copied over all of the custom pcb stuff and switched connectors + added PWM headers to the power board
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4029 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/gyro_board/src/usb/FreeRTOS/tasks.c b/gyro_board/src/usb/FreeRTOS/tasks.c
new file mode 100644
index 0000000..22587a4
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/tasks.c
@@ -0,0 +1,2150 @@
+/*
+ FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+ ***************************************************************************
+ * *
+ * If you are: *
+ * *
+ * + New to FreeRTOS, *
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *
+ * + Looking for basic training, *
+ * + Wanting to improve your FreeRTOS skills and productivity *
+ * *
+ * then take a look at the FreeRTOS eBook *
+ * *
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ * A pdf reference manual is also available. Both are usually delivered *
+ * to your inbox within 20 minutes to two hours when purchased between 8am *
+ * and 8pm GMT (although please allow up to 24 hours in case of *
+ * exceptional circumstances). Thank you for your support! *
+ * *
+ ***************************************************************************
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ ***NOTE*** The exception to the GPL is included to allow you to distribute
+ a combined work that includes FreeRTOS without being obliged to provide the
+ source code for proprietary components outside of the FreeRTOS kernel.
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ http://www.FreeRTOS.org - Documentation, latest information, license and
+ contact details.
+
+ http://www.SafeRTOS.com - A version that is certified for use in safety
+ critical systems.
+
+ http://www.OpenRTOS.com - Commercial support, development, porting,
+ licensing and training services.
+*/
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "StackMacros.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/*
+ * Macro to define the amount of stack available to the idle task.
+ */
+#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
+
+/*
+ * Task control block. A task control block (TCB) is allocated to each task,
+ * and stores the context of the task.
+ */
+typedef struct tskTaskControlBlock {
+ volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+ xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
+#endif
+
+ xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
+ xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
+ unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
+ portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
+ signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
+
+#if ( portSTACK_GROWTH > 0 )
+ portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
+#endif
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ unsigned portBASE_TYPE uxCriticalNesting;
+#endif
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+ unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
+#endif
+
+#if ( configUSE_MUTEXES == 1 )
+ unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
+#endif
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ pdTASK_HOOK_CODE pxTaskTag;
+#endif
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+ unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
+#endif
+
+} tskTCB;
+
+
+/*
+ * Some kernel aware debuggers require data to be viewed to be global, rather
+ * than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+#define static
+#endif
+
+/*lint -e956 */
+PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
+
+/* Lists for ready and blocked tasks. --------------------*/
+
+PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
+PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
+PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = (unsigned portBASE_TYPE) 0;
+
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
+
+#endif
+
+/* File private variables. --------------------------------*/
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = (unsigned portBASE_TYPE) 0;
+PRIVILEGED_DATA static volatile portTickType xTickCount = (portTickType) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = (unsigned portBASE_TYPE) pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = (unsigned portBASE_TYPE) 0;
+PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = (portBASE_TYPE) pdFALSE;
+PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = (portBASE_TYPE) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = (unsigned portBASE_TYPE) 0;
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
+PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
+static void prvGenerateRunTimeStatsForTasksInList(const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime) PRIVILEGED_FUNCTION;
+
+#endif
+
+/* Debugging and trace facilities private variables and macros. ------------*/
+
+/*
+ * The value used to fill the stack of a task when the task is created. This
+ * is used purely for checking the high water mark for tasks.
+ */
+#define tskSTACK_FILL_BYTE ( 0xa5 )
+
+/*
+ * Macros used by vListTask to indicate which state a task is in.
+ */
+#define tskBLOCKED_CHAR ( ( signed char ) 'B' )
+#define tskREADY_CHAR ( ( signed char ) 'R' )
+#define tskDELETED_CHAR ( ( signed char ) 'D' )
+#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
+
+/*
+ * Macros and private variables used by the trace facility.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+#define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
+PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
+PRIVILEGED_DATA static signed char *pcTraceBufferStart;
+PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
+PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
+static unsigned portBASE_TYPE uxPreviousTask = 255;
+PRIVILEGED_DATA static char pcStatusString[ 50 ];
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro that writes a trace of scheduler activity to a buffer. This trace
+ * shows which task is running when and is very useful as a debugging tool.
+ * As this macro is called each context switch it is a good idea to undefine
+ * it if not using the facility.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+#define vWriteTraceToBuffer() \
+ { \
+ if( xTracing ) \
+ { \
+ if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
+ { \
+ if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
+ { \
+ uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
+ *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
+ pcTraceBuffer += sizeof( unsigned long ); \
+ *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
+ pcTraceBuffer += sizeof( unsigned long ); \
+ } \
+ else \
+ { \
+ xTracing = pdFALSE; \
+ } \
+ } \
+ } \
+ }
+
+#else
+
+#define vWriteTraceToBuffer()
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * Place the task represented by pxTCB into the appropriate ready queue for
+ * the task. It is inserted at the end of the list. One quirk of this is
+ * that if the task being inserted is at the same priority as the currently
+ * executing task, then it will only be rescheduled after the currently
+ * executing task has been rescheduled.
+ */
+#define prvAddTaskToReadyQueue( pxTCB ) \
+{ \
+ if( pxTCB->uxPriority > uxTopReadyPriority ) \
+ { \
+ uxTopReadyPriority = pxTCB->uxPriority; \
+ } \
+ vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro that looks at the list of tasks that are currently delayed to see if
+ * any require waking.
+ *
+ * Tasks are stored in the queue in the order of their wake time - meaning
+ * once one tasks has been found whose timer has not expired we need not look
+ * any further down the list.
+ */
+#define prvCheckDelayedTasks() \
+{ \
+register tskTCB *pxTCB; \
+ \
+ while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
+ { \
+ if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
+ { \
+ break; \
+ } \
+ vListRemove( &( pxTCB->xGenericListItem ) ); \
+ /* Is the task waiting on an event also? */ \
+ if( pxTCB->xEventListItem.pvContainer ) \
+ { \
+ vListRemove( &( pxTCB->xEventListItem ) ); \
+ } \
+ prvAddTaskToReadyQueue( pxTCB ); \
+ } \
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Several functions take an xTaskHandle parameter that can optionally be NULL,
+ * where NULL is used to indicate that the handle of the currently executing
+ * task should be used in place of the parameter. This macro simply checks to
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.
+ */
+#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
+
+
+/* File private functions. --------------------------------*/
+
+/*
+ * Utility to ready a TCB for a given task. Mainly just copies the parameters
+ * into the TCB structure.
+ */
+static void prvInitialiseTCBVariables(tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth) PRIVILEGED_FUNCTION;
+
+/*
+ * Utility to ready all the lists used by the scheduler. This is called
+ * automatically upon the creation of the first task.
+ */
+static void prvInitialiseTaskLists(void) PRIVILEGED_FUNCTION;
+
+/*
+ * The idle task, which as all tasks is implemented as a never ending loop.
+ * The idle task is automatically created and added to the ready lists upon
+ * creation of the first user task.
+ *
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION_PROTO(prvIdleTask, pvParameters);
+
+/*
+ * Utility to free all memory allocated by the scheduler to hold a TCB,
+ * including the stack pointed to by the TCB.
+ *
+ * This does not free memory allocated by the task itself (i.e. memory
+ * allocated by calls to pvPortMalloc from within the tasks application code).
