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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116 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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117 uint8_t ucStaticallyAllocated; /*<< Set to pdTRUE if the timer was created from a StaticTimer_t structure, and pdFALSE if the timer structure was allocated dynamically. */
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121 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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122 name below to enable the use of older kernel aware debuggers. */
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123 typedef xTIMER Timer_t;
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125 /* The definition of messages that can be sent and received on the timer queue.
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126 Two types of message can be queued - messages that manipulate a software timer,
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127 and messages that request the execution of a non-timer related callback. The
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128 two message types are defined in two separate structures, xTimerParametersType
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129 and xCallbackParametersType respectively. */
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130 typedef struct tmrTimerParameters
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132 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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133 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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134 } TimerParameter_t;
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137 typedef struct tmrCallbackParameters
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139 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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140 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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141 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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142 } CallbackParameters_t;
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144 /* The structure that contains the two message types, along with an identifier
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145 that is used to determine which message type is valid. */
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146 typedef struct tmrTimerQueueMessage
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148 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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151 TimerParameter_t xTimerParameters;
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153 /* Don't include xCallbackParameters if it is not going to be used as
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154 it makes the structure (and therefore the timer queue) larger. */
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155 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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156 CallbackParameters_t xCallbackParameters;
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157 #endif /* INCLUDE_xTimerPendFunctionCall */
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159 } DaemonTaskMessage_t;
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161 /*lint -e956 A manual analysis and inspection has been used to determine which
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162 static variables must be declared volatile. */
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164 /* The list in which active timers are stored. Timers are referenced in expire
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165 time order, with the nearest expiry time at the front of the list. Only the
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166 timer service task is allowed to access these lists. */
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167 PRIVILEGED_DATA static List_t xActiveTimerList1;
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168 PRIVILEGED_DATA static List_t xActiveTimerList2;
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169 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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170 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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172 /* A queue that is used to send commands to the timer service task. */
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173 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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175 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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177 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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183 /*-----------------------------------------------------------*/
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185 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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187 /* If static allocation is supported then the application must provide the
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188 following callback function - which enables the application to optionally
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189 provide the memory that will be used by the timer task as the task's stack
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191 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize );
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196 * Initialise the infrastructure used by the timer service task if it has not
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197 * been initialised already.
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199 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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202 * The timer service task (daemon). Timer functionality is controlled by this
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203 * task. Other tasks communicate with the timer service task using the
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204 * xTimerQueue queue.
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206 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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209 * Called by the timer service task to interpret and process a command it
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210 * received on the timer queue.
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212 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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215 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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216 * depending on if the expire time causes a timer counter overflow.
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218 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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221 * An active timer has reached its expire time. Reload the timer if it is an
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222 * auto reload timer, then call its callback.
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224 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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227 * The tick count has overflowed. Switch the timer lists after ensuring the
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228 * current timer list does not still reference some timers.
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230 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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233 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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234 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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236 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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239 * If the timer list contains any active timers then return the expire time of
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240 * the timer that will expire first and set *pxListWasEmpty to false. If the
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241 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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244 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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247 * If a timer has expired, process it. Otherwise, block the timer service task
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248 * until either a timer does expire or a command is received.
