mirror of
https://bitbucket.org/librepilot/librepilot.git
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1264 lines
44 KiB
C
1264 lines
44 KiB
C
/*
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FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS eBook *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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#ifndef INC_FREERTOS_H
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#error "#include FreeRTOS.h" must appear in source files before "#include task.h"
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#endif
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#ifndef TASK_H
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#define TASK_H
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#include "portable.h"
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#include "list.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*-----------------------------------------------------------
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* MACROS AND DEFINITIONS
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*----------------------------------------------------------*/
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#define tskKERNEL_VERSION_NUMBER "V6.0.4"
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/**
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* task. h
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*
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* Type by which tasks are referenced. For example, a call to xTaskCreate
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* returns (via a pointer parameter) an xTaskHandle variable that can then
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* be used as a parameter to vTaskDelete to delete the task.
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*
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* \page xTaskHandle xTaskHandle
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* \ingroup Tasks
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*/
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typedef void * xTaskHandle;
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/*
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* Used internally only.
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*/
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typedef struct xTIME_OUT
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{
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portBASE_TYPE xOverflowCount;
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portTickType xTimeOnEntering;
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} xTimeOutType;
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/*
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* Defines the memory ranges allocated to the task when an MPU is used.
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*/
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typedef struct xMEMORY_REGION
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{
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void *pvBaseAddress;
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unsigned long ulLengthInBytes;
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unsigned long ulParameters;
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} xMemoryRegion;
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/*
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* Parameters required to create an MPU protected task.
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*/
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typedef struct xTASK_PARAMTERS
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{
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pdTASK_CODE pvTaskCode;
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const signed char * const pcName;
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unsigned short usStackDepth;
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void *pvParameters;
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unsigned portBASE_TYPE uxPriority;
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portSTACK_TYPE *puxStackBuffer;
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xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
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} xTaskParameters;
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/*
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* Defines the priority used by the idle task. This must not be modified.
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*
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* \ingroup TaskUtils
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*/
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#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
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/**
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* task. h
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*
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* Macro for forcing a context switch.
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*
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* \page taskYIELD taskYIELD
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* \ingroup SchedulerControl
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*/
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#define taskYIELD() portYIELD()
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/**
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* task. h
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*
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* Macro to mark the start of a critical code region. Preemptive context
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* switches cannot occur when in a critical region.
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*
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* NOTE: This may alter the stack (depending on the portable implementation)
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* so must be used with care!
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*
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* \page taskENTER_CRITICAL taskENTER_CRITICAL
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* \ingroup SchedulerControl
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*/
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#define taskENTER_CRITICAL() portENTER_CRITICAL()
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/**
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* task. h
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*
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* Macro to mark the end of a critical code region. Preemptive context
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* switches cannot occur when in a critical region.
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*
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* NOTE: This may alter the stack (depending on the portable implementation)
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* so must be used with care!
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*
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* \page taskEXIT_CRITICAL taskEXIT_CRITICAL
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* \ingroup SchedulerControl
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*/
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#define taskEXIT_CRITICAL() portEXIT_CRITICAL()
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/**
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* task. h
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*
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* Macro to disable all maskable interrupts.
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*
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* \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
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* \ingroup SchedulerControl
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*/
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#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS()
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/**
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* task. h
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*
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* Macro to enable microcontroller interrupts.
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*
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* \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
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* \ingroup SchedulerControl
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*/
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#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS()
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/* Definitions returned by xTaskGetSchedulerState(). */
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#define taskSCHEDULER_NOT_STARTED 0
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#define taskSCHEDULER_RUNNING 1
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#define taskSCHEDULER_SUSPENDED 2
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/*-----------------------------------------------------------
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* TASK CREATION API
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*----------------------------------------------------------*/
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/**
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* task. h
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*<pre>
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portBASE_TYPE xTaskCreate(
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pdTASK_CODE pvTaskCode,
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const char * const pcName,
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unsigned short usStackDepth,
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void *pvParameters,
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unsigned portBASE_TYPE uxPriority,
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xTaskHandle *pvCreatedTask
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);</pre>
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*
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* Create a new task and add it to the list of tasks that are ready to run.
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*
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* xTaskCreate() can only be used to create a task that has unrestricted
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* access to the entire microcontroller memory map. Systems that include MPU
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* support can alternatively create an MPU constrained task using
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* xTaskCreateRestricted().
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*
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* @param pvTaskCode Pointer to the task entry function. Tasks
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* must be implemented to never return (i.e. continuous loop).