+ */
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+static void prvDeleteTCB(tskTCB *pxTCB) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Used only by the idle task. This checks to see if anything has been placed
+ * in the list of tasks waiting to be deleted. If so the task is cleaned up
+ * and its TCB deleted.
+ */
+static void prvCheckTasksWaitingTermination(void) PRIVILEGED_FUNCTION;
+
+/*
+ * Allocates memory from the heap for a TCB and associated stack. Checks the
+ * allocation was successful.
+ */
+static tskTCB *prvAllocateTCBAndStack(unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer) PRIVILEGED_FUNCTION;
+
+/*
+ * Called from vTaskList. vListTasks details all the tasks currently under
+ * control of the scheduler. The tasks may be in one of a number of lists.
+ * prvListTaskWithinSingleList accepts a list and details the tasks from
+ * within just that list.
+ *
+ * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
+ * NORMAL APPLICATION CODE.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+static void prvListTaskWithinSingleList(const signed char *pcWriteBuffer, xList *pxList, signed char cStatus) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * When a task is created, the stack of the task is filled with a known value.
+ * This function determines the 'high water mark' of the task stack by
+ * determining how much of the stack remains at the original preset value.
+ */
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+static unsigned short usTaskCheckFreeStackSpace(const unsigned char * pucStackByte) PRIVILEGED_FUNCTION;
+
+#endif
+
+
+/*lint +e956 */
+
+
+
+/*-----------------------------------------------------------
+ * TASK CREATION API documented in task.h
+ *----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskGenericCreate(pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions)
+{
+ signed portBASE_TYPE xReturn;
+ tskTCB * pxNewTCB;
+
+ /* Allocate the memory required by the TCB and stack for the new task,
+ checking that the allocation was successful. */
+ pxNewTCB = prvAllocateTCBAndStack(usStackDepth, puxStackBuffer);
+
+ if (pxNewTCB != NULL) {
+ portSTACK_TYPE *pxTopOfStack;
+
+#if( portUSING_MPU_WRAPPERS == 1 )
+ /* Should the task be created in privileged mode? */
+ portBASE_TYPE xRunPrivileged;
+ if ((uxPriority & portPRIVILEGE_BIT) != 0x00) {
+ xRunPrivileged = pdTRUE;
+ } else {
+ xRunPrivileged = pdFALSE;
+ }
+ uxPriority &= ~portPRIVILEGE_BIT;
+#endif /* portUSING_MPU_WRAPPERS == 1 */
+
+ /* Calculate the top of stack address. This depends on whether the
+ stack grows from high memory to low (as per the 80x86) or visa versa.
+ portSTACK_GROWTH is used to make the result positive or negative as
+ required by the port. */
+#if( portSTACK_GROWTH < 0 )
+ {
+ pxTopOfStack = pxNewTCB->pxStack + (usStackDepth - 1);
+ pxTopOfStack = (portSTACK_TYPE *)(((unsigned long) pxTopOfStack) & ((unsigned long) ~portBYTE_ALIGNMENT_MASK));
+ }
+#else
+ {
+ pxTopOfStack = pxNewTCB->pxStack;
+
+ /* If we want to use stack checking on architectures that use
+ a positive stack growth direction then we also need to store the
+ other extreme of the stack space. */
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + (usStackDepth - 1);
+ }
+#endif
+
+ /* Setup the newly allocated TCB with the initial state of the task. */
+ prvInitialiseTCBVariables(pxNewTCB, pcName, uxPriority, xRegions, usStackDepth);
+
+ /* Initialize the TCB stack to look as if the task was already running,
+ but had been interrupted by the scheduler. The return address is set
+ to the start of the task function. Once the stack has been initialised
+ the top of stack variable is updated. */
+#if( portUSING_MPU_WRAPPERS == 1 )
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack(pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged);
+ }
+#else
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack(pxTopOfStack, pxTaskCode, pvParameters);
+ }
+#endif
+
+ /* We are going to manipulate the task queues to add this task to a
+ ready list, so must make sure no interrupts occur. */
+ portENTER_CRITICAL();
+ {
+ uxCurrentNumberOfTasks++;
+ if (uxCurrentNumberOfTasks == (unsigned portBASE_TYPE) 1) {
+ /* As this is the first task it must also be the current task. */
+ pxCurrentTCB = pxNewTCB;
+
+ /* This is the first task to be created so do the preliminary
+ initialisation required. We will not recover if this call
+ fails, but we will report the failure. */
+ prvInitialiseTaskLists();
+ } else {
+ /* If the scheduler is not already running, make this task the
+ current task if it is the highest priority task to be created
+ so far. */
+ if (xSchedulerRunning == pdFALSE) {
+ if (pxCurrentTCB->uxPriority <= uxPriority) {
+ pxCurrentTCB = pxNewTCB;
+ }
+ }
+ }
+
+ /* Remember the top priority to make context switching faster. Use
+ the priority in pxNewTCB as this has been capped to a valid value. */
+ if (pxNewTCB->uxPriority > uxTopUsedPriority) {
+ uxTopUsedPriority = pxNewTCB->uxPriority;
+ }
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+ {
+ /* Add a counter into the TCB for tracing only. */
+ pxNewTCB->uxTCBNumber = uxTaskNumber;
+ }
+#endif
+ uxTaskNumber++;
+
+ prvAddTaskToReadyQueue(pxNewTCB);
+
+ xReturn = pdPASS;
+ traceTASK_CREATE(pxNewTCB);
+ }
+ portEXIT_CRITICAL();
+ } else {
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+ traceTASK_CREATE_FAILED(pxNewTCB);
+ }
+
+ if (xReturn == pdPASS) {
+ if ((void *) pxCreatedTask != NULL) {
+ /* Pass the TCB out - in an anonymous way. The calling function/
+ task can use this as a handle to delete the task later if
+ required.*/
+ *pxCreatedTask = (xTaskHandle) pxNewTCB;
+ }
+
+ if (xSchedulerRunning != pdFALSE) {
+ /* If the created task is of a higher priority than the current task
+ then it should run now. */
+ if (pxCurrentTCB->uxPriority < uxPriority) {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+void vTaskDelete(xTaskHandle pxTaskToDelete)
+{
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ /* Ensure a yield is performed if the current task is being
+ deleted. */
+ if (pxTaskToDelete == pxCurrentTCB) {
+ pxTaskToDelete = NULL;
+ }
+
+ /* If null is passed in here then we are deleting ourselves. */
+ pxTCB = prvGetTCBFromHandle(pxTaskToDelete);
+
+ /* Remove task from the ready list and place in the termination list.