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250 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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252 /*-----------------------------------------------------------*/
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254 BaseType_t xTimerCreateTimerTask( void )
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256 BaseType_t xReturn = pdFAIL;
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257 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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258 StackType_t *pxTimerTaskStackBuffer = NULL;
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259 uint16_t usTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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262 /* This function is called when the scheduler is started if
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263 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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264 timer service task has been created/initialised. If timers have already
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265 been created then the initialisation will already have been performed. */
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266 prvCheckForValidListAndQueue();
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268 if( xTimerQueue != NULL )
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271 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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273 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &usTimerTaskStackSize );
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275 #endif /* configSUPPORT_STATIC_ALLOCATION */
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278 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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280 /* Create the timer task, storing its handle in xTimerTaskHandle so
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281 it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
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282 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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286 /* Create the timer task without storing its handle. */
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287 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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293 mtCOVERAGE_TEST_MARKER();
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296 configASSERT( xReturn );
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299 /*-----------------------------------------------------------*/
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301 TimerHandle_t xTimerGenericCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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303 Timer_t *pxNewTimer;
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305 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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307 /* Sanity check that the size of the structure used to declare a
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308 variable of type StaticTimer_t equals the size of the real timer
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310 volatile size_t xSize = sizeof( StaticTimer_t );
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311 configASSERT( xSize == sizeof( Timer_t ) );
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313 #endif /* configASSERT_DEFINED */
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315 /* Allocate the timer structure. */
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316 if( xTimerPeriodInTicks == ( TickType_t ) 0U )
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322 /* If the user passed in a statically allocated timer structure then use
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323 it, otherwise allocate the structure dynamically. */
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324 if( pxTimerBuffer == NULL )
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326 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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330 pxNewTimer = ( Timer_t * ) pxTimerBuffer;
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333 if( pxNewTimer != NULL )
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335 /* Ensure the infrastructure used by the timer service task has been
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336 created/initialised. */
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337 prvCheckForValidListAndQueue();
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339 /* Initialise the timer structure members using the function
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341 pxNewTimer->pcTimerName = pcTimerName;
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342 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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343 pxNewTimer->uxAutoReload = uxAutoReload;
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344 pxNewTimer->pvTimerID = pvTimerID;
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345 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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346 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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348 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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350 if( pxTimerBuffer == NULL )
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352 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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356 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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359 #endif /* configSUPPORT_STATIC_ALLOCATION */
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361 traceTIMER_CREATE( pxNewTimer );
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365 traceTIMER_CREATE_FAILED();
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369 /* 0 is not a valid value for xTimerPeriodInTicks. */
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370 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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372 return ( TimerHandle_t ) pxNewTimer;
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374 /*-----------------------------------------------------------*/
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376 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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378 BaseType_t xReturn = pdFAIL;
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379 DaemonTaskMessage_t xMessage;
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381 configASSERT( xTimer );
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383 /* Send a message to the timer service task to perform a particular action
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384 on a particular timer definition. */
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385 if( xTimerQueue != NULL )
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387 /* Send a command to the timer service task to start the xTimer timer. */
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388 xMessage.xMessageID = xCommandID;
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389 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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390 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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392 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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394 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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396 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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400 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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405 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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408 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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412 mtCOVERAGE_TEST_MARKER();
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417 /*-----------------------------------------------------------*/
