2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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117 uint8_t ucStaticallyAllocated; /*<< Set to pdTRUE if the timer was created statically so no attempt is made to free the memory again if the timer is later deleted. */
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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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174 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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178 /*-----------------------------------------------------------*/
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180 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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182 /* If static allocation is supported then the application must provide the
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183 following callback function - which enables the application to optionally
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184 provide the memory that will be used by the timer task as the task's stack
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186 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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191 * Initialise the infrastructure used by the timer service task if it has not
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192 * been initialised already.
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194 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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197 * The timer service task (daemon). Timer functionality is controlled by this
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198 * task. Other tasks communicate with the timer service task using the
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199 * xTimerQueue queue.
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201 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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204 * Called by the timer service task to interpret and process a command it
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205 * received on the timer queue.
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207 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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210 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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211 * depending on if the expire time causes a timer counter overflow.
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213 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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216 * An active timer has reached its expire time. Reload the timer if it is an
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217 * auto reload timer, then call its callback.
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219 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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222 * The tick count has overflowed. Switch the timer lists after ensuring the
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223 * current timer list does not still reference some timers.
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225 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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228 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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229 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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231 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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234 * If the timer list contains any active timers then return the expire time of
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235 * the timer that will expire first and set *pxListWasEmpty to false. If the
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236 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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239 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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242 * If a timer has expired, process it. Otherwise, block the timer service task
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243 * until either a timer does expire or a command is received.
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245 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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248 * Called after a Timer_t structure has been allocated either statically or
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249 * dynamically to fill in the structure's members.
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251 static void prvInitialiseNewTimer( const char * const pcTimerName,
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252 const TickType_t xTimerPeriodInTicks,
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253 const UBaseType_t uxAutoReload,
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254 void * const pvTimerID,
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255 TimerCallbackFunction_t pxCallbackFunction,
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256 Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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257 /*-----------------------------------------------------------*/
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259 BaseType_t xTimerCreateTimerTask( void )
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261 BaseType_t xReturn = pdFAIL;
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263 /* This function is called when the scheduler is started if
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264 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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265 timer service task has been created/initialised. If timers have already
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266 been created then the initialisation will already have been performed. */
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267 prvCheckForValidListAndQueue();
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269 if( xTimerQueue != NULL )
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271 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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273 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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274 StackType_t *pxTimerTaskStackBuffer = NULL;
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275 uint32_t ulTimerTaskStackSize;
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277 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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278 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
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280 ulTimerTaskStackSize,
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282 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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283 pxTimerTaskStackBuffer,
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284 pxTimerTaskTCBBuffer );
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286 if( xTimerTaskHandle != NULL )
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293 xReturn = xTaskCreate( prvTimerTask,
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295 configTIMER_TASK_STACK_DEPTH,
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297 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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298 &xTimerTaskHandle );
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300 #endif /* configSUPPORT_STATIC_ALLOCATION */
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304 mtCOVERAGE_TEST_MARKER();
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307 configASSERT( xReturn );
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310 /*-----------------------------------------------------------*/
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312 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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314 TimerHandle_t xTimerCreate( const char * const pcTimerName,