+ This will stop the task from be scheduled. The idle task will check
+ the termination list and free up any memory allocated by the
+ scheduler for the TCB and stack. */
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Is the task waiting on an event also? */
+ if (pxTCB->xEventListItem.pvContainer) {
+ vListRemove(&(pxTCB->xEventListItem));
+ }
+
+ vListInsertEnd((xList *) &xTasksWaitingTermination, &(pxTCB->xGenericListItem));
+
+ /* Increment the ucTasksDeleted variable so the idle task knows
+ there is a task that has been deleted and that it should therefore
+ check the xTasksWaitingTermination list. */
+ ++uxTasksDeleted;
+
+ /* Increment the uxTaskNumberVariable also so kernel aware debuggers
+ can detect that the task lists need re-generating. */
+ uxTaskNumber++;
+
+ traceTASK_DELETE(pxTCB);
+ }
+ portEXIT_CRITICAL();
+
+ /* Force a reschedule if we have just deleted the current task. */
+ if (xSchedulerRunning != pdFALSE) {
+ if ((void *) pxTaskToDelete == NULL) {
+ portYIELD_WITHIN_API();
+ }
+ }
+}
+
+#endif
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * TASK CONTROL API documented in task.h
+ *----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelayUntil == 1 )
+
+void vTaskDelayUntil(portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement)
+{
+ portTickType xTimeToWake;
+ portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
+
+ vTaskSuspendAll();
+ {
+ /* Generate the tick time at which the task wants to wake. */
+ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
+
+ if (xTickCount < *pxPreviousWakeTime) {
+ /* The tick count has overflowed since this function was
+ lasted called. In this case the only time we should ever
+ actually delay is if the wake time has also overflowed,
+ and the wake time is greater than the tick time. When this
+ is the case it is as if neither time had overflowed. */
+ if ((xTimeToWake < *pxPreviousWakeTime) && (xTimeToWake > xTickCount)) {
+ xShouldDelay = pdTRUE;
+ }
+ } else {
+ /* The tick time has not overflowed. In this case we will
+ delay if either the wake time has overflowed, and/or the
+ tick time is less than the wake time. */
+ if ((xTimeToWake < *pxPreviousWakeTime) || (xTimeToWake > xTickCount)) {
+ xShouldDelay = pdTRUE;
+ }
+ }
+
+ /* Update the wake time ready for the next call. */
+ *pxPreviousWakeTime = xTimeToWake;
+
+ if (xShouldDelay) {
+ traceTASK_DELAY_UNTIL();
+
+ /* We must remove ourselves from the ready list before adding
+ ourselves to the blocked list as the same list item is used for
+ both lists. */
+ vListRemove((xListItem *) &(pxCurrentTCB->xGenericListItem));
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the
+ overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the
+ current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if (!xAlreadyYielded) {
+ portYIELD_WITHIN_API();
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelay == 1 )
+
+void vTaskDelay(portTickType xTicksToDelay)
+{
+ portTickType xTimeToWake;
+ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+ /* A delay time of zero just forces a reschedule. */
+ if (xTicksToDelay > (portTickType) 0) {
+ vTaskSuspendAll();
+ {
+ traceTASK_DELAY();
+
+ /* A task that is removed from the event list while the
+ scheduler is suspended will not get placed in the ready
+ list or removed from the blocked list until the scheduler
+ is resumed.
+
+ This task cannot be in an event list as it is the currently
+ executing task. */
+
+ /* Calculate the time to wake - this may overflow but this is
+ not a problem. */
+ xTimeToWake = xTickCount + xTicksToDelay;
+
+ /* We must remove ourselves from the ready list before adding
+ ourselves to the blocked list as the same list item is used for
+ both lists. */
+ vListRemove((xListItem *) &(pxCurrentTCB->xGenericListItem));
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the
+ overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the
+ current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+ }
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if (!xAlreadyYielded) {
+ portYIELD_WITHIN_API();
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+unsigned portBASE_TYPE uxTaskPriorityGet(xTaskHandle pxTask)
+{
+ tskTCB *pxTCB;
+ unsigned portBASE_TYPE uxReturn;
+
+ portENTER_CRITICAL();
+ {
+ /* If null is passed in here then we are changing the
+ priority of the calling function. */
+ pxTCB = prvGetTCBFromHandle(pxTask);
+ uxReturn = pxTCB->uxPriority;
+ }
+ portEXIT_CRITICAL();
+
+ return uxReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskPrioritySet == 1 )
+
+void vTaskPrioritySet(xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority)
+{
+ tskTCB *pxTCB;
+ unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
+
+ /* Ensure the new priority is valid. */
+ if (uxNewPriority >= configMAX_PRIORITIES) {
+ uxNewPriority = configMAX_PRIORITIES - 1;
+ }
+
+ portENTER_CRITICAL();
+ {
+ if (pxTask == pxCurrentTCB) {
+ pxTask = NULL;
+ }
+
+ /* If null is passed in here then we are changing the
+ priority of the calling function. */
+ pxTCB = prvGetTCBFromHandle(pxTask);
+
+ traceTASK_PRIORITY_SET(pxTask, uxNewPriority);
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ uxCurrentPriority = pxTCB->uxBasePriority;
+ }
+#else
+ {
+ uxCurrentPriority = pxTCB->uxPriority;
+ }
+#endif
+
+ if (uxCurrentPriority != uxNewPriority) {
+ /* The priority change may have readied a task of higher
+ priority than the calling task. */
+ if (uxNewPriority > uxCurrentPriority) {
+ if (pxTask != NULL) {
+ /* The priority of another task is being raised. If we
+ were raising the priority of the currently running task
+ there would be no need to switch as it must have already
+ been the highest priority task. */
+ xYieldRequired = pdTRUE;
+ }
+ } else if (pxTask == NULL) {
+ /* Setting our own priority down means there may now be another
+ task of higher priority that is ready to execute. */
+ xYieldRequired = pdTRUE;
+ }
+
+
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ /* Only change the priority being used if the task is not
+ currently using an inherited priority. */
+ if (pxTCB->uxBasePriority == pxTCB->uxPriority) {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+
+ /* The base priority gets set whatever. */
+ pxTCB->uxBasePriority = uxNewPriority;
+ }
+#else
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+#endif
+
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), (configMAX_PRIORITIES - (portTickType) uxNewPriority));
+
+ /* If the task is in the blocked or suspended list we need do
+ nothing more than change it's priority variable. However, if
+ the task is in a ready list it needs to be removed and placed
+ in the queue appropriate to its new priority. */
+ if (listIS_CONTAINED_WITHIN(&(pxReadyTasksLists[ uxCurrentPriority ]), &(pxTCB->xGenericListItem))) {
+ /* The task is currently in its ready list - remove before adding
+ it to it's new ready list. As we are in a critical section we
+ can do this even if the scheduler is suspended. */
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+ }
+
+ if (xYieldRequired == pdTRUE) {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+void vTaskSuspend(xTaskHandle pxTaskToSuspend)
+{
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ /* Ensure a yield is performed if the current task is being
+ suspended. */
+ if (pxTaskToSuspend == pxCurrentTCB) {
+ pxTaskToSuspend = NULL;
+ }
+
+ /* If null is passed in here then we are suspending ourselves. */
+ pxTCB = prvGetTCBFromHandle(pxTaskToSuspend);
+
+ traceTASK_SUSPEND(pxTCB);
+
+ /* Remove task from the ready/delayed list and place in the suspended list. */
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Is the task waiting on an event also? */
+ if (pxTCB->xEventListItem.pvContainer) {
