2 * FreeRTOS Kernel V10.2.1
\r
3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
\r
5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
\r
6 * this software and associated documentation files (the "Software"), to deal in
\r
7 * the Software without restriction, including without limitation the rights to
\r
8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
\r
9 * the Software, and to permit persons to whom the Software is furnished to do so,
\r
10 * subject to the following conditions:
\r
12 * The above copyright notice and this permission notice shall be included in all
\r
13 * copies or substantial portions of the Software.
\r
15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
\r
16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
\r
17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
\r
18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
\r
19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
\r
20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\r
22 * http://www.FreeRTOS.org
\r
23 * http://aws.amazon.com/freertos
\r
25 * 1 tab == 4 spaces!
\r
28 /* Standard includes. */
\r
31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
32 all the API functions to use the MPU wrappers. That should only be done when
\r
33 task.h is included from an application file. */
\r
34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
36 #include "FreeRTOS.h"
\r
41 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
\r
42 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
\r
45 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
\r
46 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
\r
47 for the header files above, but not in this file, in order to generate the
\r
48 correct privileged Vs unprivileged linkage and placement. */
\r
49 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e9021 !e961 !e750. */
\r
52 /* This entire source file will be skipped if the application is not configured
\r
53 to include software timer functionality. This #if is closed at the very bottom
\r
54 of this file. If you want to include software timer functionality then ensure
\r
55 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
56 #if ( configUSE_TIMERS == 1 )
\r
58 /* Misc definitions. */
\r
59 #define tmrNO_DELAY ( TickType_t ) 0U
\r
61 /* The name assigned to the timer service task. This can be overridden by
\r
62 defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
\r
63 #ifndef configTIMER_SERVICE_TASK_NAME
\r
64 #define configTIMER_SERVICE_TASK_NAME "Tmr Svc"
\r
67 /* Bit definitions used in the ucStatus member of a timer structure. */
\r
68 #define tmrSTATUS_IS_ACTIVE ( ( uint8_t ) 0x01 )
\r
69 #define tmrSTATUS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 0x02 )
\r
70 #define tmrSTATUS_IS_AUTORELOAD ( ( uint8_t ) 0x04 )
\r
72 /* The definition of the timers themselves. */
\r
73 typedef struct tmrTimerControl /* The old naming convention is used to prevent breaking kernel aware debuggers. */
\r
75 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. */
\r
76 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
\r
77 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
\r
78 void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
\r
79 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
\r
80 #if( configUSE_TRACE_FACILITY == 1 )
\r
81 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
\r
83 uint8_t ucStatus; /*<< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */
\r
86 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
\r
87 name below to enable the use of older kernel aware debuggers. */
\r
88 typedef xTIMER Timer_t;
\r
90 /* The definition of messages that can be sent and received on the timer queue.
\r
91 Two types of message can be queued - messages that manipulate a software timer,
\r
92 and messages that request the execution of a non-timer related callback. The
\r
93 two message types are defined in two separate structures, xTimerParametersType
\r
94 and xCallbackParametersType respectively. */
\r
95 typedef struct tmrTimerParameters
\r
97 TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
\r
98 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
\r
102 typedef struct tmrCallbackParameters
\r
104 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
\r
105 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
\r
106 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
\r
107 } CallbackParameters_t;
\r
109 /* The structure that contains the two message types, along with an identifier
\r
110 that is used to determine which message type is valid. */
\r
111 typedef struct tmrTimerQueueMessage
\r
113 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
\r
116 TimerParameter_t xTimerParameters;
\r
118 /* Don't include xCallbackParameters if it is not going to be used as
\r
119 it makes the structure (and therefore the timer queue) larger. */
\r
120 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
121 CallbackParameters_t xCallbackParameters;
\r
122 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
124 } DaemonTaskMessage_t;
\r
126 /*lint -save -e956 A manual analysis and inspection has been used to determine
\r
127 which static variables must be declared volatile. */
\r
129 /* The list in which active timers are stored. Timers are referenced in expire
\r
130 time order, with the nearest expiry time at the front of the list. Only the
\r
131 timer service task is allowed to access these lists.