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315 const TickType_t xTimerPeriodInTicks,
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316 const UBaseType_t uxAutoReload,
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317 void * const pvTimerID,
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318 TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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320 Timer_t *pxNewTimer;
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322 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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324 if( pxNewTimer != NULL )
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326 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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328 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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330 /* Timers can be created statically or dynamically, so note this
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331 timer was created dynamically in case the timer is later
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333 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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335 #endif /* configSUPPORT_STATIC_ALLOCATION */
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341 #endif /* configSUPPORT_STATIC_ALLOCATION */
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342 /*-----------------------------------------------------------*/
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344 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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346 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName,
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347 const TickType_t xTimerPeriodInTicks,
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348 const UBaseType_t uxAutoReload,
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349 void * const pvTimerID,
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350 TimerCallbackFunction_t pxCallbackFunction,
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351 StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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353 Timer_t *pxNewTimer;
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355 #if( configASSERT_DEFINED == 1 )
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357 /* Sanity check that the size of the structure used to declare a
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358 variable of type StaticTimer_t equals the size of the real timer
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360 volatile size_t xSize = sizeof( StaticTimer_t );
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361 configASSERT( xSize == sizeof( Timer_t ) );
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363 #endif /* configASSERT_DEFINED */
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365 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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366 configASSERT( pxTimerBuffer );
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367 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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369 if( pxNewTimer != NULL )
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371 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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373 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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375 /* Timers can be created statically or dynamically so note this
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376 timer was created statically in case it is later deleted. */
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377 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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379 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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385 #endif /* configSUPPORT_STATIC_ALLOCATION */
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386 /*-----------------------------------------------------------*/
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388 static void prvInitialiseNewTimer( const char * const pcTimerName,
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389 const TickType_t xTimerPeriodInTicks,
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390 const UBaseType_t uxAutoReload,
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391 void * const pvTimerID,
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392 TimerCallbackFunction_t pxCallbackFunction,
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393 Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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395 /* 0 is not a valid value for xTimerPeriodInTicks. */
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396 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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398 if( pxNewTimer != NULL )
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400 /* Ensure the infrastructure used by the timer service task has been
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401 created/initialised. */
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402 prvCheckForValidListAndQueue();
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404 /* Initialise the timer structure members using the function
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406 pxNewTimer->pcTimerName = pcTimerName;
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407 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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408 pxNewTimer->uxAutoReload = uxAutoReload;
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409 pxNewTimer->pvTimerID = pvTimerID;
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410 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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411 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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412 traceTIMER_CREATE( pxNewTimer );
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415 /*-----------------------------------------------------------*/
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417 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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419 BaseType_t xReturn = pdFAIL;
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420 DaemonTaskMessage_t xMessage;
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422 configASSERT( xTimer );
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424 /* Send a message to the timer service task to perform a particular action
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425 on a particular timer definition. */
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426 if( xTimerQueue != NULL )
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428 /* Send a command to the timer service task to start the xTimer timer. */
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429 xMessage.xMessageID = xCommandID;
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430 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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431 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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433 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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435 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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437 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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441 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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446 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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449 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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453 mtCOVERAGE_TEST_MARKER();
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458 /*-----------------------------------------------------------*/