+ vListRemove(&(pxTCB->xEventListItem));
+ }
+
+ vListInsertEnd((xList *) &xSuspendedTaskList, &(pxTCB->xGenericListItem));
+ }
+ portEXIT_CRITICAL();
+
+ /* We may have just suspended the current task. */
+ if ((void *) pxTaskToSuspend == NULL) {
+ portYIELD_WITHIN_API();
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+signed portBASE_TYPE xTaskIsTaskSuspended(xTaskHandle xTask)
+{
+ portBASE_TYPE xReturn = pdFALSE;
+ const tskTCB * const pxTCB = (tskTCB *) xTask;
+
+ /* Is the task we are attempting to resume actually in the
+ suspended list? */
+ if (listIS_CONTAINED_WITHIN(&xSuspendedTaskList, &(pxTCB->xGenericListItem)) != pdFALSE) {
+ /* Has the task already been resumed from within an ISR? */
+ if (listIS_CONTAINED_WITHIN(&xPendingReadyList, &(pxTCB->xEventListItem)) != pdTRUE) {
+ /* Is it in the suspended list because it is in the
+ Suspended state? It is possible to be in the suspended
+ list because it is blocked on a task with no timeout
+ specified. */
+ if (listIS_CONTAINED_WITHIN(NULL, &(pxTCB->xEventListItem)) == pdTRUE) {
+ xReturn = pdTRUE;
+ }
+ }
+ }
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+void vTaskResume(xTaskHandle pxTaskToResume)
+{
+ tskTCB *pxTCB;
+
+ /* Remove the task from whichever list it is currently in, and place
+ it in the ready list. */
+ pxTCB = (tskTCB *) pxTaskToResume;
+
+ /* The parameter cannot be NULL as it is impossible to resume the
+ currently executing task. */
+ if ((pxTCB != NULL) && (pxTCB != pxCurrentTCB)) {
+ portENTER_CRITICAL();
+ {
+ if (xTaskIsTaskSuspended(pxTCB) == pdTRUE) {
+ traceTASK_RESUME(pxTCB);
+
+ /* As we are in a critical section we can access the ready
+ lists even if the scheduler is suspended. */
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+
+ /* We may have just resumed a higher priority task. */
+ if (pxTCB->uxPriority >= pxCurrentTCB->uxPriority) {
+ /* This yield may not cause the task just resumed to run, but
+ will leave the lists in the correct state for the next yield. */
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+ }
+}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+portBASE_TYPE xTaskResumeFromISR(xTaskHandle pxTaskToResume)
+{
+ portBASE_TYPE xYieldRequired = pdFALSE;
+ tskTCB *pxTCB;
+
+ pxTCB = (tskTCB *) pxTaskToResume;
+
+ if (xTaskIsTaskSuspended(pxTCB) == pdTRUE) {
+ traceTASK_RESUME_FROM_ISR(pxTCB);
+
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ xYieldRequired = (pxTCB->uxPriority >= pxCurrentTCB->uxPriority);
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+ } else {
+ /* We cannot access the delayed or ready lists, so will hold this
+ task pending until the scheduler is resumed, at which point a
+ yield will be performed if necessary. */
+ vListInsertEnd((xList *) &(xPendingReadyList), &(pxTCB->xEventListItem));
+ }
+ }
+
+ return xYieldRequired;
+}
+
+#endif
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC SCHEDULER CONTROL documented in task.h
+ *----------------------------------------------------------*/
+
+
+void vTaskStartScheduler(void)
+{
+ portBASE_TYPE xReturn;
+
+ /* Add the idle task at the lowest priority. */
+ xReturn = xTaskCreate(prvIdleTask, (signed char *) "IDLE", tskIDLE_STACK_SIZE, (void *) NULL, (tskIDLE_PRIORITY | portPRIVILEGE_BIT), (xTaskHandle *) NULL);
+
+ if (xReturn == pdPASS) {
+ /* Interrupts are turned off here, to ensure a tick does not occur
+ before or during the call to xPortStartScheduler(). The stacks of
+ the created tasks contain a status word with interrupts switched on
+ so interrupts will automatically get re-enabled when the first task
+ starts to run.
+
+ STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
+ DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
+ portDISABLE_INTERRUPTS();
+
+ xSchedulerRunning = pdTRUE;
+ xTickCount = (portTickType) 0;
+
+ /* If configGENERATE_RUN_TIME_STATS is defined then the following
+ macro must be defined to configure the timer/counter used to generate
+ the run time counter time base. */
+ portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+
+ /* Setting up the timer tick is hardware specific and thus in the
+ portable interface. */
+ if (xPortStartScheduler()) {
+ /* Should not reach here as if the scheduler is running the
+ function will not return. */
+ } else {
+ /* Should only reach here if a task calls xTaskEndScheduler(). */
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vTaskEndScheduler(void)
+{
+ /* Stop the scheduler interrupts and call the portable scheduler end
+ routine so the original ISRs can be restored if necessary. The port
+ layer must ensure interrupts enable bit is left in the correct state. */
+ portDISABLE_INTERRUPTS();
+ xSchedulerRunning = pdFALSE;
+ vPortEndScheduler();
+}
+/*----------------------------------------------------------*/
+
+void vTaskSuspendAll(void)
+{
+ /* A critical section is not required as the variable is of type
+ portBASE_TYPE. */
+ ++uxSchedulerSuspended;
+}
+/*----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskResumeAll(void)
+{
+ register tskTCB *pxTCB;
+ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+ /* It is possible that an ISR caused a task to be removed from an event
+ list while the scheduler was suspended. If this was the case then the
+ removed task will have been added to the xPendingReadyList. Once the
+ scheduler has been resumed it is safe to move all the pending ready
+ tasks from this list into their appropriate ready list. */
+ portENTER_CRITICAL();
+ {
+ --uxSchedulerSuspended;
+
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ if (uxCurrentNumberOfTasks > (unsigned portBASE_TYPE) 0) {
+ portBASE_TYPE xYieldRequired = pdFALSE;
+
+ /* Move any readied tasks from the pending list into the
+ appropriate ready list. */
+ while ((pxTCB = (tskTCB *) listGET_OWNER_OF_HEAD_ENTRY(((xList *) & xPendingReadyList))) != NULL) {
+ vListRemove(&(pxTCB->xEventListItem));
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+
+ /* If we have moved a task that has a priority higher than
+ the current task then we should yield. */
+ if (pxTCB->uxPriority >= pxCurrentTCB->uxPriority) {
+ xYieldRequired = pdTRUE;
+ }
+ }
+
+ /* If any ticks occurred while the scheduler was suspended then
+ they should be processed now. This ensures the tick count does not
+ slip, and that any delayed tasks are resumed at the correct time. */
+ if (uxMissedTicks > (unsigned portBASE_TYPE) 0) {
+ while (uxMissedTicks > (unsigned portBASE_TYPE) 0) {
+ vTaskIncrementTick();
+ --uxMissedTicks;
+ }
+
+ /* As we have processed some ticks it is appropriate to yield
+ to ensure the highest priority task that is ready to run is
+ the task actually running. */
+#if configUSE_PREEMPTION == 1
+ {
+ xYieldRequired = pdTRUE;
+ }
+#endif
+ }
+
+ if ((xYieldRequired == pdTRUE) || (xMissedYield == pdTRUE)) {
+ xAlreadyYielded = pdTRUE;
+ xMissedYield = pdFALSE;
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+
+ return xAlreadyYielded;
+}
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC TASK UTILITIES documented in task.h
+ *----------------------------------------------------------*/
+
+
+
+portTickType xTaskGetTickCount(void)
+{
+ portTickType xTicks;
+
+ /* Critical section required if running on a 16 bit processor. */
+ portENTER_CRITICAL();
+ {
+ xTicks = xTickCount;
+ }
+ portEXIT_CRITICAL();
+
+ return xTicks;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxTaskGetNumberOfTasks(void)
+{
+ /* A critical section is not required because the variables are of type
+ portBASE_TYPE. */
+ return uxCurrentNumberOfTasks;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+void vTaskList(signed char *pcWriteBuffer)
+{
+ unsigned portBASE_TYPE uxQueue;
+
+ /* This is a VERY costly function that should be used for debug only.
