2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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41 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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42 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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45 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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46 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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47 header files above, but not in this file, in order to generate the correct
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48 privileged Vs unprivileged linkage and placement. */
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49 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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52 /* This entire source file will be skipped if the application is not configured
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53 to include software timer functionality. This #if is closed at the very bottom
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54 of this file. If you want to include software timer functionality then ensure
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55 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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56 #if ( configUSE_TIMERS == 1 )
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58 /* Misc definitions. */
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59 #define tmrNO_DELAY ( TickType_t ) 0U
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61 /* The name assigned to the timer service task. This can be overridden by
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62 defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
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63 #ifndef configTIMER_SERVICE_TASK_NAME
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64 #define configTIMER_SERVICE_TASK_NAME "Tmr Svc"
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67 /* The definition of the timers themselves. */
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68 typedef struct tmrTimerControl
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70 const char *pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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71 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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72 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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73 UBaseType_t uxAutoReload; /*<< Set to pdTRUE if the timer should be automatically restarted once expired. Set to pdFALSE if the timer is, in effect, a one-shot timer. */
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74 void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
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75 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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76 #if( configUSE_TRACE_FACILITY == 1 )
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77 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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80 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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81 uint8_t ucStaticallyAllocated; /*<< Set to pdTRUE if the timer was created statically so no attempt is made to free the memory again if the timer is later deleted. */
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85 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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86 name below to enable the use of older kernel aware debuggers. */
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87 typedef xTIMER Timer_t;
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89 /* The definition of messages that can be sent and received on the timer queue.
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90 Two types of message can be queued - messages that manipulate a software timer,
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91 and messages that request the execution of a non-timer related callback. The
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92 two message types are defined in two separate structures, xTimerParametersType
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93 and xCallbackParametersType respectively. */
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94 typedef struct tmrTimerParameters
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96 TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
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97 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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101 typedef struct tmrCallbackParameters
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103 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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104 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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105 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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106 } CallbackParameters_t;
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108 /* The structure that contains the two message types, along with an identifier
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109 that is used to determine which message type is valid. */
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110 typedef struct tmrTimerQueueMessage
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112 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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115 TimerParameter_t xTimerParameters;
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117 /* Don't include xCallbackParameters if it is not going to be used as
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118 it makes the structure (and therefore the timer queue) larger. */
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119 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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120 CallbackParameters_t xCallbackParameters;
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121 #endif /* INCLUDE_xTimerPendFunctionCall */
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123 } DaemonTaskMessage_t;
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125 /*lint -save -e956 A manual analysis and inspection has been used to determine
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126 which static variables must be declared volatile. */
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128 /* The list in which active timers are stored. Timers are referenced in expire
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129 time order, with the nearest expiry time at the front of the list. Only the
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130 timer service task is allowed to access these lists. */
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131 PRIVILEGED_DATA static List_t xActiveTimerList1;
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132 PRIVILEGED_DATA static List_t xActiveTimerList2;
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133 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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134 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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136 /* A queue that is used to send commands to the timer service task. */
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137 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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138 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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142 /*-----------------------------------------------------------*/
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144 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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146 /* If static allocation is supported then the application must provide the
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147 following callback function - which enables the application to optionally
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148 provide the memory that will be used by the timer task as the task's stack
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150 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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155 * Initialise the infrastructure used by the timer service task if it has not
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156 * been initialised already.
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158 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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161 * The timer service task (daemon). Timer functionality is controlled by this
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162 * task. Other tasks communicate with the timer service task using the
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163 * xTimerQueue queue.
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165 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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168 * Called by the timer service task to interpret and process a command it
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169 * received on the timer queue.
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171 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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174 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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175 * depending on if the expire time causes a timer counter overflow.
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177 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
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180 * An active timer has reached its expire time. Reload the timer if it is an
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181 * auto reload timer, then call its callback.
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183 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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186 * The tick count has overflowed. Switch the timer lists after ensuring the
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187 * current timer list does not still reference some timers.