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*
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* @param pcName A descriptive name for the task. This is mainly used to
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* facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default
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* is 16.
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*
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* @param usStackDepth The size of the task stack specified as the number of
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* variables the stack can hold - not the number of bytes. For example, if
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* the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
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* will be allocated for stack storage.
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*
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* @param pvParameters Pointer that will be used as the parameter for the task
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* being created.
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*
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* @param uxPriority The priority at which the task should run. Systems that
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* include MPU support can optionally create tasks in a privileged (system)
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* mode by setting bit portPRIVILEGE_BIT of the priority parameter. For
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* example, to create a privileged task at priority 2 the uxPriority parameter
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* should be set to ( 2 | portPRIVILEGE_BIT ).
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*
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* @param pvCreatedTask Used to pass back a handle by which the created task
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* can be referenced.
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*
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* @return pdPASS if the task was successfully created and added to a ready
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* list, otherwise an error code defined in the file errors. h
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*
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* Example usage:
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<pre>
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// Task to be created.
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void vTaskCode( void * pvParameters )
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{
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for( ;; )
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{
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// Task code goes here.
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}
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}
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// Function that creates a task.
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void vOtherFunction( void )
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{
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static unsigned char ucParameterToPass;
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xTaskHandle xHandle;
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// Create the task, storing the handle. Note that the passed parameter ucParameterToPass
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// must exist for the lifetime of the task, so in this case is declared static. If it was just an
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// an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
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// the new task attempts to access it.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
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// Use the handle to delete the task.
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vTaskDelete( xHandle );
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}
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</pre>
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* \defgroup xTaskCreate xTaskCreate
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* \ingroup Tasks
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*/
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#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )
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/**
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* task. h
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*<pre>
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portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );</pre>
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*
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* xTaskCreateRestricted() should only be used in systems that include an MPU
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* implementation.
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*
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* Create a new task and add it to the list of tasks that are ready to run.
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* The function parameters define the memory regions and associated access
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* permissions allocated to the task.
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*
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* @param pxTaskDefinition Pointer to a structure that contains a member
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* for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
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* documentation) plus an optional stack buffer and the memory region
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* definitions.
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*
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* @param pxCreatedTask Used to pass back a handle by which the created task
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* can be referenced.
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*
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* @return pdPASS if the task was successfully created and added to a ready
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* list, otherwise an error code defined in the file errors. h
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*
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* Example usage:
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<pre>
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// Create an xTaskParameters structure that defines the task to be created.
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static const xTaskParameters xCheckTaskParameters =
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{
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vATask, // pvTaskCode - the function that implements the task.
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"ATask", // pcName - just a text name for the task to assist debugging.
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100, // usStackDepth - the stack size DEFINED IN WORDS.
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NULL, // pvParameters - passed into the task function as the function parameters.
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( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
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cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
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// xRegions - Allocate up to three separate memory regions for access by
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// the task, with appropriate access permissions. Different processors have
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// different memory alignment requirements - refer to the FreeRTOS documentation
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// for full information.
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{
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// Base address Length Parameters
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{ cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
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{ cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
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{ cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
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}
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};
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int main( void )
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{
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xTaskHandle xHandle;
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// Create a task from the const structure defined above. The task handle
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// is requested (the second parameter is not NULL) but in this case just for
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// demonstration purposes as its not actually used.
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xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
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// Start the scheduler.
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vTaskStartScheduler();
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// Will only get here if there was insufficient memory to create the idle
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// task.
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for( ;; );
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}
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</pre>
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* \defgroup xTaskCreateRestricted xTaskCreateRestricted
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* \ingroup Tasks
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*/
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#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) )
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/**
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* task. h
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*<pre>
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void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );</pre>
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*
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* Memory regions are assigned to a restricted task when the task is created by
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* a call to xTaskCreateRestricted(). These regions can be redefined using
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* vTaskAllocateMPURegions().
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*
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* @param xTask The handle of the task being updated.
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*
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* @param xRegions A pointer to an xMemoryRegion structure that contains the
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* new memory region definitions.
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*
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* Example usage:
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<pre>
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// Define an array of xMemoryRegion structures that configures an MPU region
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// allowing read/write access for 1024 bytes starting at the beginning of the
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// ucOneKByte array. The other two of the maximum 3 definable regions are
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// unused so set to zero.