+ It leaves interrupts disabled for a LONG time. */
+
+ vTaskSuspendAll();
+ {
+ /* Run through all the lists that could potentially contain a TCB and
+ report the task name, state and stack high water mark. */
+
+ pcWriteBuffer[ 0 ] = (signed char) 0x00;
+ strcat((char *) pcWriteBuffer, (const char *) "\r\n");
+
+ uxQueue = uxTopUsedPriority + 1;
+
+ do {
+ uxQueue--;
+
+ if (!listLIST_IS_EMPTY(&(pxReadyTasksLists[ uxQueue ]))) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) &(pxReadyTasksLists[ uxQueue ]), tskREADY_CHAR);
+ }
+ } while (uxQueue > (unsigned short) tskIDLE_PRIORITY);
+
+ if (!listLIST_IS_EMPTY(pxDelayedTaskList)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) pxDelayedTaskList, tskBLOCKED_CHAR);
+ }
+
+ if (!listLIST_IS_EMPTY(pxOverflowDelayedTaskList)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) pxOverflowDelayedTaskList, tskBLOCKED_CHAR);
+ }
+
+#if( INCLUDE_vTaskDelete == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xTasksWaitingTermination)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) &xTasksWaitingTermination, tskDELETED_CHAR);
+ }
+ }
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xSuspendedTaskList)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) &xSuspendedTaskList, tskSUSPENDED_CHAR);
+ }
+ }
+#endif
+ }
+ xTaskResumeAll();
+}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+void vTaskGetRunTimeStats(signed char *pcWriteBuffer)
+{
+ unsigned portBASE_TYPE uxQueue;
+ unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+
+ /* This is a VERY costly function that should be used for debug only.
+ It leaves interrupts disabled for a LONG time. */
+
+ vTaskSuspendAll();
+ {
+ /* Run through all the lists that could potentially contain a TCB,
+ generating a table of run timer percentages in the provided
+ buffer. */
+
+ pcWriteBuffer[ 0 ] = (signed char) 0x00;
+ strcat((char *) pcWriteBuffer, (const char *) "\r\n");
+
+ uxQueue = uxTopUsedPriority + 1;
+
+ do {
+ uxQueue--;
+
+ if (!listLIST_IS_EMPTY(&(pxReadyTasksLists[ uxQueue ]))) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) &(pxReadyTasksLists[ uxQueue ]), ulTotalRunTime);
+ }
+ } while (uxQueue > (unsigned short) tskIDLE_PRIORITY);
+
+ if (!listLIST_IS_EMPTY(pxDelayedTaskList)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) pxDelayedTaskList, ulTotalRunTime);
+ }
+
+ if (!listLIST_IS_EMPTY(pxOverflowDelayedTaskList)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) pxOverflowDelayedTaskList, ulTotalRunTime);
+ }
+
+#if ( INCLUDE_vTaskDelete == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xTasksWaitingTermination)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) &xTasksWaitingTermination, ulTotalRunTime);
+ }
+ }
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xSuspendedTaskList)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) &xSuspendedTaskList, ulTotalRunTime);
+ }
+ }
+#endif
+ }
+ xTaskResumeAll();
+}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+void vTaskStartTrace(signed char * pcBuffer, unsigned long ulBufferSize)
+{
+ portENTER_CRITICAL();
+ {
+ pcTraceBuffer = (signed char *)pcBuffer;
+ pcTraceBufferStart = pcBuffer;
+ pcTraceBufferEnd = pcBuffer + (ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE);
+ xTracing = pdTRUE;
+ }
+ portEXIT_CRITICAL();
+}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+unsigned long ulTaskEndTrace(void)
+{
+ unsigned long ulBufferLength;
+
+ portENTER_CRITICAL();
+ xTracing = pdFALSE;
+ portEXIT_CRITICAL();
+
+ ulBufferLength = (unsigned long)(pcTraceBuffer - pcTraceBufferStart);
+
+ return ulBufferLength;
+}
+
+#endif
+
+
+
+/*-----------------------------------------------------------
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
+ * documented in task.h
+ *----------------------------------------------------------*/
+
+
+void vTaskIncrementTick(void)
+{
+ /* Called by the portable layer each time a tick interrupt occurs.
+ Increments the tick then checks to see if the new tick value will cause any
+ tasks to be unblocked. */
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ ++xTickCount;
+ if (xTickCount == (portTickType) 0) {
+ xList *pxTemp;
+
+ /* Tick count has overflowed so we need to swap the delay lists.
