2 FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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83 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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84 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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87 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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88 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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89 header files above, but not in this file, in order to generate the correct
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90 privileged Vs unprivileged linkage and placement. */
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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94 /* This entire source file will be skipped if the application is not configured
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95 to include software timer functionality. This #if is closed at the very bottom
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96 of this file. If you want to include software timer functionality then ensure
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97 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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98 #if ( configUSE_TIMERS == 1 )
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100 /* Misc definitions. */
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101 #define tmrNO_DELAY ( TickType_t ) 0U
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103 /* The definition of the timers themselves. */
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104 typedef struct tmrTimerControl
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106 const char *pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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107 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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108 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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109 UBaseType_t uxAutoReload; /*<< Set to pdTRUE if the timer should be automatically restarted once expired. Set to pdFALSE if the timer is, in effect, a one-shot timer. */
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110 void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
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111 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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112 #if( configUSE_TRACE_FACILITY == 1 )
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113 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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117 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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118 name below to enable the use of older kernel aware debuggers. */
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119 typedef xTIMER Timer_t;
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121 /* The definition of messages that can be sent and received on the timer queue.
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122 Two types of message can be queued - messages that manipulate a software timer,
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123 and messages that request the execution of a non-timer related callback. The
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124 two message types are defined in two separate structures, xTimerParametersType
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125 and xCallbackParametersType respectively. */
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126 typedef struct tmrTimerParameters
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128 TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
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129 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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130 } TimerParameter_t;
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133 typedef struct tmrCallbackParameters
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135 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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136 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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137 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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138 } CallbackParameters_t;
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140 /* The structure that contains the two message types, along with an identifier
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141 that is used to determine which message type is valid. */
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142 typedef struct tmrTimerQueueMessage
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144 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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147 TimerParameter_t xTimerParameters;
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149 /* Don't include xCallbackParameters if it is not going to be used as
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150 it makes the structure (and therefore the timer queue) larger. */
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151 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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152 CallbackParameters_t xCallbackParameters;
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153 #endif /* INCLUDE_xTimerPendFunctionCall */
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155 } DaemonTaskMessage_t;
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157 /*lint -e956 A manual analysis and inspection has been used to determine which
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158 static variables must be declared volatile. */
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160 /* The list in which active timers are stored. Timers are referenced in expire
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161 time order, with the nearest expiry time at the front of the list. Only the
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162 timer service task is allowed to access these lists. */
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163 PRIVILEGED_DATA static List_t xActiveTimerList1;
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164 PRIVILEGED_DATA static List_t xActiveTimerList2;
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165 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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166 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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168 /* A queue that is used to send commands to the timer service task. */
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169 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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171 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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173 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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179 /*-----------------------------------------------------------*/
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182 * Initialise the infrastructure used by the timer service task if it has not
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183 * been initialised already.
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185 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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188 * The timer service task (daemon). Timer functionality is controlled by this
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189 * task. Other tasks communicate with the timer service task using the
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190 * xTimerQueue queue.
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192 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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195 * Called by the timer service task to interpret and process a command it
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196 * received on the timer queue.
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198 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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201 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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202 * depending on if the expire time causes a timer counter overflow.
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204 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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207 * An active timer has reached its expire time. Reload the timer if it is an
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208 * auto reload timer, then call its callback.
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210 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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213 * The tick count has overflowed. Switch the timer lists after ensuring the
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214 * current timer list does not still reference some timers.
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216 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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219 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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220 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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222 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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225 * If the timer list contains any active timers then return the expire time of
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226 * the timer that will expire first and set *pxListWasEmpty to false. If the
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227 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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230 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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233 * If a timer has expired, process it. Otherwise, block the timer service task
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234 * until either a timer does expire or a command is received.