\r
132 xActiveTimerList1 and xActiveTimerList2 could be at function scope but that
\r
133 breaks some kernel aware debuggers, and debuggers that reply on removing the
\r
134 static qualifier. */
\r
135 PRIVILEGED_DATA static List_t xActiveTimerList1;
\r
136 PRIVILEGED_DATA static List_t xActiveTimerList2;
\r
137 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
\r
138 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
\r
140 /* A queue that is used to send commands to the timer service task. */
\r
141 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
\r
142 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
\r
146 /*-----------------------------------------------------------*/
\r
148 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
150 /* If static allocation is supported then the application must provide the
\r
151 following callback function - which enables the application to optionally
\r
152 provide the memory that will be used by the timer task as the task's stack
\r
154 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
\r
159 * Initialise the infrastructure used by the timer service task if it has not
\r
160 * been initialised already.
\r
162 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
\r
165 * The timer service task (daemon). Timer functionality is controlled by this
\r
166 * task. Other tasks communicate with the timer service task using the
\r
167 * xTimerQueue queue.
\r
169 static portTASK_FUNCTION_PROTO( prvTimerTask, pvParameters ) PRIVILEGED_FUNCTION;
\r
172 * Called by the timer service task to interpret and process a command it
\r
173 * received on the timer queue.
\r
175 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
\r
178 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
\r
179 * depending on if the expire time causes a timer counter overflow.
\r
181 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
\r
184 * An active timer has reached its expire time. Reload the timer if it is an
\r
185 * auto reload timer, then call its callback.
\r
187 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
\r
190 * The tick count has overflowed. Switch the timer lists after ensuring the
\r
191 * current timer list does not still reference some timers.
\r
193 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
\r
196 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
\r
197 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
\r
199 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
\r
202 * If the timer list contains any active timers then return the expire time of
\r
203 * the timer that will expire first and set *pxListWasEmpty to false. If the
\r
204 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
\r
207 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
\r
210 * If a timer has expired, process it. Otherwise, block the timer service task
\r
211 * until either a timer does expire or a command is received.
\r
213 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
\r
216 * Called after a Timer_t structure has been allocated either statically or
\r
217 * dynamically to fill in the structure's members.
\r
219 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
220 const TickType_t xTimerPeriodInTicks,
\r
221 const UBaseType_t uxAutoReload,
\r
222 void * const pvTimerID,
\r
223 TimerCallbackFunction_t pxCallbackFunction,
\r
224 Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
\r
225 /*-----------------------------------------------------------*/
\r
227 BaseType_t xTimerCreateTimerTask( void )
\r
229 BaseType_t xReturn = pdFAIL;
\r
231 /* This function is called when the scheduler is started if
\r
232 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
\r
233 timer service task has been created/initialised. If timers have already
\r
234 been created then the initialisation will already have been performed. */
\r
235 prvCheckForValidListAndQueue();
\r
237 if( xTimerQueue != NULL )
\r
239 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
241 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
\r
242 StackType_t *pxTimerTaskStackBuffer = NULL;
\r
243 uint32_t ulTimerTaskStackSize;
\r
245 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
\r
246 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
\r
247 configTIMER_SERVICE_TASK_NAME,
\r
248 ulTimerTaskStackSize,
\r
250 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
\r
251 pxTimerTaskStackBuffer,
\r
252 pxTimerTaskTCBBuffer );