+ If there are any items in pxDelayedTaskList here then there is
+ an error! */
+ pxTemp = pxDelayedTaskList;
+ pxDelayedTaskList = pxOverflowDelayedTaskList;
+ pxOverflowDelayedTaskList = pxTemp;
+ xNumOfOverflows++;
+ }
+
+ /* See if this tick has made a timeout expire. */
+ prvCheckDelayedTasks();
+ } else {
+ ++uxMissedTicks;
+
+ /* The tick hook gets called at regular intervals, even if the
+ scheduler is locked. */
+#if ( configUSE_TICK_HOOK == 1 )
+ {
+ extern void vApplicationTickHook(void);
+
+ vApplicationTickHook();
+ }
+#endif
+ }
+
+#if ( configUSE_TICK_HOOK == 1 )
+ {
+ extern void vApplicationTickHook(void);
+
+ /* Guard against the tick hook being called when the missed tick
+ count is being unwound (when the scheduler is being unlocked. */
+ if (uxMissedTicks == 0) {
+ vApplicationTickHook();
+ }
+ }
+#endif
+
+ traceTASK_INCREMENT_TICK(xTickCount);
+}
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+void vTaskCleanUpResources(void)
+{
+ unsigned short usQueue;
+ volatile tskTCB *pxTCB;
+
+ usQueue = (unsigned short) uxTopUsedPriority + (unsigned short) 1;
+
+ /* Remove any TCB's from the ready queues. */
+ do {
+ usQueue--;
+
+ while (!listLIST_IS_EMPTY(&(pxReadyTasksLists[ usQueue ]))) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &(pxReadyTasksLists[ usQueue ]));
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+ } while (usQueue > (unsigned short) tskIDLE_PRIORITY);
+
+ /* Remove any TCB's from the delayed queue. */
+ while (!listLIST_IS_EMPTY(&xDelayedTaskList1)) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &xDelayedTaskList1);
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+
+ /* Remove any TCB's from the overflow delayed queue. */
+ while (!listLIST_IS_EMPTY(&xDelayedTaskList2)) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &xDelayedTaskList2);
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+
+ while (!listLIST_IS_EMPTY(&xSuspendedTaskList)) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &xSuspendedTaskList);
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+void vTaskSetApplicationTaskTag(xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue)
+{
+ tskTCB *xTCB;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if (xTask == NULL) {
+ xTCB = (tskTCB *) pxCurrentTCB;
+ } else {
+ xTCB = (tskTCB *) xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ portENTER_CRITICAL();
+ xTCB->pxTaskTag = pxTagValue;
+ portEXIT_CRITICAL();
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+pdTASK_HOOK_CODE xTaskGetApplicationTaskTag(xTaskHandle xTask)
+{
+ tskTCB *xTCB;
+ pdTASK_HOOK_CODE xReturn;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if (xTask == NULL) {
+ xTCB = (tskTCB *) pxCurrentTCB;
+ } else {
+ xTCB = (tskTCB *) xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ portENTER_CRITICAL();
+ xReturn = xTCB->pxTaskTag;
+ portEXIT_CRITICAL();
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+portBASE_TYPE xTaskCallApplicationTaskHook(xTaskHandle xTask, void *pvParameter)
+{
+ tskTCB *xTCB;
+ portBASE_TYPE xReturn;
+
+ /* If xTask is NULL then we are calling our own task hook. */
+ if (xTask == NULL) {
+ xTCB = (tskTCB *) pxCurrentTCB;
+ } else {
+ xTCB = (tskTCB *) xTask;
+ }
+
+ if (xTCB->pxTaskTag != NULL) {
+ xReturn = xTCB->pxTaskTag(pvParameter);
+ } else {
+ xReturn = pdFAIL;
+ }
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+void vTaskSwitchContext(void)
+{
+ if (uxSchedulerSuspended != (unsigned portBASE_TYPE) pdFALSE) {
+ /* The scheduler is currently suspended - do not allow a context
+ switch. */
+ xMissedYield = pdTRUE;
+ return;
+ }
+
+ traceTASK_SWITCHED_OUT();
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+
+ /* Add the amount of time the task has been running to the accumulated
+ time so far. The time the task started running was stored in
+ ulTaskSwitchedInTime. Note that there is no overflow protection here
+ so count values are only valid until the timer overflows. Generally
+ this will be about 1 hour assuming a 1uS timer increment. */
+ pxCurrentTCB->ulRunTimeCounter += (ulTempCounter - ulTaskSwitchedInTime);
+ ulTaskSwitchedInTime = ulTempCounter;
+ }
+#endif
+
+ taskFIRST_CHECK_FOR_STACK_OVERFLOW();
+ taskSECOND_CHECK_FOR_STACK_OVERFLOW();
+
+ /* Find the highest priority queue that contains ready tasks. */
+ while (listLIST_IS_EMPTY(&(pxReadyTasksLists[ uxTopReadyPriority ]))) {
+ --uxTopReadyPriority;
+ }
+
+ /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
+ same priority get an equal share of the processor time. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxCurrentTCB, &(pxReadyTasksLists[ uxTopReadyPriority ]));
+
+ traceTASK_SWITCHED_IN();
+ vWriteTraceToBuffer();
+}
+/*-----------------------------------------------------------*/
+
+void vTaskPlaceOnEventList(const xList * const pxEventList, portTickType xTicksToWait)
+{
+ portTickType xTimeToWake;
+
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED. */
+
+ /* Place the event list item of the TCB in the appropriate event list.
+ This is placed in the list in priority order so the highest priority task
+ is the first to be woken by the event. */
+ vListInsert((xList *) pxEventList, (xListItem *) &(pxCurrentTCB->xEventListItem));
+
+ /* We must remove ourselves from the ready list before adding ourselves
+ to the blocked list as the same list item is used for both lists. We have
+ exclusive access to the ready lists as the scheduler is locked. */
+ vListRemove((xListItem *) &(pxCurrentTCB->xGenericListItem));
+
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if (xTicksToWait == portMAX_DELAY) {
+ /* Add ourselves to the suspended task list instead of a delayed task
+ list to ensure we are not woken by a timing event. We will block
+ indefinitely. */
+ vListInsertEnd((xList *) &xSuspendedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* Calculate the time at which the task should be woken if the event does
+ not occur. This may overflow but this doesn't matter. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+ }
+#else
+ {
+ /* Calculate the time at which the task should be woken if the event does
+ not occur. This may overflow but this doesn't matter. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+#endif
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskRemoveFromEventList(const xList * const pxEventList)
+{
+ tskTCB *pxUnblockedTCB;
+ portBASE_TYPE xReturn;
+
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED. It can also be called from within an ISR. */
+
+ /* The event list is sorted in priority order, so we can remove the
+ first in the list, remove the TCB from the delayed list, and add
+ it to the ready list.
+
+ If an event is for a queue that is locked then this function will never
+ get called - the lock count on the queue will get modified instead. This
+ means we can always expect exclusive access to the event list here. */
+ pxUnblockedTCB = (tskTCB *) listGET_OWNER_OF_HEAD_ENTRY(pxEventList);
+ vListRemove(&(pxUnblockedTCB->xEventListItem));
+
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ vListRemove(&(pxUnblockedTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxUnblockedTCB);
+ } else {
+ /* We cannot access the delayed or ready lists, so will hold this
+ task pending until the scheduler is resumed. */
+ vListInsertEnd((xList *) &(xPendingReadyList), &(pxUnblockedTCB->xEventListItem));
+ }
+
+ if (pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority) {
+ /* Return true if the task removed from the event list has
+ a higher priority than the calling task. This allows
+ the calling task to know if it should force a context
+ switch now. */
+ xReturn = pdTRUE;
+ } else {
+ xReturn = pdFALSE;
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskSetTimeOutState(xTimeOutType * const pxTimeOut)
+{
+ pxTimeOut->xOverflowCount = xNumOfOverflows;
+ pxTimeOut->xTimeOnEntering = xTickCount;
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTaskCheckForTimeOut(xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait)
+{
+ portBASE_TYPE xReturn;
+
+ portENTER_CRITICAL();
+ {
+#if ( INCLUDE_vTaskSuspend == 1 )
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
+ the maximum block time then the task should block indefinitely, and
+ therefore never time out. */
+ if (*pxTicksToWait == portMAX_DELAY) {
+ xReturn = pdFALSE;
+ } else /* We are not blocking indefinitely, perform the checks below. */
+#endif
+
+ if ((xNumOfOverflows != pxTimeOut->xOverflowCount) && ((portTickType) xTickCount >= (portTickType) pxTimeOut->xTimeOnEntering)) {
+ /* The tick count is greater than the time at which vTaskSetTimeout()
+ was called, but has also overflowed since vTaskSetTimeOut() was called.
+ It must have wrapped all the way around and gone past us again. This
+ passed since vTaskSetTimeout() was called. */
+ xReturn = pdTRUE;
+ } else if (((portTickType)((portTickType) xTickCount - (portTickType) pxTimeOut->xTimeOnEntering)) < (portTickType) *pxTicksToWait) {
+ /* Not a genuine timeout. Adjust parameters for time remaining. */
+ *pxTicksToWait -= ((portTickType) xTickCount - (portTickType) pxTimeOut->xTimeOnEntering);
+ vTaskSetTimeOutState(pxTimeOut);
+ xReturn = pdFALSE;
+ } else {
+ xReturn = pdTRUE;
+ }
+ }
+ portEXIT_CRITICAL();
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskMissedYield(void)
+{
+ xMissedYield = pdTRUE;
+}
+
+/*
+ * -----------------------------------------------------------
+ * The Idle task.