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236 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, const BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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238 /*-----------------------------------------------------------*/
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240 BaseType_t xTimerCreateTimerTask( void )
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242 BaseType_t xReturn = pdFAIL;
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244 /* This function is called when the scheduler is started if
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245 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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246 timer service task has been created/initialised. If timers have already
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247 been created then the initialisation will already have been performed. */
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248 prvCheckForValidListAndQueue();
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250 if( xTimerQueue != NULL )
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252 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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254 /* Create the timer task, storing its handle in xTimerTaskHandle so
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255 it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
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256 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", ( uint16_t ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
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260 /* Create the timer task without storing its handle. */
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261 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", ( uint16_t ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL);
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267 mtCOVERAGE_TEST_MARKER();
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270 configASSERT( xReturn );
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273 /*-----------------------------------------------------------*/
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275 TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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277 Timer_t *pxNewTimer;
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279 /* Allocate the timer structure. */
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280 if( xTimerPeriodInTicks == ( TickType_t ) 0U )
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286 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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287 if( pxNewTimer != NULL )
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289 /* Ensure the infrastructure used by the timer service task has been
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290 created/initialised. */
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291 prvCheckForValidListAndQueue();
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293 /* Initialise the timer structure members using the function parameters. */
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294 pxNewTimer->pcTimerName = pcTimerName;
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295 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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296 pxNewTimer->uxAutoReload = uxAutoReload;
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297 pxNewTimer->pvTimerID = pvTimerID;
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298 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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299 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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301 traceTIMER_CREATE( pxNewTimer );
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305 traceTIMER_CREATE_FAILED();
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309 /* 0 is not a valid value for xTimerPeriodInTicks. */
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310 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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312 return ( TimerHandle_t ) pxNewTimer;
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314 /*-----------------------------------------------------------*/
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316 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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318 BaseType_t xReturn = pdFAIL;
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319 DaemonTaskMessage_t xMessage;
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321 /* Send a message to the timer service task to perform a particular action
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322 on a particular timer definition. */
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323 if( xTimerQueue != NULL )
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325 /* Send a command to the timer service task to start the xTimer timer. */
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326 xMessage.xMessageID = xCommandID;
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327 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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328 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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330 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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332 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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334 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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338 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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343 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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346 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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350 mtCOVERAGE_TEST_MARKER();
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355 /*-----------------------------------------------------------*/
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357 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
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359 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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361 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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362 started, then xTimerTaskHandle will be NULL. */
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363 configASSERT( ( xTimerTaskHandle != NULL ) );
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364 return xTimerTaskHandle;
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368 /*-----------------------------------------------------------*/
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370 const char * pcTimerGetTimerName( TimerHandle_t xTimer )
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372 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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374 return pxTimer->pcTimerName;
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376 /*-----------------------------------------------------------*/
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378 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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380 BaseType_t xResult;
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381 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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383 /* Remove the timer from the list of active timers. A check has already
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384 been performed to ensure the list is not empty. */
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385 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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386 traceTIMER_EXPIRED( pxTimer );
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388 /* If the timer is an auto reload timer then calculate the next
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389 expiry time and re-insert the timer in the list of active timers. */
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390 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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392 /* The timer is inserted into a list using a time relative to anything
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393 other than the current time. It will therefore be inserted into the
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394 correct list relative to the time this task thinks it is now. */
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395 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
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397 /* The timer expired before it was added to the active timer
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398 list. Reload it now. */
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399 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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400 configASSERT( xResult );
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405 mtCOVERAGE_TEST_MARKER();
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410 mtCOVERAGE_TEST_MARKER();
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413 /* Call the timer callback. */
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414 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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416 /*-----------------------------------------------------------*/
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418 static void prvTimerTask( void *pvParameters )
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420 TickType_t xNextExpireTime;
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421 BaseType_t xListWasEmpty;
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423 /* Just to avoid compiler warnings. */
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424 ( void ) pvParameters;
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428 /* Query the timers list to see if it contains any timers, and if so,
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429 obtain the time at which the next timer will expire. */
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430 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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432 /* If a timer has expired, process it. Otherwise, block this task
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433 until either a timer does expire, or a command is received. */
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434 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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436 /* Empty the command queue. */
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437 prvProcessReceivedCommands();
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440 /*-----------------------------------------------------------*/
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442 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, const BaseType_t xListWasEmpty )
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444 TickType_t xTimeNow;
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445 BaseType_t xTimerListsWereSwitched;
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449 /* Obtain the time now to make an assessment as to whether the timer
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450 has expired or not. If obtaining the time causes the lists to switch
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451 then don't process this timer as any timers that remained in the list
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452 when the lists were switched will have been processed within the
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453 prvSampleTimeNow() function. */