\r
254 if( xTimerTaskHandle != NULL )
\r
261 xReturn = xTaskCreate( prvTimerTask,
\r
262 configTIMER_SERVICE_TASK_NAME,
\r
263 configTIMER_TASK_STACK_DEPTH,
\r
265 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
\r
266 &xTimerTaskHandle );
\r
268 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
272 mtCOVERAGE_TEST_MARKER();
\r
275 configASSERT( xReturn );
\r
278 /*-----------------------------------------------------------*/
\r
280 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
282 TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
283 const TickType_t xTimerPeriodInTicks,
\r
284 const UBaseType_t uxAutoReload,
\r
285 void * const pvTimerID,
\r
286 TimerCallbackFunction_t pxCallbackFunction )
\r
288 Timer_t *pxNewTimer;
\r
290 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */
\r
292 if( pxNewTimer != NULL )
\r
294 /* Status is thus far zero as the timer is not created statically
\r
295 and has not been started. The autoreload bit may get set in
\r
296 prvInitialiseNewTimer. */
\r
297 pxNewTimer->ucStatus = 0x00;
\r
298 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
\r
304 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
305 /*-----------------------------------------------------------*/
\r
307 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
309 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
310 const TickType_t xTimerPeriodInTicks,
\r
311 const UBaseType_t uxAutoReload,
\r
312 void * const pvTimerID,
\r
313 TimerCallbackFunction_t pxCallbackFunction,
\r
314 StaticTimer_t *pxTimerBuffer )
\r
316 Timer_t *pxNewTimer;
\r
318 #if( configASSERT_DEFINED == 1 )
\r
320 /* Sanity check that the size of the structure used to declare a
\r
321 variable of type StaticTimer_t equals the size of the real timer
\r
323 volatile size_t xSize = sizeof( StaticTimer_t );
\r
324 configASSERT( xSize == sizeof( Timer_t ) );
\r
325 ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
\r
327 #endif /* configASSERT_DEFINED */
\r
329 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
\r
330 configASSERT( pxTimerBuffer );
\r
331 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */
\r
333 if( pxNewTimer != NULL )
\r
335 /* Timers can be created statically or dynamically so note this
\r
336 timer was created statically in case it is later deleted. The
\r
337 autoreload bit may get set in prvInitialiseNewTimer(). */
\r
338 pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
\r
340 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
\r
346 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
347 /*-----------------------------------------------------------*/
\r
349 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
350 const TickType_t xTimerPeriodInTicks,
\r
351 const UBaseType_t uxAutoReload,
\r
352 void * const pvTimerID,
\r
353 TimerCallbackFunction_t pxCallbackFunction,
\r
354 Timer_t *pxNewTimer )
\r
356 /* 0 is not a valid value for xTimerPeriodInTicks. */
\r
357 configASSERT( ( xTimerPeriodInTicks > 0 ) );
\r
359 if( pxNewTimer != NULL )
\r
361 /* Ensure the infrastructure used by the timer service task has been
\r
362 created/initialised. */
\r
363 prvCheckForValidListAndQueue();
\r
365 /* Initialise the timer structure members using the function
\r
367 pxNewTimer->pcTimerName = pcTimerName;
\r
368 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
\r
369 pxNewTimer->pvTimerID = pvTimerID;
\r
370 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
\r
371 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
\r
372 if( uxAutoReload != pdFALSE )
\r
374 pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
\r
376 traceTIMER_CREATE( pxNewTimer );
\r
379 /*-----------------------------------------------------------*/
\r
381 BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait )
\r
383 BaseType_t xReturn = pdFAIL;
\r
384 DaemonTaskMessage_t xMessage;
\r
386 configASSERT( xTimer );
\r
388 /* Send a message to the timer service task to perform a particular action
\r
389 on a particular timer definition. */
\r
390 if( xTimerQueue != NULL )
\r
392 /* Send a command to the timer service task to start the xTimer timer. */
\r
393 xMessage.xMessageID = xCommandID;
\r
394 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
\r
395 xMessage.u.xTimerParameters.pxTimer = xTimer;
\r
397 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
\r
399 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
\r