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static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
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{
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// Base address Length Parameters
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{ ucOneKByte, 1024, portMPU_REGION_READ_WRITE },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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};
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void vATask( void *pvParameters )
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{
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// This task was created such that it has access to certain regions of
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// memory as defined by the MPU configuration. At some point it is
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// desired that these MPU regions are replaced with that defined in the
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// xAltRegions const struct above. Use a call to vTaskAllocateMPURegions()
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// for this purpose. NULL is used as the task handle to indicate that this
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// function should modify the MPU regions of the calling task.
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vTaskAllocateMPURegions( NULL, xAltRegions );
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// Now the task can continue its function, but from this point on can only
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// access its stack and the ucOneKByte array (unless any other statically
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// defined or shared regions have been declared elsewhere).
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}
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</pre>
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* \defgroup xTaskCreateRestricted xTaskCreateRestricted
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* \ingroup Tasks
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*/
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void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION;
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/**
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* task. h
|
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* <pre>void vTaskDelete( xTaskHandle pxTask );</pre>
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*
|
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* INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
|
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* See the configuration section for more information.
|
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*
|
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* Remove a task from the RTOS real time kernels management. The task being
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* deleted will be removed from all ready, blocked, suspended and event lists.
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*
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* NOTE: The idle task is responsible for freeing the kernel allocated
|
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* memory from tasks that have been deleted. It is therefore important that
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* the idle task is not starved of microcontroller processing time if your
|
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* application makes any calls to vTaskDelete (). Memory allocated by the
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* task code is not automatically freed, and should be freed before the task
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* is deleted.
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*
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* See the demo application file death.c for sample code that utilises
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* vTaskDelete ().
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*
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* @param pxTask The handle of the task to be deleted. Passing NULL will
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* cause the calling task to be deleted.
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*
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* Example usage:
|
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<pre>
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void vOtherFunction( void )
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{
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xTaskHandle xHandle;
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|
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// Create the task, storing the handle.
|
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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|
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// Use the handle to delete the task.
|
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vTaskDelete( xHandle );
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}
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</pre>
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* \defgroup vTaskDelete vTaskDelete
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* \ingroup Tasks
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*/
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void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
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|
|
|
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/*-----------------------------------------------------------
|
|
* TASK CONTROL API
|
|
*----------------------------------------------------------*/
|
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|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskDelay( portTickType xTicksToDelay );</pre>
|
|
*
|
|
* Delay a task for a given number of ticks. The actual time that the
|
|
* task remains blocked depends on the tick rate. The constant
|
|
* portTICK_RATE_MS can be used to calculate real time from the tick
|
|
* rate - with the resolution of one tick period.
|
|
*
|
|
* INCLUDE_vTaskDelay must be defined as 1 for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
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*
|
|
* vTaskDelay() specifies a time at which the task wishes to unblock relative to
|
|
* the time at which vTaskDelay() is called. For example, specifying a block
|
|
* period of 100 ticks will cause the task to unblock 100 ticks after
|
|
* vTaskDelay() is called. vTaskDelay() does not therefore provide a good method
|
|
* of controlling the frequency of a cyclical task as the path taken through the
|
|
* code, as well as other task and interrupt activity, will effect the frequency
|
|
* at which vTaskDelay() gets called and therefore the time at which the task
|
|
* next executes. See vTaskDelayUntil() for an alternative API function designed
|
|
* to facilitate fixed frequency execution. It does this by specifying an
|
|
* absolute time (rather than a relative time) at which the calling task should
|
|
* unblock.
|
|
*
|
|
* @param xTicksToDelay The amount of time, in tick periods, that
|
|
* the calling task should block.
|
|
*
|
|
* Example usage:
|
|
|
|
void vTaskFunction( void * pvParameters )
|
|
{
|
|
void vTaskFunction( void * pvParameters )
|
|
{
|
|
// Block for 500ms.
|
|
const portTickType xDelay = 500 / portTICK_RATE_MS;
|
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|
|
for( ;; )
|
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{
|
|
// Simply toggle the LED every 500ms, blocking between each toggle.
|
|
vToggleLED();
|
|
vTaskDelay( xDelay );
|
|
}
|
|
}
|
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|
|
* \defgroup vTaskDelay vTaskDelay
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );</pre>
|
|
*
|
|
* INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
|
* Delay a task until a specified time. This function can be used by cyclical
|
|
* tasks to ensure a constant execution frequency.
