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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277 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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279 /* Create the timer task, storing its handle in xTimerTaskHandle so
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280 it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
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281 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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285 /* Create the timer task without storing its handle. */
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286 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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292 mtCOVERAGE_TEST_MARKER();
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295 configASSERT( xReturn );
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298 /*-----------------------------------------------------------*/
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300 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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302 Timer_t *pxNewTimer;
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304 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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306 /* Sanity check that the size of the structure used to declare a
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307 variable of type StaticTimer_t equals the size of the real timer
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309 volatile size_t xSize = sizeof( StaticTimer_t );
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310 configASSERT( xSize == sizeof( Timer_t ) );
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312 #endif /* configASSERT_DEFINED */
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314 /* Allocate the timer structure. */
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315 if( xTimerPeriodInTicks == ( TickType_t ) 0U )
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321 /* If the user passed in a statically allocated timer structure then use
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322 it, otherwise allocate the structure dynamically. */
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323 if( pxTimerBuffer == NULL )
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325 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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329 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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332 if( pxNewTimer != NULL )
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334 /* Ensure the infrastructure used by the timer service task has been
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335 created/initialised. */
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336 prvCheckForValidListAndQueue();
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338 /* Initialise the timer structure members using the function
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340 pxNewTimer->pcTimerName = pcTimerName;
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341 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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342 pxNewTimer->uxAutoReload = uxAutoReload;
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343 pxNewTimer->pvTimerID = pvTimerID;
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344 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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345 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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347 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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349 if( pxTimerBuffer == NULL )
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351 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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355 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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358 #endif /* configSUPPORT_STATIC_ALLOCATION */
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360 traceTIMER_CREATE( pxNewTimer );
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364 traceTIMER_CREATE_FAILED();
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368 /* 0 is not a valid value for xTimerPeriodInTicks. */
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369 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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371 return ( TimerHandle_t ) pxNewTimer;
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373 /*-----------------------------------------------------------*/
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375 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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377 BaseType_t xReturn = pdFAIL;
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378 DaemonTaskMessage_t xMessage;
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380 configASSERT( xTimer );
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382 /* Send a message to the timer service task to perform a particular action
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383 on a particular timer definition. */
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384 if( xTimerQueue != NULL )
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386 /* Send a command to the timer service task to start the xTimer timer. */
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387 xMessage.xMessageID = xCommandID;
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388 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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389 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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391 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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393 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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395 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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399 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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404 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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407 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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411 mtCOVERAGE_TEST_MARKER();
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416 /*-----------------------------------------------------------*/
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418 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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420 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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422 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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423 started, then xTimerTaskHandle will be NULL. */
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424 configASSERT( ( xTimerTaskHandle != NULL ) );
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425 return xTimerTaskHandle;
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429 /*-----------------------------------------------------------*/
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431 const char * pcTimerGetTimerName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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433 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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435 configASSERT( xTimer );
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436 return pxTimer->pcTimerName;
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438 /*-----------------------------------------------------------*/