401 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
405 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
\r
410 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
413 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
\r
417 mtCOVERAGE_TEST_MARKER();
\r
422 /*-----------------------------------------------------------*/
\r
424 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
\r
426 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
\r
427 started, then xTimerTaskHandle will be NULL. */
\r
428 configASSERT( ( xTimerTaskHandle != NULL ) );
\r
429 return xTimerTaskHandle;
\r
431 /*-----------------------------------------------------------*/
\r
433 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
\r
435 Timer_t *pxTimer = xTimer;
\r
437 configASSERT( xTimer );
\r
438 return pxTimer->xTimerPeriodInTicks;
\r
440 /*-----------------------------------------------------------*/
\r
442 void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload )
\r
444 Timer_t * pxTimer = xTimer;
\r
446 configASSERT( xTimer );
\r
447 taskENTER_CRITICAL();
\r
449 if( uxAutoReload != pdFALSE )
\r
451 pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
\r
455 pxTimer->ucStatus &= ~tmrSTATUS_IS_AUTORELOAD;
\r
458 taskEXIT_CRITICAL();
\r
460 /*-----------------------------------------------------------*/
\r
462 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
\r
464 Timer_t * pxTimer = xTimer;
\r
465 TickType_t xReturn;
\r
467 configASSERT( xTimer );
\r
468 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
\r
471 /*-----------------------------------------------------------*/
\r
473 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
475 Timer_t *pxTimer = xTimer;
\r
477 configASSERT( xTimer );
\r
478 return pxTimer->pcTimerName;
\r
480 /*-----------------------------------------------------------*/
\r
482 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
\r
484 BaseType_t xResult;
\r
485 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
487 /* Remove the timer from the list of active timers. A check has already
\r
488 been performed to ensure the list is not empty. */
\r
489 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
490 traceTIMER_EXPIRED( pxTimer );
\r
492 /* If the timer is an auto reload timer then calculate the next
\r
493 expiry time and re-insert the timer in the list of active timers. */
\r
494 if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
\r
496 /* The timer is inserted into a list using a time relative to anything
\r
497 other than the current time. It will therefore be inserted into the
\r
498 correct list relative to the time this task thinks it is now. */
\r
499 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
\r
501 /* The timer expired before it was added to the active timer
\r
502 list. Reload it now. */
\r
503 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
504 configASSERT( xResult );
\r
509 mtCOVERAGE_TEST_MARKER();
\r
514 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
\r
515 mtCOVERAGE_TEST_MARKER();
\r
518 /* Call the timer callback. */
\r
519 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
521 /*-----------------------------------------------------------*/
\r
523 static portTASK_FUNCTION( prvTimerTask, pvParameters )
\r
525 TickType_t xNextExpireTime;
\r
526 BaseType_t xListWasEmpty;
\r
528 /* Just to avoid compiler warnings. */
\r
529 ( void ) pvParameters;
\r
531 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
\r
533 extern void vApplicationDaemonTaskStartupHook( void );
\r
535 /* Allow the application writer to execute some code in the context of
\r
536 this task at the point the task starts executing. This is useful if the
\r
537 application includes initialisation code that would benefit from
\r
538 executing after the scheduler has been started. */
\r
539 vApplicationDaemonTaskStartupHook();
\r
541 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
\r
545 /* Query the timers list to see if it contains any timers, and if so,
\r
546 obtain the time at which the next timer will expire. */
\r
547 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
\r
549 /* If a timer has expired, process it. Otherwise, block this task
\r
550 until either a timer does expire, or a command is received. */
\r
551 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
\r
553 /* Empty the command queue. */
\r
554 prvProcessReceivedCommands();
\r
557 /*-----------------------------------------------------------*/