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454 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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455 if( xTimerListsWereSwitched == pdFALSE )
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457 /* The tick count has not overflowed, has the timer expired? */
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458 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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460 ( void ) xTaskResumeAll();
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461 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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465 /* The tick count has not overflowed, and the next expire
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466 time has not been reached yet. This task should therefore
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467 block to wait for the next expire time or a command to be
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468 received - whichever comes first. The following line cannot
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469 be reached unless xNextExpireTime > xTimeNow, except in the
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470 case when the current timer list is empty. */
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471 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ) );
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473 if( xTaskResumeAll() == pdFALSE )
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475 /* Yield to wait for either a command to arrive, or the
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476 block time to expire. If a command arrived between the
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477 critical section being exited and this yield then the yield
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478 will not cause the task to block. */
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479 portYIELD_WITHIN_API();
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483 mtCOVERAGE_TEST_MARKER();
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489 ( void ) xTaskResumeAll();
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493 /*-----------------------------------------------------------*/
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495 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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497 TickType_t xNextExpireTime;
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499 /* Timers are listed in expiry time order, with the head of the list
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500 referencing the task that will expire first. Obtain the time at which
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501 the timer with the nearest expiry time will expire. If there are no
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502 active timers then just set the next expire time to 0. That will cause
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503 this task to unblock when the tick count overflows, at which point the
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504 timer lists will be switched and the next expiry time can be
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506 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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507 if( *pxListWasEmpty == pdFALSE )
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509 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
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513 /* Ensure the task unblocks when the tick count rolls over. */
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514 xNextExpireTime = ( TickType_t ) 0U;
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517 return xNextExpireTime;
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519 /*-----------------------------------------------------------*/
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521 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
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523 TickType_t xTimeNow;
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524 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
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526 xTimeNow = xTaskGetTickCount();
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528 if( xTimeNow < xLastTime )
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530 prvSwitchTimerLists();
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531 *pxTimerListsWereSwitched = pdTRUE;
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535 *pxTimerListsWereSwitched = pdFALSE;
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538 xLastTime = xTimeNow;
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542 /*-----------------------------------------------------------*/
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544 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
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546 BaseType_t xProcessTimerNow = pdFALSE;
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548 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
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549 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
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551 if( xNextExpiryTime <= xTimeNow )
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553 /* Has the expiry time elapsed between the command to start/reset a
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554 timer was issued, and the time the command was processed? */
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555 if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
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557 /* The time between a command being issued and the command being
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558 processed actually exceeds the timers period. */
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559 xProcessTimerNow = pdTRUE;
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563 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
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568 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
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570 /* If, since the command was issued, the tick count has overflowed
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571 but the expiry time has not, then the timer must have already passed
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572 its expiry time and should be processed immediately. */
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573 xProcessTimerNow = pdTRUE;
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577 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
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581 return xProcessTimerNow;
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583 /*-----------------------------------------------------------*/
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585 static void prvProcessReceivedCommands( void )
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587 DaemonTaskMessage_t xMessage;
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589 BaseType_t xTimerListsWereSwitched, xResult;
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590 TickType_t xTimeNow;
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592 while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
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594 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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596 /* Negative commands are pended function calls rather than timer
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598 if( xMessage.xMessageID < ( BaseType_t ) 0 )
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600 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
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602 /* The timer uses the xCallbackParameters member to request a
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603 callback be executed. Check the callback is not NULL. */
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604 configASSERT( pxCallback );
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606 /* Call the function. */
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607 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
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611 mtCOVERAGE_TEST_MARKER();
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614 #endif /* INCLUDE_xTimerPendFunctionCall */
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616 /* Commands that are positive are timer commands rather than pended
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618 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
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620 /* The messages uses the xTimerParameters member to work on a
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622 pxTimer = xMessage.u.xTimerParameters.pxTimer;
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624 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
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626 /* The timer is in a list, remove it. */
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627 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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631 mtCOVERAGE_TEST_MARKER();
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634 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
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636 /* In this case the xTimerListsWereSwitched parameter is not used, but
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637 it must be present in the function call. prvSampleTimeNow() must be
\r
638 called after the message is received from xTimerQueue so there is no
\r
639 possibility of a higher priority task adding a message to the message
\r
640 queue with a time that is ahead of the timer daemon task (because it
\r
641 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
642 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
644 switch( xMessage.xMessageID )
\r
646 case tmrCOMMAND_START :
\r
647 case tmrCOMMAND_START_FROM_ISR :
\r
648 case tmrCOMMAND_RESET :
\r
649 case tmrCOMMAND_RESET_FROM_ISR :
\r
650 case tmrCOMMAND_START_DONT_TRACE :
\r
651 /* Start or restart a timer. */
\r
652 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) == pdTRUE )
\r
654 /* The timer expired before it was added to the active
\r
655 timer list. Process it now. */
\r
656 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
657 traceTIMER_EXPIRED( pxTimer );
\r
659 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
661 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
662 configASSERT( xResult );
\r
667 mtCOVERAGE_TEST_MARKER();
\r
672 mtCOVERAGE_TEST_MARKER();
\r
676 case tmrCOMMAND_STOP :
\r
677 case tmrCOMMAND_STOP_FROM_ISR :
\r
678 /* The timer has already been removed from the active list.
\r
679 There is nothing to do here. */
\r
682 case tmrCOMMAND_CHANGE_PERIOD :
\r
683 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
684 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
685 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
687 /* The new period does not really have a reference, and can be
\r
688 longer or shorter than the old one. The command time is
\r
689 therefore set to the current time, and as the period cannot be
\r
690 zero the next expiry time can only be in the future, meaning
\r
691 (unlike for the xTimerStart() case above) there is no fail case
\r
692 that needs to be handled here. */
\r
693 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
696 case tmrCOMMAND_DELETE :
\r
697 /* The timer has already been removed from the active list,
\r
698 just free up the memory. */
\r
699 vPortFree( pxTimer );
\r
703 /* Don't expect to get here. */
\r
709 /*-----------------------------------------------------------*/
\r
711 static void prvSwitchTimerLists( void )
\r
713 TickType_t xNextExpireTime, xReloadTime;
\r
716 BaseType_t xResult;
\r
718 /* The tick count has overflowed. The timer lists must be switched.