|
|
*
|
|
* This function differs from vTaskDelay () in one important aspect: vTaskDelay () will
|
|
* cause a task to block for the specified number of ticks from the time vTaskDelay () is
|
|
* called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed
|
|
* execution frequency as the time between a task starting to execute and that task
|
|
* calling vTaskDelay () may not be fixed [the task may take a different path though the
|
|
* code between calls, or may get interrupted or preempted a different number of times
|
|
* each time it executes].
|
|
*
|
|
* Whereas vTaskDelay () specifies a wake time relative to the time at which the function
|
|
* is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
|
|
* unblock.
|
|
*
|
|
* The constant portTICK_RATE_MS can be used to calculate real time from the tick
|
|
* rate - with the resolution of one tick period.
|
|
*
|
|
* @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
|
|
* task was last unblocked. The variable must be initialised with the current time
|
|
* prior to its first use (see the example below). Following this the variable is
|
|
* automatically updated within vTaskDelayUntil ().
|
|
*
|
|
* @param xTimeIncrement The cycle time period. The task will be unblocked at
|
|
* time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the
|
|
* same xTimeIncrement parameter value will cause the task to execute with
|
|
* a fixed interface period.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// Perform an action every 10 ticks.
|
|
void vTaskFunction( void * pvParameters )
|
|
{
|
|
portTickType xLastWakeTime;
|
|
const portTickType xFrequency = 10;
|
|
|
|
// Initialise the xLastWakeTime variable with the current time.
|
|
xLastWakeTime = xTaskGetTickCount ();
|
|
for( ;; )
|
|
{
|
|
// Wait for the next cycle.
|
|
vTaskDelayUntil( &xLastWakeTime, xFrequency );
|
|
|
|
// Perform action here.
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup vTaskDelayUntil vTaskDelayUntil
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre>
|
|
*
|
|
* INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
|
* Obtain the priority of any task.
|
|
*
|
|
* @param pxTask Handle of the task to be queried. Passing a NULL
|
|
* handle results in the priority of the calling task being returned.
|
|
*
|
|
* @return The priority of pxTask.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vAFunction( void )
|
|
{
|
|
xTaskHandle xHandle;
|
|
|
|
// Create a task, storing the handle.
|
|
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
|
|
|
// ...
|
|
|
|
// Use the handle to obtain the priority of the created task.
|
|
// It was created with tskIDLE_PRIORITY, but may have changed
|
|
// it itself.
|
|
if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
|
|
{
|
|
// The task has changed it's priority.
|
|
}
|
|
|
|
// ...
|
|
|
|
// Is our priority higher than the created task?
|
|
if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
|
|
{
|
|
// Our priority (obtained using NULL handle) is higher.
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup uxTaskPriorityGet uxTaskPriorityGet
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre>
|
|
*
|
|
* INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
|
* Set the priority of any task.
|
|
*
|
|
* A context switch will occur before the function returns if the priority
|
|
* being set is higher than the currently executing task.
|
|
*
|
|
* @param pxTask Handle to the task for which the priority is being set.
|
|
* Passing a NULL handle results in the priority of the calling task being set.
|
|
*
|
|
* @param uxNewPriority The priority to which the task will be set.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vAFunction( void )
|
|
{
|
|
xTaskHandle xHandle;
|
|
|
|
// Create a task, storing the handle.
|
|
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
|
|
|
// ...
|
|
|
|
// Use the handle to raise the priority of the created task.
|
|
vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
|
|
|
|
// ...
|
|
|
|
// Use a NULL handle to raise our priority to the same value.
|
|
vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
|
|
}
|
|
</pre>
|
|
* \defgroup vTaskPrioritySet vTaskPrioritySet
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre>
|
|
*
|
|
* INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
|
* Suspend any task. When suspended a task will never get any microcontroller
|
|
* processing time, no matter what its priority.
|
|
*
|
|
* Calls to vTaskSuspend are not accumulative -
|
|
* i.e. calling vTaskSuspend () twice on the same task still only requires one
|
|
* call to vTaskResume () to ready the suspended task.
|
|
*
|
|
* @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL
|
|
* handle will cause the calling task to be suspended.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vAFunction( void )
|
|
{
|
|
xTaskHandle xHandle;
|
|
|
|
// Create a task, storing the handle.
|
|
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
|
|
|
// ...
|
|
|
|
// Use the handle to suspend the created task.
|
|
vTaskSuspend( xHandle );
|
|
|
|
// ...
|
|
|
|
// The created task will not run during this period, unless
|
|
// another task calls vTaskResume( xHandle ).
|
|
|
|
//...