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440 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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442 BaseType_t xResult;
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443 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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445 /* Remove the timer from the list of active timers. A check has already
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446 been performed to ensure the list is not empty. */
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447 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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448 traceTIMER_EXPIRED( pxTimer );
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450 /* If the timer is an auto reload timer then calculate the next
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451 expiry time and re-insert the timer in the list of active timers. */
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452 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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454 /* The timer is inserted into a list using a time relative to anything
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455 other than the current time. It will therefore be inserted into the
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456 correct list relative to the time this task thinks it is now. */
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457 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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459 /* The timer expired before it was added to the active timer
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460 list. Reload it now. */
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461 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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462 configASSERT( xResult );
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467 mtCOVERAGE_TEST_MARKER();
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472 mtCOVERAGE_TEST_MARKER();
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475 /* Call the timer callback. */
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476 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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478 /*-----------------------------------------------------------*/
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480 static void prvTimerTask( void *pvParameters )
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482 TickType_t xNextExpireTime;
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483 BaseType_t xListWasEmpty;
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485 /* Just to avoid compiler warnings. */
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486 ( void ) pvParameters;
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488 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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490 extern void vApplicationDaemonTaskStartupHook( void );
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492 /* Allow the application writer to execute some code in the context of
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493 this task at the point the task starts executing. This is useful if the
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494 application includes initialisation code that would benefit from
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495 executing after the scheduler has been started. */
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496 vApplicationDaemonTaskStartupHook();
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498 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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502 /* Query the timers list to see if it contains any timers, and if so,
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503 obtain the time at which the next timer will expire. */
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504 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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506 /* If a timer has expired, process it. Otherwise, block this task
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507 until either a timer does expire, or a command is received. */
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508 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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510 /* Empty the command queue. */
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511 prvProcessReceivedCommands();
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514 /*-----------------------------------------------------------*/
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516 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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518 TickType_t xTimeNow;
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519 BaseType_t xTimerListsWereSwitched;
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523 /* Obtain the time now to make an assessment as to whether the timer
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524 has expired or not. If obtaining the time causes the lists to switch
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525 then don't process this timer as any timers that remained in the list
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526 when the lists were switched will have been processed within the
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527 prvSampleTimeNow() function. */
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528 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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529 if( xTimerListsWereSwitched == pdFALSE )
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531 /* The tick count has not overflowed, has the timer expired? */
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532 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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534 ( void ) xTaskResumeAll();
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535 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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539 /* The tick count has not overflowed, and the next expire
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540 time has not been reached yet. This task should therefore
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541 block to wait for the next expire time or a command to be
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542 received - whichever comes first. The following line cannot
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543 be reached unless xNextExpireTime > xTimeNow, except in the
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544 case when the current timer list is empty. */
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545 if( xListWasEmpty != pdFALSE )
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547 /* The current timer list is empty - is the overflow list
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549 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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552 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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554 if( xTaskResumeAll() == pdFALSE )
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556 /* Yield to wait for either a command to arrive, or the
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557 block time to expire. If a command arrived between the
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558 critical section being exited and this yield then the yield
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559 will not cause the task to block. */
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560 portYIELD_WITHIN_API();
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564 mtCOVERAGE_TEST_MARKER();
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570 ( void ) xTaskResumeAll();
