2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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83 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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84 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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87 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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88 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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89 header files above, but not in this file, in order to generate the correct
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90 privileged Vs unprivileged linkage and placement. */
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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94 /* This entire source file will be skipped if the application is not configured
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95 to include software timer functionality. This #if is closed at the very bottom
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96 of this file. If you want to include software timer functionality then ensure
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97 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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98 #if ( configUSE_TIMERS == 1 )
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100 /* Misc definitions. */
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101 #define tmrNO_DELAY ( TickType_t ) 0U
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103 /* The definition of the timers themselves. */
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104 typedef struct tmrTimerControl
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106 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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107 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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108 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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109 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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110 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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111 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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112 #if( configUSE_TRACE_FACILITY == 1 )
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113 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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117 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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118 name below to enable the use of older kernel aware debuggers. */
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119 typedef xTIMER Timer_t;
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121 /* The definition of messages that can be sent and received on the timer queue.
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122 Two types of message can be queued - messages that manipulate a software timer,
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123 and messages that request the execution of a non-timer related callback. The
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124 two message types are defined in two separate structures, xTimerParametersType
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125 and xCallbackParametersType respectively. */
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126 typedef struct tmrTimerParameters
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128 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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129 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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130 } TimerParameter_t;
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133 typedef struct tmrCallbackParameters
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135 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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136 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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137 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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138 } CallbackParameters_t;
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140 /* The structure that contains the two message types, along with an identifier
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141 that is used to determine which message type is valid. */
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142 typedef struct tmrTimerQueueMessage
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144 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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147 TimerParameter_t xTimerParameters;
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149 /* Don't include xCallbackParameters if it is not going to be used as
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150 it makes the structure (and therefore the timer queue) larger. */
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151 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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152 CallbackParameters_t xCallbackParameters;
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153 #endif /* INCLUDE_xTimerPendFunctionCall */
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155 } DaemonTaskMessage_t;
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157 /*lint -e956 A manual analysis and inspection has been used to determine which
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158 static variables must be declared volatile. */
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160 /* The list in which active timers are stored. Timers are referenced in expire
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161 time order, with the nearest expiry time at the front of the list. Only the
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162 timer service task is allowed to access these lists. */
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163 PRIVILEGED_DATA static List_t xActiveTimerList1;
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164 PRIVILEGED_DATA static List_t xActiveTimerList2;
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165 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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166 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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168 /* A queue that is used to send commands to the timer service task. */
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169 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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171 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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173 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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179 /*-----------------------------------------------------------*/
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181 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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183 /* If static allocation is supported then the application must provide the
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184 following callback function - which enables the application to optionally
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185 provide the memory that will be used by the timer task as the task's stack
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187 extern void vApplicationGetTimerTaskMemory( StaticTCB_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize );
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192 * Initialise the infrastructure used by the timer service task if it has not
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193 * been initialised already.
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195 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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198 * The timer service task (daemon). Timer functionality is controlled by this
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199 * task. Other tasks communicate with the timer service task using the
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200 * xTimerQueue queue.
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202 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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205 * Called by the timer service task to interpret and process a command it
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206 * received on the timer queue.
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208 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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211 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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212 * depending on if the expire time causes a timer counter overflow.
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214 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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217 * An active timer has reached its expire time. Reload the timer if it is an
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218 * auto reload timer, then call its callback.
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220 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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223 * The tick count has overflowed. Switch the timer lists after ensuring the
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224 * current timer list does not still reference some timers.
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226 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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229 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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230 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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232 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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235 * If the timer list contains any active timers then return the expire time of
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236 * the timer that will expire first and set *pxListWasEmpty to false. If the
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237 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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240 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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243 * If a timer has expired, process it. Otherwise, block the timer service task
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244 * until either a timer does expire or a command is received.