|
|
|
|
|
|
// Suspend ourselves.
|
|
vTaskSuspend( NULL );
|
|
|
|
// We cannot get here unless another task calls vTaskResume
|
|
// with our handle as the parameter.
|
|
}
|
|
</pre>
|
|
* \defgroup vTaskSuspend vTaskSuspend
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre>
|
|
*
|
|
* INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
|
* Resumes a suspended task.
|
|
*
|
|
* A task that has been suspended by one of more calls to vTaskSuspend ()
|
|
* will be made available for running again by a single call to
|
|
* vTaskResume ().
|
|
*
|
|
* @param pxTaskToResume Handle to the task being readied.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vAFunction( void )
|
|
{
|
|
xTaskHandle xHandle;
|
|
|
|
// Create a task, storing the handle.
|
|
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
|
|
|
// ...
|
|
|
|
// Use the handle to suspend the created task.
|
|
vTaskSuspend( xHandle );
|
|
|
|
// ...
|
|
|
|
// The created task will not run during this period, unless
|
|
// another task calls vTaskResume( xHandle ).
|
|
|
|
//...
|
|
|
|
|
|
// Resume the suspended task ourselves.
|
|
vTaskResume( xHandle );
|
|
|
|
// The created task will once again get microcontroller processing
|
|
// time in accordance with it priority within the system.
|
|
}
|
|
</pre>
|
|
* \defgroup vTaskResume vTaskResume
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre>
|
|
*
|
|
* INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
|
|
* available. See the configuration section for more information.
|
|
*
|
|
* An implementation of vTaskResume() that can be called from within an ISR.
|
|
*
|
|
* A task that has been suspended by one of more calls to vTaskSuspend ()
|
|
* will be made available for running again by a single call to
|
|
* xTaskResumeFromISR ().
|
|
*
|
|
* @param pxTaskToResume Handle to the task being readied.
|
|
*
|
|
* \defgroup vTaskResumeFromISR vTaskResumeFromISR
|
|
* \ingroup TaskCtrl
|
|
*/
|
|
portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
|
|
|
|
/*-----------------------------------------------------------
|
|
* SCHEDULER CONTROL
|
|
*----------------------------------------------------------*/
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskStartScheduler( void );</pre>
|
|
*
|
|
* Starts the real time kernel tick processing. After calling the kernel
|
|
* has control over which tasks are executed and when. This function
|
|
* does not return until an executing task calls vTaskEndScheduler ().
|
|
*
|
|
* At least one task should be created via a call to xTaskCreate ()
|
|
* before calling vTaskStartScheduler (). The idle task is created
|
|
* automatically when the first application task is created.
|
|
*
|
|
* See the demo application file main.c for an example of creating
|
|
* tasks and starting the kernel.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vAFunction( void )
|
|
{
|
|
// Create at least one task before starting the kernel.
|
|
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
|
|
|
// Start the real time kernel with preemption.
|
|
vTaskStartScheduler ();
|
|
|
|
// Will not get here unless a task calls vTaskEndScheduler ()
|
|
}
|
|
</pre>
|
|
*
|
|
* \defgroup vTaskStartScheduler vTaskStartScheduler
|
|
* \ingroup SchedulerControl
|
|
*/
|
|
void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskEndScheduler( void );</pre>
|
|
*
|
|
* Stops the real time kernel tick. All created tasks will be automatically
|
|
* deleted and multitasking (either preemptive or cooperative) will
|
|
* stop. Execution then resumes from the point where vTaskStartScheduler ()
|
|
* was called, as if vTaskStartScheduler () had just returned.
|
|
*
|
|
* See the demo application file main. c in the demo/PC directory for an
|
|
* example that uses vTaskEndScheduler ().
|
|
*
|
|
* vTaskEndScheduler () requires an exit function to be defined within the
|
|
* portable layer (see vPortEndScheduler () in port. c for the PC port). This
|
|
* performs hardware specific operations such as stopping the kernel tick.
|
|
*
|
|
* vTaskEndScheduler () will cause all of the resources allocated by the
|
|
* kernel to be freed - but will not free resources allocated by application
|
|
* tasks.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vTaskCode( void * pvParameters )
|
|
{
|
|
for( ;; )
|
|
{
|
|
// Task code goes here.
|
|
|
|
// At some point we want to end the real time kernel processing
|
|
// so call ...
|
|
vTaskEndScheduler ();
|
|
}
|
|
}
|
|
|
|
void vAFunction( void )
|
|
{
|
|
// Create at least one task before starting the kernel.