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574 /*-----------------------------------------------------------*/
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576 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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578 TickType_t xNextExpireTime;
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580 /* Timers are listed in expiry time order, with the head of the list
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581 referencing the task that will expire first. Obtain the time at which
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582 the timer with the nearest expiry time will expire. If there are no
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583 active timers then just set the next expire time to 0. That will cause
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584 this task to unblock when the tick count overflows, at which point the
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585 timer lists will be switched and the next expiry time can be
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587 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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588 if( *pxListWasEmpty == pdFALSE )
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590 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
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594 /* Ensure the task unblocks when the tick count rolls over. */
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595 xNextExpireTime = ( TickType_t ) 0U;
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598 return xNextExpireTime;
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600 /*-----------------------------------------------------------*/
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602 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
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604 TickType_t xTimeNow;
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605 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
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607 xTimeNow = xTaskGetTickCount();
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609 if( xTimeNow < xLastTime )
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611 prvSwitchTimerLists();
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612 *pxTimerListsWereSwitched = pdTRUE;
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616 *pxTimerListsWereSwitched = pdFALSE;
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619 xLastTime = xTimeNow;
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623 /*-----------------------------------------------------------*/
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625 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
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627 BaseType_t xProcessTimerNow = pdFALSE;
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629 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
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630 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
632 if( xNextExpiryTime <= xTimeNow )
\r
634 /* Has the expiry time elapsed between the command to start/reset a
\r
635 timer was issued, and the time the command was processed? */
\r
636 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks )
\r
638 /* The time between a command being issued and the command being
\r
639 processed actually exceeds the timers period. */
\r
640 xProcessTimerNow = pdTRUE;
\r
644 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
649 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
651 /* If, since the command was issued, the tick count has overflowed
\r
652 but the expiry time has not, then the timer must have already passed
\r
653 its expiry time and should be processed immediately. */
\r
654 xProcessTimerNow = pdTRUE;
\r
658 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
662 return xProcessTimerNow;
\r
664 /*-----------------------------------------------------------*/
\r
666 static void prvProcessReceivedCommands( void )
\r
668 DaemonTaskMessage_t xMessage;
\r
670 BaseType_t xTimerListsWereSwitched, xResult;
\r
671 TickType_t xTimeNow;
\r
673 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
675 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
677 /* Negative commands are pended function calls rather than timer
\r
679 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
681 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
683 /* The timer uses the xCallbackParameters member to request a
\r
684 callback be executed. Check the callback is not NULL. */
\r
685 configASSERT( pxCallback );
\r
687 /* Call the function. */
\r
688 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
692 mtCOVERAGE_TEST_MARKER();
\r
695 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
697 /* Commands that are positive are timer commands rather than pended
\r
699 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
701 /* The messages uses the xTimerParameters member to work on a
\r
703 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
705 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
707 /* The timer is in a list, remove it. */
\r
708 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
712 mtCOVERAGE_TEST_MARKER();
\r
715 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
717 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
718 it must be present in the function call. prvSampleTimeNow() must be
\r
719 called after the message is received from xTimerQueue so there is no
\r
720 possibility of a higher priority task adding a message to the message
\r
721 queue with a time that is ahead of the timer daemon task (because it
\r
722 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
723 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
725 switch( xMessage.xMessageID )
\r
727 case tmrCOMMAND_START :
\r
728 case tmrCOMMAND_START_FROM_ISR :
\r
729 case tmrCOMMAND_RESET :
\r
730 case tmrCOMMAND_RESET_FROM_ISR :
\r
731 case tmrCOMMAND_START_DONT_TRACE :
\r
732 /* Start or restart a timer. */
\r
733 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
735 /* The timer expired before it was added to the active
\r
736 timer list. Process it now. */
\r
737 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
738 traceTIMER_EXPIRED( pxTimer );
\r
740 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
742 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
743 configASSERT( xResult );
\r
748 mtCOVERAGE_TEST_MARKER();
\r
753 mtCOVERAGE_TEST_MARKER();
\r
757 case tmrCOMMAND_STOP :
\r
758 case tmrCOMMAND_STOP_FROM_ISR :
\r
759 /* The timer has already been removed from the active list.
\r
760 There is nothing to do here. */
\r
763 case tmrCOMMAND_CHANGE_PERIOD :
\r
764 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
765 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
766 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
768 /* The new period does not really have a reference, and can
\r
769 be longer or shorter than the old one. The command time is
\r
770 therefore set to the current time, and as the period cannot
\r
771 be zero the next expiry time can only be in the future,
\r
772 meaning (unlike for the xTimerStart() case above) there is
\r
773 no fail case that needs to be handled here. */
\r
774 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
777 case tmrCOMMAND_DELETE :
\r
778 /* The timer has already been removed from the active list,
\r
779 just free up the memory if the memory was dynamically
\r
781 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
783 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
785 vPortFree( pxTimer );
\r
789 mtCOVERAGE_TEST_MARKER();
\r
794 vPortFree( pxTimer );
\r
796 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
800 /* Don't expect to get here. */
\r
806 /*-----------------------------------------------------------*/
\r
808 static void prvSwitchTimerLists( void )
\r
810 TickType_t xNextExpireTime, xReloadTime;
\r
813 BaseType_t xResult;
\r
815 /* The tick count has overflowed. The timer lists must be switched.