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419 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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421 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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423 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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424 started, then xTimerTaskHandle will be NULL. */
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425 configASSERT( ( xTimerTaskHandle != NULL ) );
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426 return xTimerTaskHandle;
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430 /*-----------------------------------------------------------*/
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432 const char * pcTimerGetTimerName( TimerHandle_t xTimer )
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434 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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436 configASSERT( xTimer );
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437 return pxTimer->pcTimerName;
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439 /*-----------------------------------------------------------*/
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441 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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443 BaseType_t xResult;
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444 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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446 /* Remove the timer from the list of active timers. A check has already
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447 been performed to ensure the list is not empty. */
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448 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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449 traceTIMER_EXPIRED( pxTimer );
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451 /* If the timer is an auto reload timer then calculate the next
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452 expiry time and re-insert the timer in the list of active timers. */
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453 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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455 /* The timer is inserted into a list using a time relative to anything
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456 other than the current time. It will therefore be inserted into the
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457 correct list relative to the time this task thinks it is now. */
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458 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
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460 /* The timer expired before it was added to the active timer
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461 list. Reload it now. */
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462 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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463 configASSERT( xResult );
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468 mtCOVERAGE_TEST_MARKER();
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473 mtCOVERAGE_TEST_MARKER();
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476 /* Call the timer callback. */
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477 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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479 /*-----------------------------------------------------------*/
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481 static void prvTimerTask( void *pvParameters )
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483 TickType_t xNextExpireTime;
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484 BaseType_t xListWasEmpty;
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486 /* Just to avoid compiler warnings. */
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487 ( void ) pvParameters;
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491 /* Query the timers list to see if it contains any timers, and if so,
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492 obtain the time at which the next timer will expire. */
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493 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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495 /* If a timer has expired, process it. Otherwise, block this task
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496 until either a timer does expire, or a command is received. */
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497 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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499 /* Empty the command queue. */
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500 prvProcessReceivedCommands();
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503 /*-----------------------------------------------------------*/
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505 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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507 TickType_t xTimeNow;
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508 BaseType_t xTimerListsWereSwitched;
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512 /* Obtain the time now to make an assessment as to whether the timer
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513 has expired or not. If obtaining the time causes the lists to switch
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514 then don't process this timer as any timers that remained in the list
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515 when the lists were switched will have been processed within the
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516 prvSampleTimeNow() function. */
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517 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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518 if( xTimerListsWereSwitched == pdFALSE )
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520 /* The tick count has not overflowed, has the timer expired? */
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521 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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523 ( void ) xTaskResumeAll();
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524 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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528 /* The tick count has not overflowed, and the next expire
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529 time has not been reached yet. This task should therefore
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530 block to wait for the next expire time or a command to be
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531 received - whichever comes first. The following line cannot
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532 be reached unless xNextExpireTime > xTimeNow, except in the
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533 case when the current timer list is empty. */
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534 if( xListWasEmpty != pdFALSE )
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536 /* The current timer list is empty - is the overflow list
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538 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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541 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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543 if( xTaskResumeAll() == pdFALSE )
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545 /* Yield to wait for either a command to arrive, or the
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546 block time to expire. If a command arrived between the
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547 critical section being exited and this yield then the yield
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548 will not cause the task to block. */
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549 portYIELD_WITHIN_API();
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553 mtCOVERAGE_TEST_MARKER();
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559 ( void ) xTaskResumeAll();
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563 /*-----------------------------------------------------------*/