\r
559 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
\r
561 TickType_t xTimeNow;
\r
562 BaseType_t xTimerListsWereSwitched;
\r
566 /* Obtain the time now to make an assessment as to whether the timer
\r
567 has expired or not. If obtaining the time causes the lists to switch
\r
568 then don't process this timer as any timers that remained in the list
\r
569 when the lists were switched will have been processed within the
\r
570 prvSampleTimeNow() function. */
\r
571 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
572 if( xTimerListsWereSwitched == pdFALSE )
\r
574 /* The tick count has not overflowed, has the timer expired? */
\r
575 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
\r
577 ( void ) xTaskResumeAll();
\r
578 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
\r
582 /* The tick count has not overflowed, and the next expire
\r
583 time has not been reached yet. This task should therefore
\r
584 block to wait for the next expire time or a command to be
\r
585 received - whichever comes first. The following line cannot
\r
586 be reached unless xNextExpireTime > xTimeNow, except in the
\r
587 case when the current timer list is empty. */
\r
588 if( xListWasEmpty != pdFALSE )
\r
590 /* The current timer list is empty - is the overflow list
\r
592 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
\r
595 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
\r
597 if( xTaskResumeAll() == pdFALSE )
\r
599 /* Yield to wait for either a command to arrive, or the
\r
600 block time to expire. If a command arrived between the
\r
601 critical section being exited and this yield then the yield
\r
602 will not cause the task to block. */
\r
603 portYIELD_WITHIN_API();
\r
607 mtCOVERAGE_TEST_MARKER();
\r
613 ( void ) xTaskResumeAll();
\r
617 /*-----------------------------------------------------------*/
\r
619 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
\r
621 TickType_t xNextExpireTime;
\r
623 /* Timers are listed in expiry time order, with the head of the list
\r
624 referencing the task that will expire first. Obtain the time at which
\r
625 the timer with the nearest expiry time will expire. If there are no
\r
626 active timers then just set the next expire time to 0. That will cause
\r
627 this task to unblock when the tick count overflows, at which point the
\r
628 timer lists will be switched and the next expiry time can be
\r
630 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
631 if( *pxListWasEmpty == pdFALSE )
\r
633 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
637 /* Ensure the task unblocks when the tick count rolls over. */
\r
638 xNextExpireTime = ( TickType_t ) 0U;
\r
641 return xNextExpireTime;
\r
643 /*-----------------------------------------------------------*/
\r
645 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
647 TickType_t xTimeNow;
\r
648 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
650 xTimeNow = xTaskGetTickCount();
\r
652 if( xTimeNow < xLastTime )
\r
654 prvSwitchTimerLists();
\r
655 *pxTimerListsWereSwitched = pdTRUE;
\r
659 *pxTimerListsWereSwitched = pdFALSE;
\r
662 xLastTime = xTimeNow;
\r
666 /*-----------------------------------------------------------*/
\r
668 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
670 BaseType_t xProcessTimerNow = pdFALSE;
\r
672 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
673 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
675 if( xNextExpiryTime <= xTimeNow )
\r
677 /* Has the expiry time elapsed between the command to start/reset a
\r
678 timer was issued, and the time the command was processed? */
\r
679 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
681 /* The time between a command being issued and the command being
\r
682 processed actually exceeds the timers period. */
\r
683 xProcessTimerNow = pdTRUE;
\r
687 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
692 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
694 /* If, since the command was issued, the tick count has overflowed
\r
695 but the expiry time has not, then the timer must have already passed
\r
696 its expiry time and should be processed immediately. */
\r
697 xProcessTimerNow = pdTRUE;
\r
701 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
705 return xProcessTimerNow;
\r
707 /*-----------------------------------------------------------*/
\r
709 static void prvProcessReceivedCommands( void )
\r