+ * ----------------------------------------------------------
+ *
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION(prvIdleTask, pvParameters)
+{
+ /* Stop warnings. */
+ (void) pvParameters;
+
+ for (;;) {
+ /* See if any tasks have been deleted. */
+ prvCheckTasksWaitingTermination();
+
+#if ( configUSE_PREEMPTION == 0 )
+ {
+ /* If we are not using preemption we keep forcing a task switch to
+ see if any other task has become available. If we are using
+ preemption we don't need to do this as any task becoming available
+ will automatically get the processor anyway. */
+ taskYIELD();
+ }
+#endif
+
+#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+ {
+ /* When using preemption tasks of equal priority will be
+ timesliced. If a task that is sharing the idle priority is ready
+ to run then the idle task should yield before the end of the
+ timeslice.
+
+ A critical region is not required here as we are just reading from
+ the list, and an occasional incorrect value will not matter. If
+ the ready list at the idle priority contains more than one task
+ then a task other than the idle task is ready to execute. */
+ if (listCURRENT_LIST_LENGTH(&(pxReadyTasksLists[ tskIDLE_PRIORITY ])) > (unsigned portBASE_TYPE) 1) {
+ taskYIELD();
+ }
+ }
+#endif
+
+#if ( configUSE_IDLE_HOOK == 1 )
+ {
+ extern void vApplicationIdleHook(void);
+
+ /* Call the user defined function from within the idle task. This
+ allows the application designer to add background functionality
+ without the overhead of a separate task.
+ NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
+ CALL A FUNCTION THAT MIGHT BLOCK. */
+ vApplicationIdleHook();
+ }
+#endif
+ }
+} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
+
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * File private functions documented at the top of the file.
+ *----------------------------------------------------------*/
+
+
+
+static void prvInitialiseTCBVariables(tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth)
+{
+ /* Store the function name in the TCB. */
+#if configMAX_TASK_NAME_LEN > 1
+ {
+ /* Don't bring strncpy into the build unnecessarily. */
+ strncpy((char *) pxTCB->pcTaskName, (const char *) pcName, (unsigned short) configMAX_TASK_NAME_LEN);
+ }
+#endif
+ pxTCB->pcTaskName[(unsigned short) configMAX_TASK_NAME_LEN - (unsigned short) 1 ] = '\0';
+
+ /* This is used as an array index so must ensure it's not too large. First
+ remove the privilege bit if one is present. */
+ if (uxPriority >= configMAX_PRIORITIES) {
+ uxPriority = configMAX_PRIORITIES - 1;
+ }
+
+ pxTCB->uxPriority = uxPriority;
+#if ( configUSE_MUTEXES == 1 )
+ {
+ pxTCB->uxBasePriority = uxPriority;
+ }
+#endif
+
+ vListInitialiseItem(&(pxTCB->xGenericListItem));
+ vListInitialiseItem(&(pxTCB->xEventListItem));
+
+ /* Set the pxTCB as a link back from the xListItem. This is so we can get
+ back to the containing TCB from a generic item in a list. */
+ listSET_LIST_ITEM_OWNER(&(pxTCB->xGenericListItem), pxTCB);
+
+ /* Event lists are always in priority order. */
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), configMAX_PRIORITIES - (portTickType) uxPriority);
+ listSET_LIST_ITEM_OWNER(&(pxTCB->xEventListItem), pxTCB);
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ {
+ pxTCB->uxCriticalNesting = (unsigned portBASE_TYPE) 0;
+ }
+#endif
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ {
+ pxTCB->pxTaskTag = NULL;
+ }
+#endif
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ pxTCB->ulRunTimeCounter = 0UL;
+ }
+#endif
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+ {
+ vPortStoreTaskMPUSettings(&(pxTCB->xMPUSettings), xRegions, pxTCB->pxStack, usStackDepth);
+ }
+#else
+ {
+ (void) xRegions;
+ (void) usStackDepth;
+ }
+#endif
+}
+/*-----------------------------------------------------------*/
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+
+void vTaskAllocateMPURegions(xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions)
+{
+ tskTCB *pxTCB;
+
+ if (xTaskToModify == pxCurrentTCB) {
+ xTaskToModify = NULL;
+ }
+
+ /* If null is passed in here then we are deleting ourselves. */
+ pxTCB = prvGetTCBFromHandle(xTaskToModify);
+
+ vPortStoreTaskMPUSettings(&(pxTCB->xMPUSettings), xRegions, NULL, 0);
+}
+/*-----------------------------------------------------------*/
+#endif
+
+static void prvInitialiseTaskLists(void)
+{
+ unsigned portBASE_TYPE uxPriority;
+
+ for (uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++) {
+ vListInitialise((xList *) &(pxReadyTasksLists[ uxPriority ]));
+ }
+
+ vListInitialise((xList *) &xDelayedTaskList1);
+ vListInitialise((xList *) &xDelayedTaskList2);
+ vListInitialise((xList *) &xPendingReadyList);
+
+#if ( INCLUDE_vTaskDelete == 1 )
+ {
+ vListInitialise((xList *) &xTasksWaitingTermination);
+ }
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ vListInitialise((xList *) &xSuspendedTaskList);
+ }
+#endif
+
+ /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
+ using list2. */
+ pxDelayedTaskList = &xDelayedTaskList1;
+ pxOverflowDelayedTaskList = &xDelayedTaskList2;
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTasksWaitingTermination(void)
+{
+#if ( INCLUDE_vTaskDelete == 1 )
+ {
+ portBASE_TYPE xListIsEmpty;
+
+ /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
+ too often in the idle task. */
+ if (uxTasksDeleted > (unsigned portBASE_TYPE) 0) {
+ vTaskSuspendAll();
+ xListIsEmpty = listLIST_IS_EMPTY(&xTasksWaitingTermination);
+ xTaskResumeAll();
+
+ if (!xListIsEmpty) {
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ pxTCB = (tskTCB *) listGET_OWNER_OF_HEAD_ENTRY(((xList *) & xTasksWaitingTermination));
+ vListRemove(&(pxTCB->xGenericListItem));
+ --uxCurrentNumberOfTasks;
+ --uxTasksDeleted;
+ }
+ portEXIT_CRITICAL();
+
+ prvDeleteTCB(pxTCB);
+ }
+ }
+ }
+#endif
+}
+/*-----------------------------------------------------------*/
+
+static tskTCB *prvAllocateTCBAndStack(unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer)
+{
+ tskTCB *pxNewTCB;
+
+ /* Allocate space for the TCB. Where the memory comes from depends on
+ the implementation of the port malloc function. */
+ pxNewTCB = (tskTCB *) pvPortMalloc(sizeof(tskTCB));
+
+ if (pxNewTCB != NULL) {
+ /* Allocate space for the stack used by the task being created.