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189 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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192 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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193 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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195 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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198 * If the timer list contains any active timers then return the expire time of
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199 * the timer that will expire first and set *pxListWasEmpty to false. If the
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200 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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203 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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206 * If a timer has expired, process it. Otherwise, block the timer service task
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207 * until either a timer does expire or a command is received.
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209 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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212 * Called after a Timer_t structure has been allocated either statically or
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213 * dynamically to fill in the structure's members.
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215 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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216 const TickType_t xTimerPeriodInTicks,
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217 const UBaseType_t uxAutoReload,
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218 void * const pvTimerID,
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219 TimerCallbackFunction_t pxCallbackFunction,
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220 Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
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221 /*-----------------------------------------------------------*/
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223 BaseType_t xTimerCreateTimerTask( void )
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225 BaseType_t xReturn = pdFAIL;
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227 /* This function is called when the scheduler is started if
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228 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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229 timer service task has been created/initialised. If timers have already
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230 been created then the initialisation will already have been performed. */
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231 prvCheckForValidListAndQueue();
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233 if( xTimerQueue != NULL )
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235 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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237 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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238 StackType_t *pxTimerTaskStackBuffer = NULL;
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239 uint32_t ulTimerTaskStackSize;
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241 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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242 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
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243 configTIMER_SERVICE_TASK_NAME,
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244 ulTimerTaskStackSize,
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246 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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247 pxTimerTaskStackBuffer,
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248 pxTimerTaskTCBBuffer );
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250 if( xTimerTaskHandle != NULL )
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257 xReturn = xTaskCreate( prvTimerTask,
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258 configTIMER_SERVICE_TASK_NAME,
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259 configTIMER_TASK_STACK_DEPTH,
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261 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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262 &xTimerTaskHandle );
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264 #endif /* configSUPPORT_STATIC_ALLOCATION */
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268 mtCOVERAGE_TEST_MARKER();
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271 configASSERT( xReturn );
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274 /*-----------------------------------------------------------*/
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276 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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278 TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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279 const TickType_t xTimerPeriodInTicks,
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280 const UBaseType_t uxAutoReload,
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281 void * const pvTimerID,
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282 TimerCallbackFunction_t pxCallbackFunction )
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284 Timer_t *pxNewTimer;
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286 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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288 if( pxNewTimer != NULL )
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290 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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292 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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294 /* Timers can be created statically or dynamically, so note this
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295 timer was created dynamically in case the timer is later
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297 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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299 #endif /* configSUPPORT_STATIC_ALLOCATION */
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305 #endif /* configSUPPORT_STATIC_ALLOCATION */
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306 /*-----------------------------------------------------------*/
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308 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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310 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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311 const TickType_t xTimerPeriodInTicks,
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312 const UBaseType_t uxAutoReload,
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313 void * const pvTimerID,
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314 TimerCallbackFunction_t pxCallbackFunction,
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315 StaticTimer_t *pxTimerBuffer )
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317 Timer_t *pxNewTimer;
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319 #if( configASSERT_DEFINED == 1 )
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321 /* Sanity check that the size of the structure used to declare a
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322 variable of type StaticTimer_t equals the size of the real timer