711 DaemonTaskMessage_t xMessage;
\r
713 BaseType_t xTimerListsWereSwitched, xResult;
\r
714 TickType_t xTimeNow;
\r
716 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
718 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
720 /* Negative commands are pended function calls rather than timer
\r
722 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
724 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
726 /* The timer uses the xCallbackParameters member to request a
\r
727 callback be executed. Check the callback is not NULL. */
\r
728 configASSERT( pxCallback );
\r
730 /* Call the function. */
\r
731 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
735 mtCOVERAGE_TEST_MARKER();
\r
738 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
740 /* Commands that are positive are timer commands rather than pended
\r
742 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
744 /* The messages uses the xTimerParameters member to work on a
\r
746 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
748 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
\r
750 /* The timer is in a list, remove it. */
\r
751 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
755 mtCOVERAGE_TEST_MARKER();
\r
758 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
760 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
761 it must be present in the function call. prvSampleTimeNow() must be
\r
762 called after the message is received from xTimerQueue so there is no
\r
763 possibility of a higher priority task adding a message to the message
\r
764 queue with a time that is ahead of the timer daemon task (because it
\r
765 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
766 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
768 switch( xMessage.xMessageID )
\r
770 case tmrCOMMAND_START :
\r
771 case tmrCOMMAND_START_FROM_ISR :
\r
772 case tmrCOMMAND_RESET :
\r
773 case tmrCOMMAND_RESET_FROM_ISR :
\r
774 case tmrCOMMAND_START_DONT_TRACE :
\r
775 /* Start or restart a timer. */
\r
776 pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
\r
777 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
779 /* The timer expired before it was added to the active
\r
780 timer list. Process it now. */
\r
781 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
782 traceTIMER_EXPIRED( pxTimer );
\r
784 if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
\r
786 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
787 configASSERT( xResult );
\r
792 mtCOVERAGE_TEST_MARKER();
\r
797 mtCOVERAGE_TEST_MARKER();
\r
801 case tmrCOMMAND_STOP :
\r
802 case tmrCOMMAND_STOP_FROM_ISR :
\r
803 /* The timer has already been removed from the active list. */
\r
804 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
\r
807 case tmrCOMMAND_CHANGE_PERIOD :
\r
808 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
809 pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
\r
810 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
811 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
813 /* The new period does not really have a reference, and can
\r
814 be longer or shorter than the old one. The command time is
\r
815 therefore set to the current time, and as the period cannot
\r
816 be zero the next expiry time can only be in the future,
\r
817 meaning (unlike for the xTimerStart() case above) there is
\r
818 no fail case that needs to be handled here. */
\r
819 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
822 case tmrCOMMAND_DELETE :
\r
823 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
825 /* The timer has already been removed from the active list,
\r
826 just free up the memory if the memory was dynamically
\r
828 if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 )
\r
830 vPortFree( pxTimer );
\r
834 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
\r
839 /* If dynamic allocation is not enabled, the memory
\r
840 could not have been dynamically allocated. So there is
\r
841 no need to free the memory - just mark the timer as
\r
843 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
\r
845 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
849 /* Don't expect to get here. */
\r
855 /*-----------------------------------------------------------*/
\r
857 static void prvSwitchTimerLists( void )
\r
859 TickType_t xNextExpireTime, xReloadTime;
\r
862 BaseType_t xResult;
\r
864 /* The tick count has overflowed. The timer lists must be switched.