|
|
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
|
|
|
// Start the real time kernel with preemption.
|
|
vTaskStartScheduler ();
|
|
|
|
// Will only get here when the vTaskCode () task has called
|
|
// vTaskEndScheduler (). When we get here we are back to single task
|
|
// execution.
|
|
}
|
|
</pre>
|
|
*
|
|
* \defgroup vTaskEndScheduler vTaskEndScheduler
|
|
* \ingroup SchedulerControl
|
|
*/
|
|
void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>void vTaskSuspendAll( void );</pre>
|
|
*
|
|
* Suspends all real time kernel activity while keeping interrupts (including the
|
|
* kernel tick) enabled.
|
|
*
|
|
* After calling vTaskSuspendAll () the calling task will continue to execute
|
|
* without risk of being swapped out until a call to xTaskResumeAll () has been
|
|
* made.
|
|
*
|
|
* API functions that have the potential to cause a context switch (for example,
|
|
* vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
|
|
* is suspended.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vTask1( void * pvParameters )
|
|
{
|
|
for( ;; )
|
|
{
|
|
// Task code goes here.
|
|
|
|
// ...
|
|
|
|
// At some point the task wants to perform a long operation during
|
|
// which it does not want to get swapped out. It cannot use
|
|
// taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
|
|
// operation may cause interrupts to be missed - including the
|
|
// ticks.
|
|
|
|
// Prevent the real time kernel swapping out the task.
|
|
vTaskSuspendAll ();
|
|
|
|
// Perform the operation here. There is no need to use critical
|
|
// sections as we have all the microcontroller processing time.
|
|
// During this time interrupts will still operate and the kernel
|
|
// tick count will be maintained.
|
|
|
|
// ...
|
|
|
|
// The operation is complete. Restart the kernel.
|
|
xTaskResumeAll ();
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup vTaskSuspendAll vTaskSuspendAll
|
|
* \ingroup SchedulerControl
|
|
*/
|
|
void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>char xTaskResumeAll( void );</pre>
|
|
*
|
|
* Resumes real time kernel activity following a call to vTaskSuspendAll ().
|
|
* After a call to vTaskSuspendAll () the kernel will take control of which
|
|
* task is executing at any time.
|
|
*
|
|
* @return If resuming the scheduler caused a context switch then pdTRUE is
|
|
* returned, otherwise pdFALSE is returned.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
void vTask1( void * pvParameters )
|
|
{
|
|
for( ;; )
|
|
{
|
|
// Task code goes here.
|
|
|
|
// ...
|
|
|
|
// At some point the task wants to perform a long operation during
|
|
// which it does not want to get swapped out. It cannot use
|
|
// taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
|
|
// operation may cause interrupts to be missed - including the
|
|
// ticks.
|
|
|
|
// Prevent the real time kernel swapping out the task.
|
|
vTaskSuspendAll ();
|
|
|
|
// Perform the operation here. There is no need to use critical
|
|
// sections as we have all the microcontroller processing time.
|
|
// During this time interrupts will still operate and the real
|
|
// time kernel tick count will be maintained.
|
|
|
|
// ...
|
|
|
|
// The operation is complete. Restart the kernel. We want to force
|
|
// a context switch - but there is no point if resuming the scheduler
|
|
// caused a context switch already.
|
|
if( !xTaskResumeAll () )
|
|
{
|
|
taskYIELD ();
|
|
}
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup xTaskResumeAll xTaskResumeAll
|
|
* \ingroup SchedulerControl
|
|
*/
|
|
signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <pre>signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );</pre>
|
|
*
|
|
* Utility task that simply returns pdTRUE if the task referenced by xTask is
|
|
* currently in the Suspended state, or pdFALSE if the task referenced by xTask
|
|
* is in any other state.
|
|
*
|
|
*/
|
|
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
|
|
|
|
/*-----------------------------------------------------------
|
|
* TASK UTILITIES
|
|
*----------------------------------------------------------*/
|
|
|
|
/**
|
|
* task. h
|
|
* <PRE>volatile portTickType xTaskGetTickCount( void );</PRE>
|
|
*
|
|
* @return The count of ticks since vTaskStartScheduler was called.
|
|
*
|
|
* \page xTaskGetTickCount xTaskGetTickCount
|
|
* \ingroup TaskUtils
|
|
*/
|
|
portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <PRE>unsigned short uxTaskGetNumberOfTasks( void );</PRE>
|
|
*
|
|
* @return The number of tasks that the real time kernel is currently managing.