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246 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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248 /*-----------------------------------------------------------*/
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250 BaseType_t xTimerCreateTimerTask( void )
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252 BaseType_t xReturn = pdFAIL;
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253 StaticTCB_t *pxTimerTaskTCBBuffer = NULL;
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254 StackType_t *pxTimerTaskStackBuffer = NULL;
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255 uint16_t usTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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258 /* This function is called when the scheduler is started if
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259 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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260 timer service task has been created/initialised. If timers have already
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261 been created then the initialisation will already have been performed. */
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262 prvCheckForValidListAndQueue();
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264 if( xTimerQueue != NULL )
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267 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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269 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &usTimerTaskStackSize );
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271 #endif /* configSUPPORT_STATIC_ALLOCATION */
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274 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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276 /* Create the timer task, storing its handle in xTimerTaskHandle so
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277 it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
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278 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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282 /* Create the timer task without storing its handle. */
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283 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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289 mtCOVERAGE_TEST_MARKER();
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292 configASSERT( xReturn );
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295 /*-----------------------------------------------------------*/
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297 TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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299 Timer_t *pxNewTimer;
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301 /* Allocate the timer structure. */
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302 if( xTimerPeriodInTicks == ( TickType_t ) 0U )
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308 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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309 if( pxNewTimer != NULL )
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311 /* Ensure the infrastructure used by the timer service task has been
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312 created/initialised. */
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313 prvCheckForValidListAndQueue();
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315 /* Initialise the timer structure members using the function parameters. */
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316 pxNewTimer->pcTimerName = pcTimerName;
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317 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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318 pxNewTimer->uxAutoReload = uxAutoReload;
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319 pxNewTimer->pvTimerID = pvTimerID;
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320 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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321 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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323 traceTIMER_CREATE( pxNewTimer );
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327 traceTIMER_CREATE_FAILED();
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331 /* 0 is not a valid value for xTimerPeriodInTicks. */
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332 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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334 return ( TimerHandle_t ) pxNewTimer;
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336 /*-----------------------------------------------------------*/
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338 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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340 BaseType_t xReturn = pdFAIL;
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341 DaemonTaskMessage_t xMessage;
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343 configASSERT( xTimer );
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345 /* Send a message to the timer service task to perform a particular action
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346 on a particular timer definition. */
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347 if( xTimerQueue != NULL )
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349 /* Send a command to the timer service task to start the xTimer timer. */
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350 xMessage.xMessageID = xCommandID;
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351 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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352 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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354 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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356 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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358 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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362 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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367 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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370 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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374 mtCOVERAGE_TEST_MARKER();
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379 /*-----------------------------------------------------------*/
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381 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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383 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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385 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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386 started, then xTimerTaskHandle will be NULL. */
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387 configASSERT( ( xTimerTaskHandle != NULL ) );
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388 return xTimerTaskHandle;
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392 /*-----------------------------------------------------------*/
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394 const char * pcTimerGetTimerName( TimerHandle_t xTimer )
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396 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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398 configASSERT( xTimer );
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399 return pxTimer->pcTimerName;
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401 /*-----------------------------------------------------------*/