\r
865 If there are any timers still referenced from the current timer list
\r
866 then they must have expired and should be processed before the lists
\r
868 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
870 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
872 /* Remove the timer from the list. */
\r
873 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
874 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
875 traceTIMER_EXPIRED( pxTimer );
\r
877 /* Execute its callback, then send a command to restart the timer if
\r
878 it is an auto-reload timer. It cannot be restarted here as the lists
\r
879 have not yet been switched. */
\r
880 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
882 if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
\r
884 /* Calculate the reload value, and if the reload value results in
\r
885 the timer going into the same timer list then it has already expired
\r
886 and the timer should be re-inserted into the current list so it is
\r
887 processed again within this loop. Otherwise a command should be sent
\r
888 to restart the timer to ensure it is only inserted into a list after
\r
889 the lists have been swapped. */
\r
890 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
891 if( xReloadTime > xNextExpireTime )
\r
893 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
894 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
895 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
899 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
900 configASSERT( xResult );
\r
906 mtCOVERAGE_TEST_MARKER();
\r
910 pxTemp = pxCurrentTimerList;
\r
911 pxCurrentTimerList = pxOverflowTimerList;
\r
912 pxOverflowTimerList = pxTemp;
\r
914 /*-----------------------------------------------------------*/
\r
916 static void prvCheckForValidListAndQueue( void )
\r
918 /* Check that the list from which active timers are referenced, and the
\r
919 queue used to communicate with the timer service, have been
\r
921 taskENTER_CRITICAL();
\r
923 if( xTimerQueue == NULL )
\r
925 vListInitialise( &xActiveTimerList1 );
\r
926 vListInitialise( &xActiveTimerList2 );
\r
927 pxCurrentTimerList = &xActiveTimerList1;
\r
928 pxOverflowTimerList = &xActiveTimerList2;
\r
930 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
932 /* The timer queue is allocated statically in case
\r
933 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
934 static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
935 static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
937 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
941 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
945 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
947 if( xTimerQueue != NULL )
\r
949 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
953 mtCOVERAGE_TEST_MARKER();
\r
956 #endif /* configQUEUE_REGISTRY_SIZE */
\r
960 mtCOVERAGE_TEST_MARKER();
\r
963 taskEXIT_CRITICAL();
\r
965 /*-----------------------------------------------------------*/
\r
967 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
969 BaseType_t xReturn;
\r
970 Timer_t *pxTimer = xTimer;
\r
972 configASSERT( xTimer );
\r
974 /* Is the timer in the list of active timers? */
\r
975 taskENTER_CRITICAL();
\r
977 if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 )
\r
986 taskEXIT_CRITICAL();
\r
989 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
990 /*-----------------------------------------------------------*/
\r
992 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
994 Timer_t * const pxTimer = xTimer;
\r
997 configASSERT( xTimer );
\r
999 taskENTER_CRITICAL();
\r
1001 pvReturn = pxTimer->pvTimerID;
\r
1003 taskEXIT_CRITICAL();
\r
1007 /*-----------------------------------------------------------*/
\r
1009 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
1011 Timer_t * const pxTimer = xTimer;
\r
1013 configASSERT( xTimer );
\r
1015 taskENTER_CRITICAL();
\r
1017 pxTimer->pvTimerID = pvNewID;
\r
1019 taskEXIT_CRITICAL();
\r
1021 /*-----------------------------------------------------------*/
\r
1023 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1025 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1027 DaemonTaskMessage_t xMessage;
\r
1028 BaseType_t xReturn;
\r
1030 /* Complete the message with the function parameters and post it to the
\r
1032 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1033 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1034 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1035 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1037 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1039 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1044 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1045 /*-----------------------------------------------------------*/
\r
1047 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1049 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1051 DaemonTaskMessage_t xMessage;
\r
1052 BaseType_t xReturn;
\r
1054 /* This function can only be called after a timer has been created or
\r
1055 after the scheduler has been started because, until then, the timer
\r
1056 queue does not exist. */
\r
1057 configASSERT( xTimerQueue );
\r
1059 /* Complete the message with the function parameters and post it to the
\r
1061 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1062 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1063 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1064 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1066 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1068 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1073 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1074 /*-----------------------------------------------------------*/
\r
1076 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1078 UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
\r
1080 return ( ( Timer_t * ) xTimer )->uxTimerNumber;
\r
1083 #endif /* configUSE_TRACE_FACILITY */
\r
1084 /*-----------------------------------------------------------*/
\r
1086 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1088 void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber )
\r
1090 ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
\r
1093 #endif /* configUSE_TRACE_FACILITY */
\r
1094 /*-----------------------------------------------------------*/
\r
1096 /* This entire source file will be skipped if the application is not configured
\r
1097 to include software timer functionality. If you want to include software timer
\r
1098 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1099 #endif /* configUSE_TIMERS == 1 */
\r