89	2871	/----------------------------------------------------------/
rgrover1	0:8e57f3e9cc89	2872
rgrover1	0:8e57f3e9cc89	2873	#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
rgrover1	0:8e57f3e9cc89	2874
rgrover1	0:8e57f3e9cc89	2875	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
rgrover1	0:8e57f3e9cc89	2876	{
rgrover1	0:8e57f3e9cc89	2877	xTaskStatusType *pxTaskStatusArray;
rgrover1	0:8e57f3e9cc89	2878	volatile unsigned portBASE_TYPE uxArraySize, x;
rgrover1	0:8e57f3e9cc89	2879	unsigned long ulTotalTime, ulStatsAsPercentage;
rgrover1	0:8e57f3e9cc89	2880
rgrover1	0:8e57f3e9cc89	2881	/*
rgrover1	0:8e57f3e9cc89	2882	* PLEASE NOTE:
rgrover1	0:8e57f3e9cc89	2883	*
rgrover1	0:8e57f3e9cc89	2884	* This function is provided for convenience only, and is used by many
rgrover1	0:8e57f3e9cc89	2885	* of the demo applications. Do not consider it to be part of the
rgrover1	0:8e57f3e9cc89	2886	* scheduler.
rgrover1	0:8e57f3e9cc89	2887	*
rgrover1	0:8e57f3e9cc89	2888	* vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
rgrover1	0:8e57f3e9cc89	2889	* of the uxTaskGetSystemState() output into a human readable table that
rgrover1	0:8e57f3e9cc89	2890	* displays the amount of time each task has spent in the Running state
rgrover1	0:8e57f3e9cc89	2891	* in both absolute and percentage terms.
rgrover1	0:8e57f3e9cc89	2892	*
rgrover1	0:8e57f3e9cc89	2893	* vTaskGetRunTimeStats() has a dependency on the sprintf() C library
rgrover1	0:8e57f3e9cc89	2894	* function that might bloat the code size, use a lot of stack, and
rgrover1	0:8e57f3e9cc89	2895	* provide different results on different platforms. An alternative,
rgrover1	0:8e57f3e9cc89	2896	* tiny, third party, and limited functionality implementation of
rgrover1	0:8e57f3e9cc89	2897	* sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
rgrover1	0:8e57f3e9cc89	2898	* a file called printf-stdarg.c (note printf-stdarg.c does not provide
rgrover1	0:8e57f3e9cc89	2899	* a full snprintf() implementation!).
rgrover1	0:8e57f3e9cc89	2900	*
rgrover1	0:8e57f3e9cc89	2901	* It is recommended that production systems call uxTaskGetSystemState()
rgrover1	0:8e57f3e9cc89	2902	* directly to get access to raw stats data, rather than indirectly
rgrover1	0:8e57f3e9cc89	2903	* through a call to vTaskGetRunTimeStats().
rgrover1	0:8e57f3e9cc89	2904	*/
rgrover1	0:8e57f3e9cc89	2905
rgrover1	0:8e57f3e9cc89	2906	/* Make sure the write buffer does not contain a string. */
rgrover1	0:8e57f3e9cc89	2907	*pcWriteBuffer = 0x00;
rgrover1	0:8e57f3e9cc89	2908
rgrover1	0:8e57f3e9cc89	2909	/* Take a snapshot of the number of tasks in case it changes while this
rgrover1	0:8e57f3e9cc89	2910	function is executing. */
rgrover1	0:8e57f3e9cc89	2911	uxArraySize = uxCurrentNumberOfTasks;
rgrover1	0:8e57f3e9cc89	2912
rgrover1	0:8e57f3e9cc89	2913	/* Allocate an array index for each task. */
rgrover1	0:8e57f3e9cc89	2914	pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
rgrover1	0:8e57f3e9cc89	2915
rgrover1	0:8e57f3e9cc89	2916	if( pxTaskStatusArray != NULL )
rgrover1	0:8e57f3e9cc89	2917	{
rgrover1	0:8e57f3e9cc89	2918	/* Generate the (binary) data. */
rgrover1	0:8e57f3e9cc89	2919	uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
rgrover1	0:8e57f3e9cc89	2920