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324 volatile size_t xSize = sizeof( StaticTimer_t );
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325 configASSERT( xSize == sizeof( Timer_t ) );
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327 #endif /* configASSERT_DEFINED */
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329 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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330 configASSERT( pxTimerBuffer );
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331 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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333 if( pxNewTimer != NULL )
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335 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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337 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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339 /* Timers can be created statically or dynamically so note this
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340 timer was created statically in case it is later deleted. */
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341 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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343 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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349 #endif /* configSUPPORT_STATIC_ALLOCATION */
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350 /*-----------------------------------------------------------*/
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352 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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353 const TickType_t xTimerPeriodInTicks,
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354 const UBaseType_t uxAutoReload,
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355 void * const pvTimerID,
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356 TimerCallbackFunction_t pxCallbackFunction,
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357 Timer_t *pxNewTimer )
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359 /* 0 is not a valid value for xTimerPeriodInTicks. */
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360 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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362 if( pxNewTimer != NULL )
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364 /* Ensure the infrastructure used by the timer service task has been
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365 created/initialised. */
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366 prvCheckForValidListAndQueue();
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368 /* Initialise the timer structure members using the function
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370 pxNewTimer->pcTimerName = pcTimerName;
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371 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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372 pxNewTimer->uxAutoReload = uxAutoReload;
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373 pxNewTimer->pvTimerID = pvTimerID;
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374 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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375 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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376 traceTIMER_CREATE( pxNewTimer );
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379 /*-----------------------------------------------------------*/
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381 BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait )
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383 BaseType_t xReturn = pdFAIL;
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384 DaemonTaskMessage_t xMessage;
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386 configASSERT( xTimer );
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388 /* Send a message to the timer service task to perform a particular action
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389 on a particular timer definition. */
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390 if( xTimerQueue != NULL )
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392 /* Send a command to the timer service task to start the xTimer timer. */
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393 xMessage.xMessageID = xCommandID;
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394 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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395 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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397 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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399 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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401 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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405 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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410 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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413 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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417 mtCOVERAGE_TEST_MARKER();
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422 /*-----------------------------------------------------------*/
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424 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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426 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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427 started, then xTimerTaskHandle will be NULL. */
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428 configASSERT( ( xTimerTaskHandle != NULL ) );
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429 return xTimerTaskHandle;
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431 /*-----------------------------------------------------------*/
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433 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
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435 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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437 configASSERT( xTimer );
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438 return pxTimer->xTimerPeriodInTicks;
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440 /*-----------------------------------------------------------*/
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442 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
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444 Timer_t * pxTimer = ( Timer_t * ) xTimer;
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445 TickType_t xReturn;
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447 configASSERT( xTimer );
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448 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
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451 /*-----------------------------------------------------------*/
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453 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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455 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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457 configASSERT( xTimer );
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458 return pxTimer->pcTimerName;
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460 /*-----------------------------------------------------------*/