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403 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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405 BaseType_t xResult;
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406 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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408 /* Remove the timer from the list of active timers. A check has already
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409 been performed to ensure the list is not empty. */
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410 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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411 traceTIMER_EXPIRED( pxTimer );
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413 /* If the timer is an auto reload timer then calculate the next
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414 expiry time and re-insert the timer in the list of active timers. */
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415 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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417 /* The timer is inserted into a list using a time relative to anything
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418 other than the current time. It will therefore be inserted into the
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419 correct list relative to the time this task thinks it is now. */
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420 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
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422 /* The timer expired before it was added to the active timer
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423 list. Reload it now. */
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424 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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425 configASSERT( xResult );
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430 mtCOVERAGE_TEST_MARKER();
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435 mtCOVERAGE_TEST_MARKER();
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438 /* Call the timer callback. */
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439 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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441 /*-----------------------------------------------------------*/
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443 static void prvTimerTask( void *pvParameters )
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445 TickType_t xNextExpireTime;
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446 BaseType_t xListWasEmpty;
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448 /* Just to avoid compiler warnings. */
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449 ( void ) pvParameters;
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453 /* Query the timers list to see if it contains any timers, and if so,
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454 obtain the time at which the next timer will expire. */
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455 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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457 /* If a timer has expired, process it. Otherwise, block this task
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458 until either a timer does expire, or a command is received. */
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459 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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461 /* Empty the command queue. */
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462 prvProcessReceivedCommands();
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465 /*-----------------------------------------------------------*/
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467 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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469 TickType_t xTimeNow;
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470 BaseType_t xTimerListsWereSwitched;
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474 /* Obtain the time now to make an assessment as to whether the timer
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475 has expired or not. If obtaining the time causes the lists to switch
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476 then don't process this timer as any timers that remained in the list
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477 when the lists were switched will have been processed within the
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478 prvSampleTimeNow() function. */
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479 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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480 if( xTimerListsWereSwitched == pdFALSE )
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482 /* The tick count has not overflowed, has the timer expired? */
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483 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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485 ( void ) xTaskResumeAll();
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486 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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490 /* The tick count has not overflowed, and the next expire
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491 time has not been reached yet. This task should therefore
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492 block to wait for the next expire time or a command to be
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493 received - whichever comes first. The following line cannot
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494 be reached unless xNextExpireTime > xTimeNow, except in the
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495 case when the current timer list is empty. */
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496 if( xListWasEmpty != pdFALSE )
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498 /* The current timer list is empty - is the overflow list
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500 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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503 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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505 if( xTaskResumeAll() == pdFALSE )
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507 /* Yield to wait for either a command to arrive, or the
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508 block time to expire. If a command arrived between the
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509 critical section being exited and this yield then the yield
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510 will not cause the task to block. */
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511 portYIELD_WITHIN_API();
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515 mtCOVERAGE_TEST_MARKER();
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521 ( void ) xTaskResumeAll();
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525 /*-----------------------------------------------------------*/
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527 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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529 TickType_t xNextExpireTime;
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531 /* Timers are listed in expiry time order, with the head of the list
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532 referencing the task that will expire first. Obtain the time at which
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533 the timer with the nearest expiry time will expire. If there are no
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534 active timers then just set the next expire time to 0. That will cause
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535 this task to unblock when the tick count overflows, at which point the
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536 timer lists will be switched and the next expiry time can be
