2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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83 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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84 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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87 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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88 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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89 header files above, but not in this file, in order to generate the correct
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90 privileged Vs unprivileged linkage and placement. */
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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94 /* This entire source file will be skipped if the application is not configured
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95 to include software timer functionality. This #if is closed at the very bottom
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96 of this file. If you want to include software timer functionality then ensure
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97 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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98 #if ( configUSE_TIMERS == 1 )
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100 /* Misc definitions. */
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101 #define tmrNO_DELAY ( TickType_t ) 0U
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103 /* The definition of the timers themselves. */
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104 typedef struct tmrTimerControl
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106 const char *pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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107 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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108 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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109 UBaseType_t uxAutoReload; /*<< Set to pdTRUE if the timer should be automatically restarted once expired. Set to pdFALSE if the timer is, in effect, a one-shot timer. */
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110 void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
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111 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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112 #if( configUSE_TRACE_FACILITY == 1 )
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113 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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116 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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117 uint8_t ucStaticallyAllocated; /*<< Set to pdTRUE if the timer was created from a StaticTimer_t structure, and pdFALSE if the timer structure was allocated dynamically. */
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121 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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122 name below to enable the use of older kernel aware debuggers. */
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123 typedef xTIMER Timer_t;
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125 /* The definition of messages that can be sent and received on the timer queue.
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126 Two types of message can be queued - messages that manipulate a software timer,
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127 and messages that request the execution of a non-timer related callback. The
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128 two message types are defined in two separate structures, xTimerParametersType
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129 and xCallbackParametersType respectively. */
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130 typedef struct tmrTimerParameters
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132 TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
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133 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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134 } TimerParameter_t;
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137 typedef struct tmrCallbackParameters
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139 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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140 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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141 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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142 } CallbackParameters_t;
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144 /* The structure that contains the two message types, along with an identifier
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145 that is used to determine which message type is valid. */
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146 typedef struct tmrTimerQueueMessage
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148 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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151 TimerParameter_t xTimerParameters;
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153 /* Don't include xCallbackParameters if it is not going to be used as
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154 it makes the structure (and therefore the timer queue) larger. */
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155 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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156 CallbackParameters_t xCallbackParameters;
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157 #endif /* INCLUDE_xTimerPendFunctionCall */
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159 } DaemonTaskMessage_t;
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161 /*lint -e956 A manual analysis and inspection has been used to determine which
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162 static variables must be declared volatile. */
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164 /* The list in which active timers are stored. Timers are referenced in expire
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165 time order, with the nearest expiry time at the front of the list. Only the
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166 timer service task is allowed to access these lists. */
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167 PRIVILEGED_DATA static List_t xActiveTimerList1;
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168 PRIVILEGED_DATA static List_t xActiveTimerList2;
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169 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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170 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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172 /* A queue that is used to send commands to the timer service task. */
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173 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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175 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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177 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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183 /*-----------------------------------------------------------*/
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185 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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187 /* If static allocation is supported then the application must provide the
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188 following callback function - which enables the application to optionally
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189 provide the memory that will be used by the timer task as the task's stack
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191 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize );
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196 * Initialise the infrastructure used by the timer service task if it has not
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197 * been initialised already.
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199 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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202 * The timer service task (daemon). Timer functionality is controlled by this
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203 * task. Other tasks communicate with the timer service task using the
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204 * xTimerQueue queue.
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206 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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209 * Called by the timer service task to interpret and process a command it
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210 * received on the timer queue.
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212 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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215 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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216 * depending on if the expire time causes a timer counter overflow.
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218 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
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221 * An active timer has reached its expire time. Reload the timer if it is an
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222 * auto reload timer, then call its callback.
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224 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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227 * The tick count has overflowed. Switch the timer lists after ensuring the
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228 * current timer list does not still reference some timers.
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230 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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233 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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234 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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236 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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239 * If the timer list contains any active timers then return the expire time of
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240 * the timer that will expire first and set *pxListWasEmpty to false. If the
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241 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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244 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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247 * If a timer has expired, process it. Otherwise, block the timer service task
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248 * until either a timer does expire or a command is received.