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460 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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462 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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463 started, then xTimerTaskHandle will be NULL. */
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464 configASSERT( ( xTimerTaskHandle != NULL ) );
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465 return xTimerTaskHandle;
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467 /*-----------------------------------------------------------*/
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469 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
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471 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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473 configASSERT( xTimer );
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474 return pxTimer->xTimerPeriodInTicks;
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476 /*-----------------------------------------------------------*/
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478 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
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480 Timer_t * pxTimer = ( Timer_t * ) xTimer;
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481 TickType_t xReturn;
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483 configASSERT( xTimer );
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484 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
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487 /*-----------------------------------------------------------*/
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489 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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491 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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493 configASSERT( xTimer );
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494 return pxTimer->pcTimerName;
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496 /*-----------------------------------------------------------*/
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498 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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500 BaseType_t xResult;
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501 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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503 /* Remove the timer from the list of active timers. A check has already
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504 been performed to ensure the list is not empty. */
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505 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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506 traceTIMER_EXPIRED( pxTimer );
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508 /* If the timer is an auto reload timer then calculate the next
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509 expiry time and re-insert the timer in the list of active timers. */
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510 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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512 /* The timer is inserted into a list using a time relative to anything
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513 other than the current time. It will therefore be inserted into the
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514 correct list relative to the time this task thinks it is now. */
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515 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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517 /* The timer expired before it was added to the active timer
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518 list. Reload it now. */
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519 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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520 configASSERT( xResult );
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525 mtCOVERAGE_TEST_MARKER();
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530 mtCOVERAGE_TEST_MARKER();
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533 /* Call the timer callback. */
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534 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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536 /*-----------------------------------------------------------*/
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538 static void prvTimerTask( void *pvParameters )
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540 TickType_t xNextExpireTime;
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541 BaseType_t xListWasEmpty;
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543 /* Just to avoid compiler warnings. */
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544 ( void ) pvParameters;
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546 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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548 extern void vApplicationDaemonTaskStartupHook( void );
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550 /* Allow the application writer to execute some code in the context of
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551 this task at the point the task starts executing. This is useful if the
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552 application includes initialisation code that would benefit from
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553 executing after the scheduler has been started. */
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554 vApplicationDaemonTaskStartupHook();
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556 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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560 /* Query the timers list to see if it contains any timers, and if so,
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561 obtain the time at which the next timer will expire. */
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562 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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564 /* If a timer has expired, process it. Otherwise, block this task
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565 until either a timer does expire, or a command is received. */
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566 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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568 /* Empty the command queue. */
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569 prvProcessReceivedCommands();
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572 /*-----------------------------------------------------------*/
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574 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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576 TickType_t xTimeNow;
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577 BaseType_t xTimerListsWereSwitched;
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581 /* Obtain the time now to make an assessment as to whether the timer
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582 has expired or not. If obtaining the time causes the lists to switch
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583 then don't process this timer as any timers that remained in the list
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584 when the lists were switched will have been processed within the
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585 prvSampleTimeNow() function. */
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586 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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587 if( xTimerListsWereSwitched == pdFALSE )
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589 /* The tick count has not overflowed, has the timer expired? */
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590 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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592 ( void ) xTaskResumeAll();
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593 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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597 /* The tick count has not overflowed, and the next expire