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565 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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567 TickType_t xNextExpireTime;
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569 /* Timers are listed in expiry time order, with the head of the list
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570 referencing the task that will expire first. Obtain the time at which
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571 the timer with the nearest expiry time will expire. If there are no
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572 active timers then just set the next expire time to 0. That will cause
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573 this task to unblock when the tick count overflows, at which point the
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574 timer lists will be switched and the next expiry time can be
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576 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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577 if( *pxListWasEmpty == pdFALSE )
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579 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
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583 /* Ensure the task unblocks when the tick count rolls over. */
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584 xNextExpireTime = ( TickType_t ) 0U;
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587 return xNextExpireTime;
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589 /*-----------------------------------------------------------*/
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591 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
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593 TickType_t xTimeNow;
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594 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
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596 xTimeNow = xTaskGetTickCount();
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598 if( xTimeNow < xLastTime )
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600 prvSwitchTimerLists();
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601 *pxTimerListsWereSwitched = pdTRUE;
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605 *pxTimerListsWereSwitched = pdFALSE;
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608 xLastTime = xTimeNow;
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612 /*-----------------------------------------------------------*/
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614 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
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616 BaseType_t xProcessTimerNow = pdFALSE;
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618 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
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619 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
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621 if( xNextExpiryTime <= xTimeNow )
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623 /* Has the expiry time elapsed between the command to start/reset a
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624 timer was issued, and the time the command was processed? */
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625 if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
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627 /* The time between a command being issued and the command being
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628 processed actually exceeds the timers period. */
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629 xProcessTimerNow = pdTRUE;
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633 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
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638 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
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640 /* If, since the command was issued, the tick count has overflowed
\r
641 but the expiry time has not, then the timer must have already passed
\r
642 its expiry time and should be processed immediately. */
\r
643 xProcessTimerNow = pdTRUE;
\r
647 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
651 return xProcessTimerNow;
\r
653 /*-----------------------------------------------------------*/
\r
655 static void prvProcessReceivedCommands( void )
\r
657 DaemonTaskMessage_t xMessage;
\r
659 BaseType_t xTimerListsWereSwitched, xResult;
\r
660 TickType_t xTimeNow;
\r
662 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
664 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
666 /* Negative commands are pended function calls rather than timer
\r
668 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
670 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
672 /* The timer uses the xCallbackParameters member to request a
\r
673 callback be executed. Check the callback is not NULL. */
\r
674 configASSERT( pxCallback );
\r
676 /* Call the function. */
\r
677 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
681 mtCOVERAGE_TEST_MARKER();
\r
684 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
686 /* Commands that are positive are timer commands rather than pended
\r
688 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
690 /* The messages uses the xTimerParameters member to work on a
\r
692 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
694 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
696 /* The timer is in a list, remove it. */
\r
697 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
701 mtCOVERAGE_TEST_MARKER();
\r
704 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
706 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
707 it must be present in the function call. prvSampleTimeNow() must be
\r
708 called after the message is received from xTimerQueue so there is no
\r
709 possibility of a higher priority task adding a message to the message
\r
710 queue with a time that is ahead of the timer daemon task (because it
\r
711 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
712 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
714 switch( xMessage.xMessageID )
\r
716 case tmrCOMMAND_START :
\r
717 case tmrCOMMAND_START_FROM_ISR :
\r
718 case tmrCOMMAND_RESET :
\r
719 case tmrCOMMAND_RESET_FROM_ISR :
\r
720 case tmrCOMMAND_START_DONT_TRACE :
\r
721 /* Start or restart a timer. */
\r
722 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) == pdTRUE )
\r
724 /* The timer expired before it was added to the active
\r
725 timer list. Process it now. */
\r
726 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
727 traceTIMER_EXPIRED( pxTimer );
\r
729 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
731 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
732 configASSERT( xResult );
\r
737 mtCOVERAGE_TEST_MARKER();
\r
742 mtCOVERAGE_TEST_MARKER();
\r
746 case tmrCOMMAND_STOP :
\r
747 case tmrCOMMAND_STOP_FROM_ISR :
\r
748 /* The timer has already been removed from the active list.
\r
749 There is nothing to do here. */
\r
752 case tmrCOMMAND_CHANGE_PERIOD :
\r
753 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
754 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
755 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
757 /* The new period does not really have a reference, and can
\r
758 be longer or shorter than the old one. The command time is
\r
759 therefore set to the current time, and as the period cannot
\r
760 be zero the next expiry time can only be in the future,
\r
761 meaning (unlike for the xTimerStart() case above) there is
\r
762 no fail case that needs to be handled here. */
\r
763 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
766 case tmrCOMMAND_DELETE :
\r
767 /* The timer has already been removed from the active list,
\r
768 just free up the memory if the memory was dynamically
\r
770 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
772 if( pxTimer->ucStaticallyAllocated == pdFALSE )
\r
774 vPortFree( pxTimer );
\r
778 mtCOVERAGE_TEST_MARKER();
\r
783 vPortFree( pxTimer );
\r
785 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
789 /* Don't expect to get here. */
\r
795 /*-----------------------------------------------------------*/
\r
797 static void prvSwitchTimerLists( void )
\r
799 TickType_t xNextExpireTime, xReloadTime;
\r
802 BaseType_t xResult;
\r
804 /* The tick count has overflowed. The timer lists must be switched.