|
|
* This includes all ready, blocked and suspended tasks. A task that
|
|
* has been deleted but not yet freed by the idle task will also be
|
|
* included in the count.
|
|
*
|
|
* \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
|
|
* \ingroup TaskUtils
|
|
*/
|
|
unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <PRE>void vTaskList( char *pcWriteBuffer );</PRE>
|
|
*
|
|
* configUSE_TRACE_FACILITY must be defined as 1 for this function to be
|
|
* available. See the configuration section for more information.
|
|
*
|
|
* NOTE: This function will disable interrupts for its duration. It is
|
|
* not intended for normal application runtime use but as a debug aid.
|
|
*
|
|
* Lists all the current tasks, along with their current state and stack
|
|
* usage high water mark.
|
|
*
|
|
* Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
|
|
* suspended ('S').
|
|
*
|
|
* @param pcWriteBuffer A buffer into which the above mentioned details
|
|
* will be written, in ascii form. This buffer is assumed to be large
|
|
* enough to contain the generated report. Approximately 40 bytes per
|
|
* task should be sufficient.
|
|
*
|
|
* \page vTaskList vTaskList
|
|
* \ingroup TaskUtils
|
|
*/
|
|
void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <PRE>void vTaskGetRunTimeStats( char *pcWriteBuffer );</PRE>
|
|
*
|
|
* configGENERATE_RUN_TIME_STATS must be defined as 1 for this function
|
|
* to be available. The application must also then provide definitions
|
|
* for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
|
|
* portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter
|
|
* and return the timers current count value respectively. The counter
|
|
* should be at least 10 times the frequency of the tick count.
|
|
*
|
|
* NOTE: This function will disable interrupts for its duration. It is
|
|
* not intended for normal application runtime use but as a debug aid.
|
|
*
|
|
* Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
|
|
* accumulated execution time being stored for each task. The resolution
|
|
* of the accumulated time value depends on the frequency of the timer
|
|
* configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
|
|
* Calling vTaskGetRunTimeStats() writes the total execution time of each
|
|
* task into a buffer, both as an absolute count value and as a percentage
|
|
* of the total system execution time.
|
|
*
|
|
* @param pcWriteBuffer A buffer into which the execution times will be
|
|
* written, in ascii form. This buffer is assumed to be large enough to
|
|
* contain the generated report. Approximately 40 bytes per task should
|
|
* be sufficient.
|
|
*
|
|
* \page vTaskGetRunTimeStats vTaskGetRunTimeStats
|
|
* \ingroup TaskUtils
|
|
*/
|
|
void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <PRE>void vTaskStartTrace( char * pcBuffer, unsigned portBASE_TYPE uxBufferSize );</PRE>
|
|
*
|
|
* Starts a real time kernel activity trace. The trace logs the identity of
|
|
* which task is running when.
|
|
*
|
|
* The trace file is stored in binary format. A separate DOS utility called
|
|
* convtrce.exe is used to convert this into a tab delimited text file which
|
|
* can be viewed and plotted in a spread sheet.
|
|
*
|
|
* @param pcBuffer The buffer into which the trace will be written.
|
|
*
|
|
* @param ulBufferSize The size of pcBuffer in bytes. The trace will continue
|
|
* until either the buffer in full, or ulTaskEndTrace () is called.
|
|
*
|
|
* \page vTaskStartTrace vTaskStartTrace
|
|
* \ingroup TaskUtils
|
|
*/
|
|
void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task. h
|
|
* <PRE>unsigned long ulTaskEndTrace( void );</PRE>
|
|
*
|
|
* Stops a kernel activity trace. See vTaskStartTrace ().
|
|
*
|
|
* @return The number of bytes that have been written into the trace buffer.
|
|
*
|
|
* \page usTaskEndTrace usTaskEndTrace
|
|
* \ingroup TaskUtils
|
|
*/
|
|
unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task.h
|
|
* <PRE>unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );</PRE>
|
|
*
|
|
* INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
|
|
* this function to be available.
|
|
*
|
|
* Returns the high water mark of the stack associated with xTask. That is,
|
|
* the minimum free stack space there has been (in bytes) since the task
|
|
* started. The smaller the returned number the closer the task has come
|
|
* to overflowing its stack.
|
|
*
|
|
* @param xTask Handle of the task associated with the stack to be checked.
|
|
* Set xTask to NULL to check the stack of the calling task.