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538 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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539 if( *pxListWasEmpty == pdFALSE )
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541 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
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545 /* Ensure the task unblocks when the tick count rolls over. */
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546 xNextExpireTime = ( TickType_t ) 0U;
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549 return xNextExpireTime;
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551 /*-----------------------------------------------------------*/
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553 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
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555 TickType_t xTimeNow;
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556 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
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558 xTimeNow = xTaskGetTickCount();
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560 if( xTimeNow < xLastTime )
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562 prvSwitchTimerLists();
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563 *pxTimerListsWereSwitched = pdTRUE;
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567 *pxTimerListsWereSwitched = pdFALSE;
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570 xLastTime = xTimeNow;
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574 /*-----------------------------------------------------------*/
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576 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
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578 BaseType_t xProcessTimerNow = pdFALSE;
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580 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
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581 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
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583 if( xNextExpiryTime <= xTimeNow )
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585 /* Has the expiry time elapsed between the command to start/reset a
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586 timer was issued, and the time the command was processed? */
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587 if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
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589 /* The time between a command being issued and the command being
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590 processed actually exceeds the timers period. */
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591 xProcessTimerNow = pdTRUE;
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595 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
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600 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
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602 /* If, since the command was issued, the tick count has overflowed
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603 but the expiry time has not, then the timer must have already passed
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604 its expiry time and should be processed immediately. */
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605 xProcessTimerNow = pdTRUE;
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609 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
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613 return xProcessTimerNow;
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615 /*-----------------------------------------------------------*/
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617 static void prvProcessReceivedCommands( void )
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619 DaemonTaskMessage_t xMessage;
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621 BaseType_t xTimerListsWereSwitched, xResult;
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622 TickType_t xTimeNow;
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624 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. */
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626 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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628 /* Negative commands are pended function calls rather than timer
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630 if( xMessage.xMessageID < ( BaseType_t ) 0 )
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632 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
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634 /* The timer uses the xCallbackParameters member to request a
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635 callback be executed. Check the callback is not NULL. */
\r
636 configASSERT( pxCallback );
\r
638 /* Call the function. */
\r
639 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
643 mtCOVERAGE_TEST_MARKER();
\r
646 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
648 /* Commands that are positive are timer commands rather than pended
\r
650 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
652 /* The messages uses the xTimerParameters member to work on a
\r
654 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
656 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
658 /* The timer is in a list, remove it. */
\r
659 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
663 mtCOVERAGE_TEST_MARKER();
\r
666 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
668 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
669 it must be present in the function call. prvSampleTimeNow() must be
\r
670 called after the message is received from xTimerQueue so there is no
\r
671 possibility of a higher priority task adding a message to the message
\r
672 queue with a time that is ahead of the timer daemon task (because it
\r
673 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
674 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
676 switch( xMessage.xMessageID )
\r
678 case tmrCOMMAND_START :
\r
679 case tmrCOMMAND_START_FROM_ISR :
\r
680 case tmrCOMMAND_RESET :
\r
681 case tmrCOMMAND_RESET_FROM_ISR :
\r
682 case tmrCOMMAND_START_DONT_TRACE :
\r
683 /* Start or restart a timer. */
\r
684 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) == pdTRUE )
\r
686 /* The timer expired before it was added to the active
\r
687 timer list. Process it now. */
\r
688 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
689 traceTIMER_EXPIRED( pxTimer );
\r
691 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
693 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
694 configASSERT( xResult );
\r
699 mtCOVERAGE_TEST_MARKER();
\r
704 mtCOVERAGE_TEST_MARKER();
\r
708 case tmrCOMMAND_STOP :
\r
709 case tmrCOMMAND_STOP_FROM_ISR :
\r
710 /* The timer has already been removed from the active list.
\r
711 There is nothing to do here. */
\r
714 case tmrCOMMAND_CHANGE_PERIOD :
\r
715 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
716 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
717 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
719 /* The new period does not really have a reference, and can be
\r
720 longer or shorter than the old one. The command time is
\r
721 therefore set to the current time, and as the period cannot be
\r
722 zero the next expiry time can only be in the future, meaning
\r
723 (unlike for the xTimerStart() case above) there is no fail case
\r
724 that needs to be handled here. */
\r
725 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
728 case tmrCOMMAND_DELETE :
\r
729 /* The timer has already been removed from the active list,
\r
730 just free up the memory. */
\r
731 vPortFree( pxTimer );
\r
735 /* Don't expect to get here. */
\r
741 /*-----------------------------------------------------------*/
\r
743 static void prvSwitchTimerLists( void )
\r
745 TickType_t xNextExpireTime, xReloadTime;
\r
748 BaseType_t xResult;
\r
750 /* The tick count has overflowed. The timer lists must be switched.