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250 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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252 /*-----------------------------------------------------------*/
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254 BaseType_t xTimerCreateTimerTask( void )
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256 BaseType_t xReturn = pdFAIL;
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257 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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258 StackType_t *pxTimerTaskStackBuffer = NULL;
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259 uint16_t usTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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262 /* This function is called when the scheduler is started if
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263 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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264 timer service task has been created/initialised. If timers have already
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265 been created then the initialisation will already have been performed. */
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266 prvCheckForValidListAndQueue();
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268 if( xTimerQueue != NULL )
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271 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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273 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &usTimerTaskStackSize );
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275 #endif /* configSUPPORT_STATIC_ALLOCATION */
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278 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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280 /* Create the timer task, storing its handle in xTimerTaskHandle so
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281 it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
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282 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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286 /* Create the timer task without storing its handle. */
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287 xReturn = xTaskGenericCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer, NULL );
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293 mtCOVERAGE_TEST_MARKER();
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296 configASSERT( xReturn );
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299 /*-----------------------------------------------------------*/
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301 TimerHandle_t xTimerGenericCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxStaticTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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303 Timer_t *pxNewTimer;
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305 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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307 /* Sanity check that the size of the structure used to declare a
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308 variable of type StaticTimer_t equals the size of the real timer
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310 volatile size_t xSize = sizeof( StaticTimer_t );
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311 configASSERT( xSize == sizeof( Timer_t ) );
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313 #endif /* configASSERT_DEFINED */
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315 /* Allocate the timer structure. */
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316 if( xTimerPeriodInTicks == ( TickType_t ) 0U )
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322 /* If the user passed in a statically allocated timer structure then use
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323 it, otherwise allocate the structure dynamically. */
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324 if( pxStaticTimer == NULL )
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326 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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330 pxNewTimer = ( Timer_t * ) pxStaticTimer;
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333 if( pxNewTimer != NULL )
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335 /* Ensure the infrastructure used by the timer service task has been
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336 created/initialised. */
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337 prvCheckForValidListAndQueue();
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339 /* Initialise the timer structure members using the function
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341 pxNewTimer->pcTimerName = pcTimerName;
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342 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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343 pxNewTimer->uxAutoReload = uxAutoReload;
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344 pxNewTimer->pvTimerID = pvTimerID;
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345 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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346 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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348 if( pxStaticTimer == NULL )
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350 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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354 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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357 traceTIMER_CREATE( pxNewTimer );
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361 traceTIMER_CREATE_FAILED();
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365 /* 0 is not a valid value for xTimerPeriodInTicks. */
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366 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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368 return ( TimerHandle_t ) pxNewTimer;
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370 /*-----------------------------------------------------------*/
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372 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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374 BaseType_t xReturn = pdFAIL;
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375 DaemonTaskMessage_t xMessage;
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377 configASSERT( xTimer );
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379 /* Send a message to the timer service task to perform a particular action
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380 on a particular timer definition. */
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381 if( xTimerQueue != NULL )
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383 /* Send a command to the timer service task to start the xTimer timer. */
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384 xMessage.xMessageID = xCommandID;
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385 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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386 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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388 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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390 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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392 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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396 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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401 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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404 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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408 mtCOVERAGE_TEST_MARKER();
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413 /*-----------------------------------------------------------*/