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462 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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464 BaseType_t xResult;
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465 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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467 /* Remove the timer from the list of active timers. A check has already
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468 been performed to ensure the list is not empty. */
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469 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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470 traceTIMER_EXPIRED( pxTimer );
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472 /* If the timer is an auto reload timer then calculate the next
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473 expiry time and re-insert the timer in the list of active timers. */
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474 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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476 /* The timer is inserted into a list using a time relative to anything
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477 other than the current time. It will therefore be inserted into the
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478 correct list relative to the time this task thinks it is now. */
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479 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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481 /* The timer expired before it was added to the active timer
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482 list. Reload it now. */
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483 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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484 configASSERT( xResult );
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489 mtCOVERAGE_TEST_MARKER();
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494 mtCOVERAGE_TEST_MARKER();
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497 /* Call the timer callback. */
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498 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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500 /*-----------------------------------------------------------*/
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502 static void prvTimerTask( void *pvParameters )
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504 TickType_t xNextExpireTime;
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505 BaseType_t xListWasEmpty;
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507 /* Just to avoid compiler warnings. */
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508 ( void ) pvParameters;
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510 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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512 extern void vApplicationDaemonTaskStartupHook( void );
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514 /* Allow the application writer to execute some code in the context of
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515 this task at the point the task starts executing. This is useful if the
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516 application includes initialisation code that would benefit from
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517 executing after the scheduler has been started. */
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518 vApplicationDaemonTaskStartupHook();
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520 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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524 /* Query the timers list to see if it contains any timers, and if so,
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525 obtain the time at which the next timer will expire. */
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526 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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528 /* If a timer has expired, process it. Otherwise, block this task
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529 until either a timer does expire, or a command is received. */
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530 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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532 /* Empty the command queue. */
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533 prvProcessReceivedCommands();
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536 /*-----------------------------------------------------------*/
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538 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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540 TickType_t xTimeNow;
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541 BaseType_t xTimerListsWereSwitched;
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545 /* Obtain the time now to make an assessment as to whether the timer
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546 has expired or not. If obtaining the time causes the lists to switch
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547 then don't process this timer as any timers that remained in the list
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548 when the lists were switched will have been processed within the
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549 prvSampleTimeNow() function. */
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550 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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551 if( xTimerListsWereSwitched == pdFALSE )
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553 /* The tick count has not overflowed, has the timer expired? */
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554 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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556 ( void ) xTaskResumeAll();
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557 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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561 /* The tick count has not overflowed, and the next expire
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562 time has not been reached yet. This task should therefore
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563 block to wait for the next expire time or a command to be
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564 received - whichever comes first. The following line cannot
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565 be reached unless xNextExpireTime > xTimeNow, except in the
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566 case when the current timer list is empty. */
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567 if( xListWasEmpty != pdFALSE )
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569 /* The current timer list is empty - is the overflow list
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571 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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574 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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576 if( xTaskResumeAll() == pdFALSE )
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578 /* Yield to wait for either a command to arrive, or the
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579 block time to expire. If a command arrived between the
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580 critical section being exited and this yield then the yield
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581 will not cause the task to block. */
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582 portYIELD_WITHIN_API();