\r
719 If there are any timers still referenced from the current timer list
\r
720 then they must have expired and should be processed before the lists
\r
722 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
724 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
726 /* Remove the timer from the list. */
\r
727 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
728 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
729 traceTIMER_EXPIRED( pxTimer );
\r
731 /* Execute its callback, then send a command to restart the timer if
\r
732 it is an auto-reload timer. It cannot be restarted here as the lists
\r
733 have not yet been switched. */
\r
734 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
736 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
738 /* Calculate the reload value, and if the reload value results in
\r
739 the timer going into the same timer list then it has already expired
\r
740 and the timer should be re-inserted into the current list so it is
\r
741 processed again within this loop. Otherwise a command should be sent
\r
742 to restart the timer to ensure it is only inserted into a list after
\r
743 the lists have been swapped. */
\r
744 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
745 if( xReloadTime > xNextExpireTime )
\r
747 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
748 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
749 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
753 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
754 configASSERT( xResult );
\r
760 mtCOVERAGE_TEST_MARKER();
\r
764 pxTemp = pxCurrentTimerList;
\r
765 pxCurrentTimerList = pxOverflowTimerList;
\r
766 pxOverflowTimerList = pxTemp;
\r
768 /*-----------------------------------------------------------*/
\r
770 static void prvCheckForValidListAndQueue( void )
\r
772 /* Check that the list from which active timers are referenced, and the
\r
773 queue used to communicate with the timer service, have been
\r
775 taskENTER_CRITICAL();
\r
777 if( xTimerQueue == NULL )
\r
779 vListInitialise( &xActiveTimerList1 );
\r
780 vListInitialise( &xActiveTimerList2 );
\r
781 pxCurrentTimerList = &xActiveTimerList1;
\r
782 pxOverflowTimerList = &xActiveTimerList2;
\r
783 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
784 configASSERT( xTimerQueue );
\r
786 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
788 if( xTimerQueue != NULL )
\r
790 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
794 mtCOVERAGE_TEST_MARKER();
\r
797 #endif /* configQUEUE_REGISTRY_SIZE */
\r
801 mtCOVERAGE_TEST_MARKER();
\r
804 taskEXIT_CRITICAL();
\r
806 /*-----------------------------------------------------------*/
\r
808 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
810 BaseType_t xTimerIsInActiveList;
\r
811 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
813 /* Is the timer in the list of active timers? */
\r
814 taskENTER_CRITICAL();
\r
816 /* Checking to see if it is in the NULL list in effect checks to see if
\r
817 it is referenced from either the current or the overflow timer lists in
\r
818 one go, but the logic has to be reversed, hence the '!'. */
\r
819 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
821 taskEXIT_CRITICAL();
\r
823 return xTimerIsInActiveList;
\r
824 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
825 /*-----------------------------------------------------------*/
\r
827 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
829 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
832 configASSERT( xTimer );
\r
834 taskENTER_CRITICAL();
\r
836 pvReturn = pxTimer->pvTimerID;
\r
838 taskEXIT_CRITICAL();
\r
842 /*-----------------------------------------------------------*/
\r
844 void vTimerSetTimerID( const TimerHandle_t xTimer, void *pvNewID )
\r
846 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
848 configASSERT( xTimer );
\r
850 taskENTER_CRITICAL();
\r
852 pxTimer->pvTimerID = pvNewID;
\r
854 taskEXIT_CRITICAL();
\r
856 /*-----------------------------------------------------------*/
\r
858 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
860 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
862 DaemonTaskMessage_t xMessage;
\r
863 BaseType_t xReturn;
\r
865 /* Complete the message with the function parameters and post it to the
\r
867 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
868 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
869 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
870 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
872 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
874 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
879 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
880 /*-----------------------------------------------------------*/
\r
882 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
884 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
886 DaemonTaskMessage_t xMessage;
\r
887 BaseType_t xReturn;
\r
889 /* This function can only be called after a timer has been created or
\r
890 after the scheduler has been started because, until then, the timer
\r
891 queue does not exist. */
\r
892 configASSERT( xTimerQueue );
\r
894 /* Complete the message with the function parameters and post it to the
\r
896 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
897 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
898 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
899 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
901 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
903 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
908 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
909 /*-----------------------------------------------------------*/
\r
911 /* This entire source file will be skipped if the application is not configured
\r
912 to include software timer functionality. If you want to include software timer
\r
913 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
914 #endif /* configUSE_TIMERS == 1 */
\r