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415 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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417 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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419 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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420 started, then xTimerTaskHandle will be NULL. */
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421 configASSERT( ( xTimerTaskHandle != NULL ) );
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422 return xTimerTaskHandle;
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426 /*-----------------------------------------------------------*/
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428 const char * pcTimerGetTimerName( TimerHandle_t xTimer )
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430 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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432 configASSERT( xTimer );
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433 return pxTimer->pcTimerName;
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435 /*-----------------------------------------------------------*/
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437 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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439 BaseType_t xResult;
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440 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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442 /* Remove the timer from the list of active timers. A check has already
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443 been performed to ensure the list is not empty. */
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444 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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445 traceTIMER_EXPIRED( pxTimer );
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447 /* If the timer is an auto reload timer then calculate the next
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448 expiry time and re-insert the timer in the list of active timers. */
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449 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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451 /* The timer is inserted into a list using a time relative to anything
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452 other than the current time. It will therefore be inserted into the
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453 correct list relative to the time this task thinks it is now. */
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454 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
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456 /* The timer expired before it was added to the active timer
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457 list. Reload it now. */
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458 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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459 configASSERT( xResult );
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464 mtCOVERAGE_TEST_MARKER();
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469 mtCOVERAGE_TEST_MARKER();
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472 /* Call the timer callback. */
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473 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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475 /*-----------------------------------------------------------*/
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477 static void prvTimerTask( void *pvParameters )
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479 TickType_t xNextExpireTime;
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480 BaseType_t xListWasEmpty;
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482 /* Just to avoid compiler warnings. */
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483 ( void ) pvParameters;
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487 /* Query the timers list to see if it contains any timers, and if so,
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488 obtain the time at which the next timer will expire. */
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489 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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491 /* If a timer has expired, process it. Otherwise, block this task
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492 until either a timer does expire, or a command is received. */
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493 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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495 /* Empty the command queue. */
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496 prvProcessReceivedCommands();
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499 /*-----------------------------------------------------------*/
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501 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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503 TickType_t xTimeNow;
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504 BaseType_t xTimerListsWereSwitched;
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508 /* Obtain the time now to make an assessment as to whether the timer
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509 has expired or not. If obtaining the time causes the lists to switch
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510 then don't process this timer as any timers that remained in the list
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511 when the lists were switched will have been processed within the
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512 prvSampleTimeNow() function. */
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513 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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514 if( xTimerListsWereSwitched == pdFALSE )
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516 /* The tick count has not overflowed, has the timer expired? */
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517 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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519 ( void ) xTaskResumeAll();
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520 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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524 /* The tick count has not overflowed, and the next expire
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525 time has not been reached yet. This task should therefore
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526 block to wait for the next expire time or a command to be
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527 received - whichever comes first. The following line cannot
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528 be reached unless xNextExpireTime > xTimeNow, except in the
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529 case when the current timer list is empty. */
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530 if( xListWasEmpty != pdFALSE )
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532 /* The current timer list is empty - is the overflow list
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534 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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537 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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539 if( xTaskResumeAll() == pdFALSE )
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541 /* Yield to wait for either a command to arrive, or the
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542 block time to expire. If a command arrived between the
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543 critical section being exited and this yield then the yield
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544 will not cause the task to block. */
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545 portYIELD_WITHIN_API();
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549 mtCOVERAGE_TEST_MARKER();
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555 ( void ) xTaskResumeAll();
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559 /*-----------------------------------------------------------*/