+ The base of the stack memory stored in the TCB so the task can
+ be deleted later if required. */
+ pxNewTCB->pxStack = (portSTACK_TYPE *) pvPortMallocAligned((((size_t)usStackDepth) * sizeof(portSTACK_TYPE)), puxStackBuffer);
+
+ if (pxNewTCB->pxStack == NULL) {
+ /* Could not allocate the stack. Delete the allocated TCB. */
+ vPortFree(pxNewTCB);
+ pxNewTCB = NULL;
+ } else {
+ /* Just to help debugging. */
+ memset(pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof(portSTACK_TYPE));
+ }
+ }
+
+ return pxNewTCB;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+static void prvListTaskWithinSingleList(const signed char *pcWriteBuffer, xList *pxList, signed char cStatus)
+{
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;
+ unsigned short usStackRemaining;
+
+ /* Write the details of all the TCB's in pxList into the buffer. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxFirstTCB, pxList);
+ do {
+ listGET_OWNER_OF_NEXT_ENTRY(pxNextTCB, pxList);
+#if ( portSTACK_GROWTH > 0 )
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace((unsigned char *) pxNextTCB->pxEndOfStack);
+ }
+#else
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace((unsigned char *) pxNextTCB->pxStack);
+ }
+#endif
+
+ sprintf(pcStatusString, (char *) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, (unsigned int) pxNextTCB->uxPriority, usStackRemaining, (unsigned int) pxNextTCB->uxTCBNumber);
+ strcat((char *) pcWriteBuffer, (char *) pcStatusString);
+
+ } while (pxNextTCB != pxFirstTCB);
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+static void prvGenerateRunTimeStatsForTasksInList(const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime)
+{
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;
+ unsigned long ulStatsAsPercentage;
+
+ /* Write the run time stats of all the TCB's in pxList into the buffer. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxFirstTCB, pxList);
+ do {
+ /* Get next TCB in from the list. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxNextTCB, pxList);
+
+ /* Divide by zero check. */
+ if (ulTotalRunTime > 0UL) {
+ /* Has the task run at all? */
+ if (pxNextTCB->ulRunTimeCounter == 0) {
+ /* The task has used no CPU time at all. */
+ sprintf(pcStatsString, (char *) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName);
+ } else {
+ /* What percentage of the total run time as the task used?
+ This will always be rounded down to the nearest integer. */
+ ulStatsAsPercentage = (100UL * pxNextTCB->ulRunTimeCounter) / ulTotalRunTime;
+
+ if (ulStatsAsPercentage > 0UL) {
+ sprintf(pcStatsString, (char *) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, (unsigned int) pxNextTCB->ulRunTimeCounter, (unsigned int) ulStatsAsPercentage);
+ } else {
+ /* If the percentage is zero here then the task has
+ consumed less than 1% of the total run time. */
+ sprintf(pcStatsString, (char *) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, (unsigned int) pxNextTCB->ulRunTimeCounter);
+ }
+ }
+
+ strcat((char *) pcWriteBuffer, (char *) pcStatsString);
+ }
+
+ } while (pxNextTCB != pxFirstTCB);
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+static unsigned short usTaskCheckFreeStackSpace(const unsigned char * pucStackByte)
+{
+ register unsigned short usCount = 0;
+
+ while (*pucStackByte == tskSTACK_FILL_BYTE) {
+ pucStackByte -= portSTACK_GROWTH;
+ usCount++;
+ }
+
+ usCount /= sizeof(portSTACK_TYPE);
+
+ return usCount;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+
+unsigned portBASE_TYPE uxTaskGetStackHighWaterMark(xTaskHandle xTask)
+{
+ tskTCB *pxTCB;
+ unsigned char *pcEndOfStack;
+ unsigned portBASE_TYPE uxReturn;
+
+ pxTCB = prvGetTCBFromHandle(xTask);
+
+#if portSTACK_GROWTH < 0
+ {
+ pcEndOfStack = (unsigned char *) pxTCB->pxStack;
+ }
+#else
+ {
+ pcEndOfStack = (unsigned char *) pxTCB->pxEndOfStack;
+ }
+#endif
+
+ uxReturn = (unsigned portBASE_TYPE) usTaskCheckFreeStackSpace(pcEndOfStack);
+
+ return uxReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+static void prvDeleteTCB(tskTCB *pxTCB)
+{
+ /* Free up the memory allocated by the scheduler for the task. It is up to
+ the task to free any memory allocated at the application level. */
+ vPortFreeAligned(pxTCB->pxStack);
+ vPortFree(pxTCB);
+}
+
+#endif
+
+
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
+
+xTaskHandle xTaskGetCurrentTaskHandle(void)
+{
+ xTaskHandle xReturn;
+
+ /* A critical section is not required as this is not called from
+ an interrupt and the current TCB will always be the same for any
+ individual execution thread. */
+ xReturn = pxCurrentTCB;
+
+ return xReturn;
+}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetSchedulerState == 1 )
+
+portBASE_TYPE xTaskGetSchedulerState(void)
+{
+ portBASE_TYPE xReturn;
+
+ if (xSchedulerRunning == pdFALSE) {
+ xReturn = taskSCHEDULER_NOT_STARTED;
+ } else {
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ xReturn = taskSCHEDULER_RUNNING;
+ } else {
+ xReturn = taskSCHEDULER_SUSPENDED;
+ }
+ }
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+void vTaskPriorityInherit(xTaskHandle * const pxMutexHolder)
+{
+ tskTCB * const pxTCB = (tskTCB *) pxMutexHolder;
+
+ if (pxTCB->uxPriority < pxCurrentTCB->uxPriority) {
+ /* Adjust the mutex holder state to account for its new priority. */
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), configMAX_PRIORITIES - (portTickType) pxCurrentTCB->uxPriority);
+
+ /* If the task being modified is in the ready state it will need to
+ be moved in to a new list. */
+ if (listIS_CONTAINED_WITHIN(&(pxReadyTasksLists[ pxTCB->uxPriority ]), &(pxTCB->xGenericListItem))) {
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Inherit the priority before being moved into the new list. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ prvAddTaskToReadyQueue(pxTCB);
+ } else {
+ /* Just inherit the priority. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+void vTaskPriorityDisinherit(xTaskHandle * const pxMutexHolder)
+{
+ tskTCB * const pxTCB = (tskTCB *) pxMutexHolder;
+
+ if (pxMutexHolder != NULL) {
+ if (pxTCB->uxPriority != pxTCB->uxBasePriority) {
+ /* We must be the running task to be able to give the mutex back.
+ Remove ourselves from the ready list we currently appear in. */
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Disinherit the priority before adding ourselves into the new
+ ready list. */
+ pxTCB->uxPriority = pxTCB->uxBasePriority;
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), configMAX_PRIORITIES - (portTickType) pxTCB->uxPriority);
+ prvAddTaskToReadyQueue(pxTCB);
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+void vTaskEnterCritical(void)
+{
+ portDISABLE_INTERRUPTS();
+
+ if (xSchedulerRunning != pdFALSE) {
+ pxCurrentTCB->uxCriticalNesting++;
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+void vTaskExitCritical(void)
+{
+ if (xSchedulerRunning != pdFALSE) {
+ if (pxCurrentTCB->uxCriticalNesting > 0) {
+ pxCurrentTCB->uxCriticalNesting--;
+
+ if (pxCurrentTCB->uxCriticalNesting == 0) {
+ portENABLE_INTERRUPTS();
+ }
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+
+
+