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598 time has not been reached yet. This task should therefore
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599 block to wait for the next expire time or a command to be
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600 received - whichever comes first. The following line cannot
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601 be reached unless xNextExpireTime > xTimeNow, except in the
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602 case when the current timer list is empty. */
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603 if( xListWasEmpty != pdFALSE )
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605 /* The current timer list is empty - is the overflow list
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607 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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610 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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612 if( xTaskResumeAll() == pdFALSE )
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614 /* Yield to wait for either a command to arrive, or the
\r
615 block time to expire. If a command arrived between the
\r
616 critical section being exited and this yield then the yield
\r
617 will not cause the task to block. */
\r
618 portYIELD_WITHIN_API();
\r
622 mtCOVERAGE_TEST_MARKER();
\r
628 ( void ) xTaskResumeAll();
\r
632 /*-----------------------------------------------------------*/
\r
634 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
\r
636 TickType_t xNextExpireTime;
\r
638 /* Timers are listed in expiry time order, with the head of the list
\r
639 referencing the task that will expire first. Obtain the time at which
\r
640 the timer with the nearest expiry time will expire. If there are no
\r
641 active timers then just set the next expire time to 0. That will cause
\r
642 this task to unblock when the tick count overflows, at which point the
\r
643 timer lists will be switched and the next expiry time can be
\r
645 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
646 if( *pxListWasEmpty == pdFALSE )
\r
648 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
652 /* Ensure the task unblocks when the tick count rolls over. */
\r
653 xNextExpireTime = ( TickType_t ) 0U;
\r
656 return xNextExpireTime;
\r
658 /*-----------------------------------------------------------*/
\r
660 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
662 TickType_t xTimeNow;
\r
663 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
665 xTimeNow = xTaskGetTickCount();
\r
667 if( xTimeNow < xLastTime )
\r
669 prvSwitchTimerLists();
\r
670 *pxTimerListsWereSwitched = pdTRUE;
\r
674 *pxTimerListsWereSwitched = pdFALSE;
\r
677 xLastTime = xTimeNow;
\r
681 /*-----------------------------------------------------------*/
\r
683 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
685 BaseType_t xProcessTimerNow = pdFALSE;
\r
687 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
688 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
690 if( xNextExpiryTime <= xTimeNow )
\r
692 /* Has the expiry time elapsed between the command to start/reset a
\r
693 timer was issued, and the time the command was processed? */
\r
694 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
696 /* The time between a command being issued and the command being
\r
697 processed actually exceeds the timers period. */
\r
698 xProcessTimerNow = pdTRUE;
\r
702 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
707 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
709 /* If, since the command was issued, the tick count has overflowed
\r
710 but the expiry time has not, then the timer must have already passed
\r
711 its expiry time and should be processed immediately. */
\r
712 xProcessTimerNow = pdTRUE;
\r
716 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
720 return xProcessTimerNow;
\r
722 /*-----------------------------------------------------------*/
\r
724 static void prvProcessReceivedCommands( void )
\r
726 DaemonTaskMessage_t xMessage;
\r
728 BaseType_t xTimerListsWereSwitched, xResult;
\r
729 TickType_t xTimeNow;
\r
731 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
733 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
735 /* Negative commands are pended function calls rather than timer
\r
737 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
739 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
741 /* The timer uses the xCallbackParameters member to request a
\r
742 callback be executed. Check the callback is not NULL. */
\r
743 configASSERT( pxCallback );
\r
745 /* Call the function. */
\r
746 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
750 mtCOVERAGE_TEST_MARKER();
\r
753 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
755 /* Commands that are positive are timer commands rather than pended
\r
757 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
759 /* The messages uses the xTimerParameters member to work on a
\r
761 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
763 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
765 /* The timer is in a list, remove it. */
\r
766 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
770 mtCOVERAGE_TEST_MARKER();
\r
773 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
775 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
776 it must be present in the function call. prvSampleTimeNow() must be
\r
777 called after the message is received from xTimerQueue so there is no
\r
778 possibility of a higher priority task adding a message to the message
\r
779 queue with a time that is ahead of the timer daemon task (because it
\r
780 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
781 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
783 switch( xMessage.xMessageID )
\r
785 case tmrCOMMAND_START :
\r
786 case tmrCOMMAND_START_FROM_ISR :
\r
787 case tmrCOMMAND_RESET :
\r
788 case tmrCOMMAND_RESET_FROM_ISR :
\r
789 case tmrCOMMAND_START_DONT_TRACE :
\r
790 /* Start or restart a timer. */
\r
791 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
793 /* The timer expired before it was added to the active
\r
794 timer list. Process it now. */
\r
795 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
796 traceTIMER_EXPIRED( pxTimer );
\r
798 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
800 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
801 configASSERT( xResult );
\r
806 mtCOVERAGE_TEST_MARKER();
\r
811 mtCOVERAGE_TEST_MARKER();
\r
815 case tmrCOMMAND_STOP :
\r
816 case tmrCOMMAND_STOP_FROM_ISR :
\r
817 /* The timer has already been removed from the active list.
\r
818 There is nothing to do here. */
\r
821 case tmrCOMMAND_CHANGE_PERIOD :
\r
822 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
823 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
824 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
826 /* The new period does not really have a reference, and can
\r
827 be longer or shorter than the old one. The command time is
\r
828 therefore set to the current time, and as the period cannot
\r
829 be zero the next expiry time can only be in the future,
\r
830 meaning (unlike for the xTimerStart() case above) there is
\r
831 no fail case that needs to be handled here. */
\r
832 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
835 case tmrCOMMAND_DELETE :
\r
836 /* The timer has already been removed from the active list,
\r
837 just free up the memory if the memory was dynamically
\r
839 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
841 /* The timer can only have been allocated dynamically -
\r
843 vPortFree( pxTimer );
\r
845 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
847 /* The timer could have been allocated statically or
\r
848 dynamically, so check before attempting to free the
\r
850 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
852 vPortFree( pxTimer );
\r
856 mtCOVERAGE_TEST_MARKER();
\r
859 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
863 /* Don't expect to get here. */
\r
869 /*-----------------------------------------------------------*/
\r
871 static void prvSwitchTimerLists( void )
\r
873 TickType_t xNextExpireTime, xReloadTime;
\r
876 BaseType_t xResult;
\r
878 /* The tick count has overflowed. The timer lists must be switched.