rgrover1	0:8e57f3e9cc89	2921	/* For percentage calculations. */
rgrover1	0:8e57f3e9cc89	2922	ulTotalTime /= 100UL;
rgrover1	0:8e57f3e9cc89	2923
rgrover1	0:8e57f3e9cc89	2924	/* Avoid divide by zero errors. */
rgrover1	0:8e57f3e9cc89	2925	if( ulTotalTime > 0 )
rgrover1	0:8e57f3e9cc89	2926	{
rgrover1	0:8e57f3e9cc89	2927	/* Create a human readable table from the binary data. */
rgrover1	0:8e57f3e9cc89	2928	for( x = 0; x < uxArraySize; x++ )
rgrover1	0:8e57f3e9cc89	2929	{
rgrover1	0:8e57f3e9cc89	2930	/* What percentage of the total run time has the task used?
rgrover1	0:8e57f3e9cc89	2931	This will always be rounded down to the nearest integer.
rgrover1	0:8e57f3e9cc89	2932	ulTotalRunTimeDiv100 has already been divided by 100. */
rgrover1	0:8e57f3e9cc89	2933	ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
rgrover1	0:8e57f3e9cc89	2934
rgrover1	0:8e57f3e9cc89	2935	if( ulStatsAsPercentage > 0UL )
rgrover1	0:8e57f3e9cc89	2936	{
rgrover1	0:8e57f3e9cc89	2937	#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
rgrover1	0:8e57f3e9cc89	2938	{
rgrover1	0:8e57f3e9cc89	2939	sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
rgrover1	0:8e57f3e9cc89	2940	}
rgrover1	0:8e57f3e9cc89	2941	#else
rgrover1	0:8e57f3e9cc89	2942	{
rgrover1	0:8e57f3e9cc89	2943	/* sizeof( int ) == sizeof( long ) so a smaller
rgrover1	0:8e57f3e9cc89	2944	printf() library can be used. */
rgrover1	0:8e57f3e9cc89	2945	sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
rgrover1	0:8e57f3e9cc89	2946	}
rgrover1	0:8e57f3e9cc89	2947	#endif
rgrover1	0:8e57f3e9cc89	2948	}
rgrover1	0:8e57f3e9cc89	2949	else
rgrover1	0:8e57f3e9cc89	2950	{
rgrover1	0:8e57f3e9cc89	2951	/* If the percentage is zero here then the task has
rgrover1	0:8e57f3e9cc89	2952	consumed less than 1% of the total run time. */
rgrover1	0:8e57f3e9cc89	2953	#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
rgrover1	0:8e57f3e9cc89	2954	{
rgrover1	0:8e57f3e9cc89	2955	sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
rgrover1	0:8e57f3e9cc89	2956	}
rgrover1	0:8e57f3e9cc89	2957	#else
rgrover1	0:8e57f3e9cc89	2958	{
rgrover1	0:8e57f3e9cc89	2959	/* sizeof( int ) == sizeof( long ) so a smaller
rgrover1	0:8e57f3e9cc89	2960	printf() library can be used. */
rgrover1	0:8e57f3e9cc89	2961	sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
rgrover1	0:8e57f3e9cc89	2962	}
rgrover1	0:8e57f3e9cc89	2963	#endif
rgrover1	0:8e57f3e9cc89	2964	}
rgrover1	0:8e57f3e9cc89	2965
rgrover1	0:8e57f3e9cc89	2966	pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
rgrover1	0:8e57f3e9cc89	2967	}
rgrover1	0:8e57f3e9cc89	2968	}
rgrover1	0:8e57f3e9cc89	2969
rgrover1	0:8e57f3e9cc89	2970	/* Free the array again. */
rgrover1	0:8e57f3e9cc89	2971	vPortFree( pxTaskStatusArray );
rgrover1	0:8e57f3e9cc89	2972	}
rgrover1	0:8e57f3e9cc89	2973	}
rgrover1	0:8e57f3e9cc89	2974
rgrover1	0:8e57f3e9cc89	2975	#endif /* configGENERATE_RUN_TIME_STATS */
rgrover1	0:8e57f3e9cc89	2976
rgrover1	0:8e57f3e9cc89	2977
rgrover1	0:8e57f3e9cc89	2978

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Type:	Library
Created:	24 Jan 2014
Imports:	1259
Forks:	2
Commits:	1
Dependents:	6
Dependencies:	0
Followers:	84

Source/tasks.c@0:8e57f3e9cc89, 2014-01-24 (annotated)

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