\r
805 If there are any timers still referenced from the current timer list
\r
806 then they must have expired and should be processed before the lists
\r
808 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
810 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
812 /* Remove the timer from the list. */
\r
813 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
814 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
815 traceTIMER_EXPIRED( pxTimer );
\r
817 /* Execute its callback, then send a command to restart the timer if
\r
818 it is an auto-reload timer. It cannot be restarted here as the lists
\r
819 have not yet been switched. */
\r
820 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
822 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
824 /* Calculate the reload value, and if the reload value results in
\r
825 the timer going into the same timer list then it has already expired
\r
826 and the timer should be re-inserted into the current list so it is
\r
827 processed again within this loop. Otherwise a command should be sent
\r
828 to restart the timer to ensure it is only inserted into a list after
\r
829 the lists have been swapped. */
\r
830 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
831 if( xReloadTime > xNextExpireTime )
\r
833 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
834 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
835 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
839 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
840 configASSERT( xResult );
\r
846 mtCOVERAGE_TEST_MARKER();
\r
850 pxTemp = pxCurrentTimerList;
\r
851 pxCurrentTimerList = pxOverflowTimerList;
\r
852 pxOverflowTimerList = pxTemp;
\r
854 /*-----------------------------------------------------------*/
\r
856 static void prvCheckForValidListAndQueue( void )
\r
858 /* Check that the list from which active timers are referenced, and the
\r
859 queue used to communicate with the timer service, have been
\r
861 taskENTER_CRITICAL();
\r
863 if( xTimerQueue == NULL )
\r
865 vListInitialise( &xActiveTimerList1 );
\r
866 vListInitialise( &xActiveTimerList2 );
\r
867 pxCurrentTimerList = &xActiveTimerList1;
\r
868 pxOverflowTimerList = &xActiveTimerList2;
\r
869 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
870 configASSERT( xTimerQueue );
\r
872 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
874 if( xTimerQueue != NULL )
\r
876 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
880 mtCOVERAGE_TEST_MARKER();
\r
883 #endif /* configQUEUE_REGISTRY_SIZE */
\r
887 mtCOVERAGE_TEST_MARKER();
\r
890 taskEXIT_CRITICAL();
\r
892 /*-----------------------------------------------------------*/
\r
894 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
896 BaseType_t xTimerIsInActiveList;
\r
897 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
899 configASSERT( xTimer );
\r
901 /* Is the timer in the list of active timers? */
\r
902 taskENTER_CRITICAL();
\r
904 /* Checking to see if it is in the NULL list in effect checks to see if
\r
905 it is referenced from either the current or the overflow timer lists in
\r
906 one go, but the logic has to be reversed, hence the '!'. */
\r
907 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
909 taskEXIT_CRITICAL();
\r
911 return xTimerIsInActiveList;
\r
912 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
913 /*-----------------------------------------------------------*/
\r
915 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
917 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
920 configASSERT( xTimer );
\r
922 taskENTER_CRITICAL();
\r
924 pvReturn = pxTimer->pvTimerID;
\r
926 taskEXIT_CRITICAL();
\r
930 /*-----------------------------------------------------------*/
\r
932 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
934 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
936 configASSERT( xTimer );
\r
938 taskENTER_CRITICAL();
\r
940 pxTimer->pvTimerID = pvNewID;
\r
942 taskEXIT_CRITICAL();
\r
944 /*-----------------------------------------------------------*/
\r
946 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
948 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
950 DaemonTaskMessage_t xMessage;
\r
951 BaseType_t xReturn;
\r
953 /* Complete the message with the function parameters and post it to the
\r
955 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
956 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
957 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
958 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
960 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
962 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
967 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
968 /*-----------------------------------------------------------*/
\r
970 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
972 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
974 DaemonTaskMessage_t xMessage;
\r
975 BaseType_t xReturn;
\r
977 /* This function can only be called after a timer has been created or
\r
978 after the scheduler has been started because, until then, the timer
\r
979 queue does not exist. */
\r
980 configASSERT( xTimerQueue );
\r
982 /* Complete the message with the function parameters and post it to the
\r
984 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
985 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
986 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
987 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
989 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
991 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
996 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
997 /*-----------------------------------------------------------*/
\r
999 /* This entire source file will be skipped if the application is not configured
\r
1000 to include software timer functionality. If you want to include software timer
\r
1001 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1002 #endif /* configUSE_TIMERS == 1 */
\r