|
|
*
|
|
* @return The smallest amount of free stack space there has been (in bytes)
|
|
* since the task referenced by xTask was created.
|
|
*/
|
|
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task.h
|
|
* <pre>void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
|
|
*
|
|
* Sets pxHookFunction to be the task hook function used by the task xTask.
|
|
* Passing xTask as NULL has the effect of setting the calling tasks hook
|
|
* function.
|
|
*/
|
|
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task.h
|
|
* <pre>void xTaskGetApplicationTaskTag( xTaskHandle xTask );</pre>
|
|
*
|
|
* Returns the pxHookFunction value assigned to the task xTask.
|
|
*/
|
|
pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
|
|
|
|
/**
|
|
* task.h
|
|
* <pre>portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
|
|
*
|
|
* Calls the hook function associated with xTask. Passing xTask as NULL has
|
|
* the effect of calling the Running tasks (the calling task) hook function.
|
|
*
|
|
* pvParameter is passed to the hook function for the task to interpret as it
|
|
* wants.
|
|
*/
|
|
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
|
|
|
|
|
|
/*-----------------------------------------------------------
|
|
* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
|
|
*----------------------------------------------------------*/
|
|
|
|
/*
|
|
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
|
|
* INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
|
|
* AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
|
|
*
|
|
* Called from the real time kernel tick (either preemptive or cooperative),
|
|
* this increments the tick count and checks if any tasks that are blocked
|
|
* for a finite period required removing from a blocked list and placing on
|
|
* a ready list.
|
|
*/
|
|
void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
|
|
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
|
|
*
|
|
* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
|
|
*
|
|
* Removes the calling task from the ready list and places it both
|
|
* on the list of tasks waiting for a particular event, and the
|
|
* list of delayed tasks. The task will be removed from both lists
|
|
* and replaced on the ready list should either the event occur (and
|
|
* there be no higher priority tasks waiting on the same event) or
|
|
* the delay period expires.
|
|
*
|
|
* @param pxEventList The list containing tasks that are blocked waiting
|
|
* for the event to occur.
|
|
*
|
|
* @param xTicksToWait The maximum amount of time that the task should wait
|
|
* for the event to occur. This is specified in kernel ticks,the constant
|
|
* portTICK_RATE_MS can be used to convert kernel ticks into a real time
|
|
* period.
|
|
*/
|
|
void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
|
|
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
|
|
*
|
|
* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
|
|
*
|
|
* Removes a task from both the specified event list and the list of blocked
|
|
* tasks, and places it on a ready queue.
|
|
*
|
|
* xTaskRemoveFromEventList () will be called if either an event occurs to
|
|
* unblock a task, or the block timeout period expires.
|
|
*
|
|
* @return pdTRUE if the task being removed has a higher priority than the task
|
|
* making the call, otherwise pdFALSE.
|
|
*/
|
|
signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
|
|
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
|
|
*
|
|
* INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1
|
|
* for this function to be available.
|
|
* See the configuration section for more information.
|
|
*
|
|
* Empties the ready and delayed queues of task control blocks, freeing the
|
|
* memory allocated for the task control block and task stacks as it goes.
|
|
*/
|
|
void vTaskCleanUpResources( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
|
|
* INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
|
|
* AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
|
|
*
|
|
* Sets the pointer to the current TCB to the TCB of the highest priority task
|
|
* that is ready to run.
|
|
*/
|
|
void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Return the handle of the calling task.
|
|
*/
|
|
xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Capture the current time status for future reference.
|
|
*/
|
|
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Compare the time status now with that previously captured to see if the
|
|
* timeout has expired.
|
|
*/
|
|
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Shortcut used by the queue implementation to prevent unnecessary call to
|
|
* taskYIELD();
|
|
*/
|
|
void vTaskMissedYield( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Returns the scheduler state as taskSCHEDULER_RUNNING,
|
|
* taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
|
|
*/
|
|
portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Raises the priority of the mutex holder to that of the calling task should
|
|
* the mutex holder have a priority less than the calling task.
|
|
*/
|
|
void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Set the priority of a task back to its proper priority in the case that it
|
|
* inherited a higher priority while it was holding a semaphore.
|
|
*/
|
|
void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Generic version of the task creation function which is in turn called by the
|
|
* xTaskCreate() and xTaskCreateRestricted() macros.
|
|
*/
|
|
signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION;
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif /* TASK_H */
|
|
|
|
|
|
|