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561 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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563 TickType_t xNextExpireTime;
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565 /* Timers are listed in expiry time order, with the head of the list
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566 referencing the task that will expire first. Obtain the time at which
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567 the timer with the nearest expiry time will expire. If there are no
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568 active timers then just set the next expire time to 0. That will cause
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569 this task to unblock when the tick count overflows, at which point the
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570 timer lists will be switched and the next expiry time can be
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572 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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573 if( *pxListWasEmpty == pdFALSE )
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575 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
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579 /* Ensure the task unblocks when the tick count rolls over. */
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580 xNextExpireTime = ( TickType_t ) 0U;
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583 return xNextExpireTime;
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585 /*-----------------------------------------------------------*/
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587 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
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589 TickType_t xTimeNow;
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590 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
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592 xTimeNow = xTaskGetTickCount();
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594 if( xTimeNow < xLastTime )
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596 prvSwitchTimerLists();
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597 *pxTimerListsWereSwitched = pdTRUE;
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601 *pxTimerListsWereSwitched = pdFALSE;
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604 xLastTime = xTimeNow;
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608 /*-----------------------------------------------------------*/
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610 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
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612 BaseType_t xProcessTimerNow = pdFALSE;
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614 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
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615 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
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617 if( xNextExpiryTime <= xTimeNow )
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619 /* Has the expiry time elapsed between the command to start/reset a
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620 timer was issued, and the time the command was processed? */
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621 if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
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623 /* The time between a command being issued and the command being
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624 processed actually exceeds the timers period. */
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625 xProcessTimerNow = pdTRUE;
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629 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
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634 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
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636 /* If, since the command was issued, the tick count has overflowed
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637 but the expiry time has not, then the timer must have already passed
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638 its expiry time and should be processed immediately. */
\r
639 xProcessTimerNow = pdTRUE;
\r
643 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
647 return xProcessTimerNow;
\r
649 /*-----------------------------------------------------------*/
\r
651 static void prvProcessReceivedCommands( void )
\r
653 DaemonTaskMessage_t xMessage;
\r
655 BaseType_t xTimerListsWereSwitched, xResult;
\r
656 TickType_t xTimeNow;
\r
658 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
660 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
662 /* Negative commands are pended function calls rather than timer
\r
664 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
666 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
668 /* The timer uses the xCallbackParameters member to request a
\r
669 callback be executed. Check the callback is not NULL. */
\r
670 configASSERT( pxCallback );
\r
672 /* Call the function. */
\r
673 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
677 mtCOVERAGE_TEST_MARKER();
\r
680 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
682 /* Commands that are positive are timer commands rather than pended
\r
684 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
686 /* The messages uses the xTimerParameters member to work on a
\r
688 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
690 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
692 /* The timer is in a list, remove it. */
\r
693 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
697 mtCOVERAGE_TEST_MARKER();
\r
700 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
702 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
703 it must be present in the function call. prvSampleTimeNow() must be
\r
704 called after the message is received from xTimerQueue so there is no
\r
705 possibility of a higher priority task adding a message to the message
\r
706 queue with a time that is ahead of the timer daemon task (because it
\r
707 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
708 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
710 switch( xMessage.xMessageID )
\r
712 case tmrCOMMAND_START :
\r
713 case tmrCOMMAND_START_FROM_ISR :
\r
714 case tmrCOMMAND_RESET :
\r
715 case tmrCOMMAND_RESET_FROM_ISR :
\r
716 case tmrCOMMAND_START_DONT_TRACE :
\r
717 /* Start or restart a timer. */
\r
718 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) == pdTRUE )
\r
720 /* The timer expired before it was added to the active
\r
721 timer list. Process it now. */
\r
722 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
723 traceTIMER_EXPIRED( pxTimer );
\r
725 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
727 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
728 configASSERT( xResult );
\r
733 mtCOVERAGE_TEST_MARKER();
\r
738 mtCOVERAGE_TEST_MARKER();
\r
742 case tmrCOMMAND_STOP :
\r
743 case tmrCOMMAND_STOP_FROM_ISR :
\r
744 /* The timer has already been removed from the active list.
\r
745 There is nothing to do here. */
\r
748 case tmrCOMMAND_CHANGE_PERIOD :
\r
749 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
750 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
751 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
753 /* The new period does not really have a reference, and can
\r
754 be longer or shorter than the old one. The command time is
\r
755 therefore set to the current time, and as the period cannot
\r
756 be zero the next expiry time can only be in the future,
\r
757 meaning (unlike for the xTimerStart() case above) there is
\r
758 no fail case that needs to be handled here. */
\r
759 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
762 case tmrCOMMAND_DELETE :
\r
763 /* The timer has already been removed from the active list,
\r
764 just free up the memory if the memory was dynamically
\r
766 if( pxTimer->ucStaticallyAllocated == pdFALSE )
\r
768 vPortFree( pxTimer );
\r
772 mtCOVERAGE_TEST_MARKER();
\r
777 /* Don't expect to get here. */
\r
783 /*-----------------------------------------------------------*/
\r
785 static void prvSwitchTimerLists( void )
\r
787 TickType_t xNextExpireTime, xReloadTime;
\r
790 BaseType_t xResult;
\r
792 /* The tick count has overflowed. The timer lists must be switched.