\r
751 If there are any timers still referenced from the current timer list
\r
752 then they must have expired and should be processed before the lists
\r
754 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
756 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
758 /* Remove the timer from the list. */
\r
759 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
760 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
761 traceTIMER_EXPIRED( pxTimer );
\r
763 /* Execute its callback, then send a command to restart the timer if
\r
764 it is an auto-reload timer. It cannot be restarted here as the lists
\r
765 have not yet been switched. */
\r
766 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
768 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
770 /* Calculate the reload value, and if the reload value results in
\r
771 the timer going into the same timer list then it has already expired
\r
772 and the timer should be re-inserted into the current list so it is
\r
773 processed again within this loop. Otherwise a command should be sent
\r
774 to restart the timer to ensure it is only inserted into a list after
\r
775 the lists have been swapped. */
\r
776 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
777 if( xReloadTime > xNextExpireTime )
\r
779 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
780 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
781 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
785 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
786 configASSERT( xResult );
\r
792 mtCOVERAGE_TEST_MARKER();
\r
796 pxTemp = pxCurrentTimerList;
\r
797 pxCurrentTimerList = pxOverflowTimerList;
\r
798 pxOverflowTimerList = pxTemp;
\r
800 /*-----------------------------------------------------------*/
\r
802 static void prvCheckForValidListAndQueue( void )
\r
804 /* Check that the list from which active timers are referenced, and the
\r
805 queue used to communicate with the timer service, have been
\r
807 taskENTER_CRITICAL();
\r
809 if( xTimerQueue == NULL )
\r
811 vListInitialise( &xActiveTimerList1 );
\r
812 vListInitialise( &xActiveTimerList2 );
\r
813 pxCurrentTimerList = &xActiveTimerList1;
\r
814 pxOverflowTimerList = &xActiveTimerList2;
\r
815 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
816 configASSERT( xTimerQueue );
\r
818 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
820 if( xTimerQueue != NULL )
\r
822 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
826 mtCOVERAGE_TEST_MARKER();
\r
829 #endif /* configQUEUE_REGISTRY_SIZE */
\r
833 mtCOVERAGE_TEST_MARKER();
\r
836 taskEXIT_CRITICAL();
\r
838 /*-----------------------------------------------------------*/
\r
840 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
842 BaseType_t xTimerIsInActiveList;
\r
843 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
845 configASSERT( xTimer );
\r
847 /* Is the timer in the list of active timers? */
\r
848 taskENTER_CRITICAL();
\r
850 /* Checking to see if it is in the NULL list in effect checks to see if
\r
851 it is referenced from either the current or the overflow timer lists in
\r
852 one go, but the logic has to be reversed, hence the '!'. */
\r
853 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
855 taskEXIT_CRITICAL();
\r
857 return xTimerIsInActiveList;
\r
858 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
859 /*-----------------------------------------------------------*/
\r
861 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
863 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
866 configASSERT( xTimer );
\r
868 taskENTER_CRITICAL();
\r
870 pvReturn = pxTimer->pvTimerID;
\r
872 taskEXIT_CRITICAL();
\r
876 /*-----------------------------------------------------------*/
\r
878 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
880 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
882 configASSERT( xTimer );
\r
884 taskENTER_CRITICAL();
\r
886 pxTimer->pvTimerID = pvNewID;
\r
888 taskEXIT_CRITICAL();
\r
890 /*-----------------------------------------------------------*/
\r
892 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
894 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
896 DaemonTaskMessage_t xMessage;
\r
897 BaseType_t xReturn;
\r
899 /* Complete the message with the function parameters and post it to the
\r
901 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
902 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
903 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
904 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
906 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
908 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
913 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
914 /*-----------------------------------------------------------*/
\r
916 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
918 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
920 DaemonTaskMessage_t xMessage;
\r
921 BaseType_t xReturn;
\r
923 /* This function can only be called after a timer has been created or
\r
924 after the scheduler has been started because, until then, the timer
\r
925 queue does not exist. */
\r
926 configASSERT( xTimerQueue );
\r
928 /* Complete the message with the function parameters and post it to the
\r
930 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
931 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
932 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
933 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
935 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
937 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
942 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
943 /*-----------------------------------------------------------*/
\r
945 /* This entire source file will be skipped if the application is not configured
\r
946 to include software timer functionality. If you want to include software timer
\r
947 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
948 #endif /* configUSE_TIMERS == 1 */
\r