\r
816 If there are any timers still referenced from the current timer list
\r
817 then they must have expired and should be processed before the lists
\r
819 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
821 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
823 /* Remove the timer from the list. */
\r
824 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
825 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
826 traceTIMER_EXPIRED( pxTimer );
\r
828 /* Execute its callback, then send a command to restart the timer if
\r
829 it is an auto-reload timer. It cannot be restarted here as the lists
\r
830 have not yet been switched. */
\r
831 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
833 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
835 /* Calculate the reload value, and if the reload value results in
\r
836 the timer going into the same timer list then it has already expired
\r
837 and the timer should be re-inserted into the current list so it is
\r
838 processed again within this loop. Otherwise a command should be sent
\r
839 to restart the timer to ensure it is only inserted into a list after
\r
840 the lists have been swapped. */
\r
841 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
842 if( xReloadTime > xNextExpireTime )
\r
844 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
845 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
846 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
850 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
851 configASSERT( xResult );
\r
857 mtCOVERAGE_TEST_MARKER();
\r
861 pxTemp = pxCurrentTimerList;
\r
862 pxCurrentTimerList = pxOverflowTimerList;
\r
863 pxOverflowTimerList = pxTemp;
\r
865 /*-----------------------------------------------------------*/
\r
867 static void prvCheckForValidListAndQueue( void )
\r
869 /* Check that the list from which active timers are referenced, and the
\r
870 queue used to communicate with the timer service, have been
\r
872 taskENTER_CRITICAL();
\r
874 if( xTimerQueue == NULL )
\r
876 vListInitialise( &xActiveTimerList1 );
\r
877 vListInitialise( &xActiveTimerList2 );
\r
878 pxCurrentTimerList = &xActiveTimerList1;
\r
879 pxOverflowTimerList = &xActiveTimerList2;
\r
880 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
881 configASSERT( xTimerQueue );
\r
883 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
885 if( xTimerQueue != NULL )
\r
887 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
891 mtCOVERAGE_TEST_MARKER();
\r
894 #endif /* configQUEUE_REGISTRY_SIZE */
\r
898 mtCOVERAGE_TEST_MARKER();
\r
901 taskEXIT_CRITICAL();
\r
903 /*-----------------------------------------------------------*/
\r
905 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
907 BaseType_t xTimerIsInActiveList;
\r
908 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
910 configASSERT( xTimer );
\r
912 /* Is the timer in the list of active timers? */
\r
913 taskENTER_CRITICAL();
\r
915 /* Checking to see if it is in the NULL list in effect checks to see if
\r
916 it is referenced from either the current or the overflow timer lists in
\r
917 one go, but the logic has to be reversed, hence the '!'. */
\r
918 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
920 taskEXIT_CRITICAL();
\r
922 return xTimerIsInActiveList;
\r
923 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
924 /*-----------------------------------------------------------*/
\r
926 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
928 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
931 configASSERT( xTimer );
\r
933 taskENTER_CRITICAL();
\r
935 pvReturn = pxTimer->pvTimerID;
\r
937 taskEXIT_CRITICAL();
\r
941 /*-----------------------------------------------------------*/
\r
943 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
945 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
947 configASSERT( xTimer );
\r
949 taskENTER_CRITICAL();
\r
951 pxTimer->pvTimerID = pvNewID;
\r
953 taskEXIT_CRITICAL();
\r
955 /*-----------------------------------------------------------*/
\r
957 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
959 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
961 DaemonTaskMessage_t xMessage;
\r
962 BaseType_t xReturn;
\r
964 /* Complete the message with the function parameters and post it to the
\r
966 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
967 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
968 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
969 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
971 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
973 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
978 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
979 /*-----------------------------------------------------------*/
\r
981 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
983 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
985 DaemonTaskMessage_t xMessage;
\r
986 BaseType_t xReturn;
\r
988 /* This function can only be called after a timer has been created or
\r
989 after the scheduler has been started because, until then, the timer
\r
990 queue does not exist. */
\r
991 configASSERT( xTimerQueue );
\r
993 /* Complete the message with the function parameters and post it to the
\r
995 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
996 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
997 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
998 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1000 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1002 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1007 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1008 /*-----------------------------------------------------------*/
\r
1010 /* This entire source file will be skipped if the application is not configured
\r
1011 to include software timer functionality. If you want to include software timer
\r
1012 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1013 #endif /* configUSE_TIMERS == 1 */
\r