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586 mtCOVERAGE_TEST_MARKER();
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592 ( void ) xTaskResumeAll();
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596 /*-----------------------------------------------------------*/
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598 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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600 TickType_t xNextExpireTime;
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602 /* Timers are listed in expiry time order, with the head of the list
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603 referencing the task that will expire first. Obtain the time at which
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604 the timer with the nearest expiry time will expire. If there are no
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605 active timers then just set the next expire time to 0. That will cause
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606 this task to unblock when the tick count overflows, at which point the
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607 timer lists will be switched and the next expiry time can be
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609 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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610 if( *pxListWasEmpty == pdFALSE )
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612 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
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616 /* Ensure the task unblocks when the tick count rolls over. */
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617 xNextExpireTime = ( TickType_t ) 0U;
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620 return xNextExpireTime;
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622 /*-----------------------------------------------------------*/
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624 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
626 TickType_t xTimeNow;
\r
627 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
629 xTimeNow = xTaskGetTickCount();
\r
631 if( xTimeNow < xLastTime )
\r
633 prvSwitchTimerLists();
\r
634 *pxTimerListsWereSwitched = pdTRUE;
\r
638 *pxTimerListsWereSwitched = pdFALSE;
\r
641 xLastTime = xTimeNow;
\r
645 /*-----------------------------------------------------------*/
\r
647 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
649 BaseType_t xProcessTimerNow = pdFALSE;
\r
651 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
652 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
654 if( xNextExpiryTime <= xTimeNow )
\r
656 /* Has the expiry time elapsed between the command to start/reset a
\r
657 timer was issued, and the time the command was processed? */
\r
658 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
660 /* The time between a command being issued and the command being
\r
661 processed actually exceeds the timers period. */
\r
662 xProcessTimerNow = pdTRUE;
\r
666 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
671 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
673 /* If, since the command was issued, the tick count has overflowed
\r
674 but the expiry time has not, then the timer must have already passed
\r
675 its expiry time and should be processed immediately. */
\r
676 xProcessTimerNow = pdTRUE;
\r
680 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
684 return xProcessTimerNow;
\r
686 /*-----------------------------------------------------------*/
\r
688 static void prvProcessReceivedCommands( void )
\r
690 DaemonTaskMessage_t xMessage;
\r
692 BaseType_t xTimerListsWereSwitched, xResult;
\r
693 TickType_t xTimeNow;
\r
695 while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
\r
697 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
699 /* Negative commands are pended function calls rather than timer
\r
701 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
703 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
705 /* The timer uses the xCallbackParameters member to request a
\r
706 callback be executed. Check the callback is not NULL. */
\r
707 configASSERT( pxCallback );
\r
709 /* Call the function. */
\r
710 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
714 mtCOVERAGE_TEST_MARKER();
\r
717 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
719 /* Commands that are positive are timer commands rather than pended
\r
721 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
723 /* The messages uses the xTimerParameters member to work on a
\r
725 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
727 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
\r
729 /* The timer is in a list, remove it. */
\r
730 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
734 mtCOVERAGE_TEST_MARKER();
\r
737 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
739 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
740 it must be present in the function call. prvSampleTimeNow() must be
\r
741 called after the message is received from xTimerQueue so there is no
\r
742 possibility of a higher priority task adding a message to the message
\r
743 queue with a time that is ahead of the timer daemon task (because it
\r
744 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
745 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
747 switch( xMessage.xMessageID )
\r
749 case tmrCOMMAND_START :
\r
750 case tmrCOMMAND_START_FROM_ISR :
\r
751 case tmrCOMMAND_RESET :
\r
752 case tmrCOMMAND_RESET_FROM_ISR :
\r
753 case tmrCOMMAND_START_DONT_TRACE :
\r
754 /* Start or restart a timer. */
\r
755 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
757 /* The timer expired before it was added to the active
\r
758 timer list. Process it now. */
\r
759 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
760 traceTIMER_EXPIRED( pxTimer );
\r
762 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
764 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
765 configASSERT( xResult );
\r
770 mtCOVERAGE_TEST_MARKER();
\r
775 mtCOVERAGE_TEST_MARKER();
\r
779 case tmrCOMMAND_STOP :
\r
780 case tmrCOMMAND_STOP_FROM_ISR :
\r
781 /* The timer has already been removed from the active list.
\r
782 There is nothing to do here. */
\r
785 case tmrCOMMAND_CHANGE_PERIOD :
\r
786 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
787 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
788 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
790 /* The new period does not really have a reference, and can
\r
791 be longer or shorter than the old one. The command time is
\r
792 therefore set to the current time, and as the period cannot
\r
793 be zero the next expiry time can only be in the future,
\r
794 meaning (unlike for the xTimerStart() case above) there is
\r
795 no fail case that needs to be handled here. */
\r
796 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
799 case tmrCOMMAND_DELETE :
\r
800 /* The timer has already been removed from the active list,
\r
801 just free up the memory if the memory was dynamically
\r
803 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
805 /* The timer can only have been allocated dynamically -
\r
807 vPortFree( pxTimer );
\r
809 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
811 /* The timer could have been allocated statically or
\r
812 dynamically, so check before attempting to free the
\r
814 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
816 vPortFree( pxTimer );
\r
820 mtCOVERAGE_TEST_MARKER();
\r
823 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
827 /* Don't expect to get here. */
\r
833 /*-----------------------------------------------------------*/
\r
835 static void prvSwitchTimerLists( void )
\r
837 TickType_t xNextExpireTime, xReloadTime;
\r
840 BaseType_t xResult;
\r
842 /* The tick count has overflowed. The timer lists must be switched.