\r
879 If there are any timers still referenced from the current timer list
\r
880 then they must have expired and should be processed before the lists
\r
882 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
884 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
886 /* Remove the timer from the list. */
\r
887 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
888 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
889 traceTIMER_EXPIRED( pxTimer );
\r
891 /* Execute its callback, then send a command to restart the timer if
\r
892 it is an auto-reload timer. It cannot be restarted here as the lists
\r
893 have not yet been switched. */
\r
894 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
896 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
898 /* Calculate the reload value, and if the reload value results in
\r
899 the timer going into the same timer list then it has already expired
\r
900 and the timer should be re-inserted into the current list so it is
\r
901 processed again within this loop. Otherwise a command should be sent
\r
902 to restart the timer to ensure it is only inserted into a list after
\r
903 the lists have been swapped. */
\r
904 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
905 if( xReloadTime > xNextExpireTime )
\r
907 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
908 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
909 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
913 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
914 configASSERT( xResult );
\r
920 mtCOVERAGE_TEST_MARKER();
\r
924 pxTemp = pxCurrentTimerList;
\r
925 pxCurrentTimerList = pxOverflowTimerList;
\r
926 pxOverflowTimerList = pxTemp;
\r
928 /*-----------------------------------------------------------*/
\r
930 static void prvCheckForValidListAndQueue( void )
\r
932 /* Check that the list from which active timers are referenced, and the
\r
933 queue used to communicate with the timer service, have been
\r
935 taskENTER_CRITICAL();
\r
937 if( xTimerQueue == NULL )
\r
939 vListInitialise( &xActiveTimerList1 );
\r
940 vListInitialise( &xActiveTimerList2 );
\r
941 pxCurrentTimerList = &xActiveTimerList1;
\r
942 pxOverflowTimerList = &xActiveTimerList2;
\r
944 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
946 /* The timer queue is allocated statically in case
\r
947 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
948 static StaticQueue_t xStaticTimerQueue;
\r
949 static uint8_t ucStaticTimerQueueStorage[ configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ];
\r
951 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
955 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
959 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
961 if( xTimerQueue != NULL )
\r
963 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
967 mtCOVERAGE_TEST_MARKER();
\r
970 #endif /* configQUEUE_REGISTRY_SIZE */
\r
974 mtCOVERAGE_TEST_MARKER();
\r
977 taskEXIT_CRITICAL();
\r
979 /*-----------------------------------------------------------*/
\r
981 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
983 BaseType_t xTimerIsInActiveList;
\r
984 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
986 configASSERT( xTimer );
\r
988 /* Is the timer in the list of active timers? */
\r
989 taskENTER_CRITICAL();
\r
991 /* Checking to see if it is in the NULL list in effect checks to see if
\r
992 it is referenced from either the current or the overflow timer lists in
\r
993 one go, but the logic has to be reversed, hence the '!'. */
\r
994 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
996 taskEXIT_CRITICAL();
\r
998 return xTimerIsInActiveList;
\r
999 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
1000 /*-----------------------------------------------------------*/
\r
1002 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
1004 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
1007 configASSERT( xTimer );
\r
1009 taskENTER_CRITICAL();
\r
1011 pvReturn = pxTimer->pvTimerID;
\r
1013 taskEXIT_CRITICAL();
\r
1017 /*-----------------------------------------------------------*/
\r
1019 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
1021 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
1023 configASSERT( xTimer );
\r
1025 taskENTER_CRITICAL();
\r
1027 pxTimer->pvTimerID = pvNewID;
\r
1029 taskEXIT_CRITICAL();
\r
1031 /*-----------------------------------------------------------*/
\r
1033 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1035 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1037 DaemonTaskMessage_t xMessage;
\r
1038 BaseType_t xReturn;
\r
1040 /* Complete the message with the function parameters and post it to the
\r
1042 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1043 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1044 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1045 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1047 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1049 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1054 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1055 /*-----------------------------------------------------------*/
\r
1057 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1059 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1061 DaemonTaskMessage_t xMessage;
\r
1062 BaseType_t xReturn;
\r
1064 /* This function can only be called after a timer has been created or
\r
1065 after the scheduler has been started because, until then, the timer
\r
1066 queue does not exist. */
\r
1067 configASSERT( xTimerQueue );
\r
1069 /* Complete the message with the function parameters and post it to the
\r
1071 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1072 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1073 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1074 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1076 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1078 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1083 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1084 /*-----------------------------------------------------------*/
\r
1086 /* This entire source file will be skipped if the application is not configured
\r
1087 to include software timer functionality. If you want to include software timer
\r
1088 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1089 #endif /* configUSE_TIMERS == 1 */
\r