\r
793 If there are any timers still referenced from the current timer list
\r
794 then they must have expired and should be processed before the lists
\r
796 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
798 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
800 /* Remove the timer from the list. */
\r
801 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
802 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
803 traceTIMER_EXPIRED( pxTimer );
\r
805 /* Execute its callback, then send a command to restart the timer if
\r
806 it is an auto-reload timer. It cannot be restarted here as the lists
\r
807 have not yet been switched. */
\r
808 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
810 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
812 /* Calculate the reload value, and if the reload value results in
\r
813 the timer going into the same timer list then it has already expired
\r
814 and the timer should be re-inserted into the current list so it is
\r
815 processed again within this loop. Otherwise a command should be sent
\r
816 to restart the timer to ensure it is only inserted into a list after
\r
817 the lists have been swapped. */
\r
818 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
819 if( xReloadTime > xNextExpireTime )
\r
821 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
822 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
823 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
827 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
828 configASSERT( xResult );
\r
834 mtCOVERAGE_TEST_MARKER();
\r
838 pxTemp = pxCurrentTimerList;
\r
839 pxCurrentTimerList = pxOverflowTimerList;
\r
840 pxOverflowTimerList = pxTemp;
\r
842 /*-----------------------------------------------------------*/
\r
844 static void prvCheckForValidListAndQueue( void )
\r
846 /* Check that the list from which active timers are referenced, and the
\r
847 queue used to communicate with the timer service, have been
\r
849 taskENTER_CRITICAL();
\r
851 if( xTimerQueue == NULL )
\r
853 vListInitialise( &xActiveTimerList1 );
\r
854 vListInitialise( &xActiveTimerList2 );
\r
855 pxCurrentTimerList = &xActiveTimerList1;
\r
856 pxOverflowTimerList = &xActiveTimerList2;
\r
857 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
858 configASSERT( xTimerQueue );
\r
860 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
862 if( xTimerQueue != NULL )
\r
864 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
868 mtCOVERAGE_TEST_MARKER();
\r
871 #endif /* configQUEUE_REGISTRY_SIZE */
\r
875 mtCOVERAGE_TEST_MARKER();
\r
878 taskEXIT_CRITICAL();
\r
880 /*-----------------------------------------------------------*/
\r
882 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
884 BaseType_t xTimerIsInActiveList;
\r
885 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
887 configASSERT( xTimer );
\r
889 /* Is the timer in the list of active timers? */
\r
890 taskENTER_CRITICAL();
\r
892 /* Checking to see if it is in the NULL list in effect checks to see if
\r
893 it is referenced from either the current or the overflow timer lists in
\r
894 one go, but the logic has to be reversed, hence the '!'. */
\r
895 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
897 taskEXIT_CRITICAL();
\r
899 return xTimerIsInActiveList;
\r
900 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
901 /*-----------------------------------------------------------*/
\r
903 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
905 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
908 configASSERT( xTimer );
\r
910 taskENTER_CRITICAL();
\r
912 pvReturn = pxTimer->pvTimerID;
\r
914 taskEXIT_CRITICAL();
\r
918 /*-----------------------------------------------------------*/
\r
920 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
922 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
924 configASSERT( xTimer );
\r
926 taskENTER_CRITICAL();
\r
928 pxTimer->pvTimerID = pvNewID;
\r
930 taskEXIT_CRITICAL();
\r
932 /*-----------------------------------------------------------*/
\r
934 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
936 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
938 DaemonTaskMessage_t xMessage;
\r
939 BaseType_t xReturn;
\r
941 /* Complete the message with the function parameters and post it to the
\r
943 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
944 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
945 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
946 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
948 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
950 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
955 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
956 /*-----------------------------------------------------------*/
\r
958 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
960 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
962 DaemonTaskMessage_t xMessage;
\r
963 BaseType_t xReturn;
\r
965 /* This function can only be called after a timer has been created or
\r
966 after the scheduler has been started because, until then, the timer
\r
967 queue does not exist. */
\r
968 configASSERT( xTimerQueue );
\r
970 /* Complete the message with the function parameters and post it to the
\r
972 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
973 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
974 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
975 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
977 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
979 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
984 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
985 /*-----------------------------------------------------------*/
\r
987 /* This entire source file will be skipped if the application is not configured
\r
988 to include software timer functionality. If you want to include software timer
\r
989 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
990 #endif /* configUSE_TIMERS == 1 */
\r