\r
843 If there are any timers still referenced from the current timer list
\r
844 then they must have expired and should be processed before the lists
\r
846 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
848 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
850 /* Remove the timer from the list. */
\r
851 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
852 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
853 traceTIMER_EXPIRED( pxTimer );
\r
855 /* Execute its callback, then send a command to restart the timer if
\r
856 it is an auto-reload timer. It cannot be restarted here as the lists
\r
857 have not yet been switched. */
\r
858 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
860 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
862 /* Calculate the reload value, and if the reload value results in
\r
863 the timer going into the same timer list then it has already expired
\r
864 and the timer should be re-inserted into the current list so it is
\r
865 processed again within this loop. Otherwise a command should be sent
\r
866 to restart the timer to ensure it is only inserted into a list after
\r
867 the lists have been swapped. */
\r
868 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
869 if( xReloadTime > xNextExpireTime )
\r
871 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
872 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
873 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
877 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
878 configASSERT( xResult );
\r
884 mtCOVERAGE_TEST_MARKER();
\r
888 pxTemp = pxCurrentTimerList;
\r
889 pxCurrentTimerList = pxOverflowTimerList;
\r
890 pxOverflowTimerList = pxTemp;
\r
892 /*-----------------------------------------------------------*/
\r
894 static void prvCheckForValidListAndQueue( void )
\r
896 /* Check that the list from which active timers are referenced, and the
\r
897 queue used to communicate with the timer service, have been
\r
899 taskENTER_CRITICAL();
\r
901 if( xTimerQueue == NULL )
\r
903 vListInitialise( &xActiveTimerList1 );
\r
904 vListInitialise( &xActiveTimerList2 );
\r
905 pxCurrentTimerList = &xActiveTimerList1;
\r
906 pxOverflowTimerList = &xActiveTimerList2;
\r
908 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
910 /* The timer queue is allocated statically in case
\r
911 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
912 static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
913 static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
915 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
919 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
923 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
925 if( xTimerQueue != NULL )
\r
927 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
931 mtCOVERAGE_TEST_MARKER();
\r
934 #endif /* configQUEUE_REGISTRY_SIZE */
\r
938 mtCOVERAGE_TEST_MARKER();
\r
941 taskEXIT_CRITICAL();
\r
943 /*-----------------------------------------------------------*/
\r
945 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
947 BaseType_t xTimerIsInActiveList;
\r
948 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
950 configASSERT( xTimer );
\r
952 /* Is the timer in the list of active timers? */
\r
953 taskENTER_CRITICAL();
\r
955 /* Checking to see if it is in the NULL list in effect checks to see if
\r
956 it is referenced from either the current or the overflow timer lists in
\r
957 one go, but the logic has to be reversed, hence the '!'. */
\r
958 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) ); /*lint !e961. Cast is only redundant when NULL is passed into the macro. */
\r
960 taskEXIT_CRITICAL();
\r
962 return xTimerIsInActiveList;
\r
963 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
964 /*-----------------------------------------------------------*/
\r
966 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
968 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
971 configASSERT( xTimer );
\r
973 taskENTER_CRITICAL();
\r
975 pvReturn = pxTimer->pvTimerID;
\r
977 taskEXIT_CRITICAL();
\r
981 /*-----------------------------------------------------------*/
\r
983 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
985 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
987 configASSERT( xTimer );
\r
989 taskENTER_CRITICAL();
\r
991 pxTimer->pvTimerID = pvNewID;
\r
993 taskEXIT_CRITICAL();
\r
995 /*-----------------------------------------------------------*/
\r
997 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
999 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1001 DaemonTaskMessage_t xMessage;
\r
1002 BaseType_t xReturn;
\r
1004 /* Complete the message with the function parameters and post it to the
\r
1006 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1007 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1008 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1009 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1011 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1013 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1018 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1019 /*-----------------------------------------------------------*/
\r
1021 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1023 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1025 DaemonTaskMessage_t xMessage;
\r
1026 BaseType_t xReturn;
\r
1028 /* This function can only be called after a timer has been created or
\r
1029 after the scheduler has been started because, until then, the timer
\r
1030 queue does not exist. */
\r
1031 configASSERT( xTimerQueue );
\r
1033 /* Complete the message with the function parameters and post it to the
\r
1035 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1036 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1037 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1038 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1040 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1042 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1047 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1048 /*-----------------------------------------------------------*/
\r
1050 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1052 UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
\r
1054 return ( ( Timer_t * ) xTimer )->uxTimerNumber;
\r
1057 #endif /* configUSE_TRACE_FACILITY */
\r
1058 /*-----------------------------------------------------------*/
\r
1060 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1062 void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber )
\r
1064 ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
\r
1067 #endif /* configUSE_TRACE_FACILITY */
\r
1068 /*-----------------------------------------------------------*/
\r
1070 /* This entire source file will be skipped if the application is not configured
\r
1071 to include software timer functionality. If you want to include software timer
\r
1072 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1073 #endif /* configUSE_TIMERS == 1 */
\r