tasks.c

开源ZigBee 协议栈

			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 );
		}		

		while( !listLIST_IS_EMPTY( &xPendingReadyList ) )
		{
			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xPendingReadyList );
			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );

			prvDeleteTCB( ( tskTCB * ) pxTCB );
		}		
	}

#endif
/*-----------------------------------------------------------*/

inline void vTaskSwitchContext( void )
{
	if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
	{
		/* The scheduler is currently suspended - do not allow a context
		switch. */
		return;
	}

	/* 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 ] ) );
	vWriteTraceToBuffer();
}
/*-----------------------------------------------------------*/

void vTaskPlaceOnEventList( xList *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 ) );

	/* 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;

	/* 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 ) );

	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 ) );
	}
}
/*-----------------------------------------------------------*/

signed portBASE_TYPE xTaskRemoveFromEventList( const xList *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;
}





/*
 * -----------------------------------------------------------
 * 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, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
{
	pxTCB->usStackDepth = usStackDepth;

	/* Store the function name in the TCB. */
	strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
	pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';

	/* This is used as an array index so must ensure it's not too large. */
	if( uxPriority >= configMAX_PRIORITIES )
	{
		uxPriority = configMAX_PRIORITIES - 1;
	}
	pxTCB->uxPriority = uxPriority;

	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 );
}
/*-----------------------------------------------------------*/

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 portSHORT usStackDepth )
{
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 * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );

		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( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
	{
	volatile tskTCB *pxNextTCB, *pxFirstTCB;
	static signed portCHAR pcStatusString[ 50 ];
	unsigned portSHORT 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 );
			usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
			sprintf( pcStatusString, "%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( pcWriteBuffer, pcStatusString );

		} while( pxNextTCB != pxFirstTCB );
	}

#endif
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )
	unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte )
	{
	register unsigned portSHORT usCount = 0;

		while( *pucStackByte == tskSTACK_FILL_BYTE )
		{
			pucStackByte -= portSTACK_GROWTH;
			usCount++;
		}

		usCount /= sizeof( portSTACK_TYPE );

		return usCount;
	}
#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. */
		vPortFree( pxTCB->pxStack );
		vPortFree( pxTCB );
	}

#endif