2 * FreeRTOS Kernel V10.1.0
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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41 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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42 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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45 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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46 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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47 for the header files above, but not in this file, in order to generate the
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48 correct privileged Vs unprivileged linkage and placement. */
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49 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e9021 !e961 !e750. */
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52 /* This entire source file will be skipped if the application is not configured
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53 to include software timer functionality. This #if is closed at the very bottom
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54 of this file. If you want to include software timer functionality then ensure
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55 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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56 #if ( configUSE_TIMERS == 1 )
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58 /* Misc definitions. */
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59 #define tmrNO_DELAY ( TickType_t ) 0U
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61 /* The name assigned to the timer service task. This can be overridden by
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62 defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
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63 #ifndef configTIMER_SERVICE_TASK_NAME
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64 #define configTIMER_SERVICE_TASK_NAME "Tmr Svc"
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67 /* The definition of the timers themselves. */
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68 typedef struct TimerDef_t
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70 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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71 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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72 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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73 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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74 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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75 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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76 #if( configUSE_TRACE_FACILITY == 1 )
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77 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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80 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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81 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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85 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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86 name below to enable the use of older kernel aware debuggers. */
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87 typedef xTIMER Timer_t;
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89 /* The definition of messages that can be sent and received on the timer queue.
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90 Two types of message can be queued - messages that manipulate a software timer,
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91 and messages that request the execution of a non-timer related callback. The
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92 two message types are defined in two separate structures, xTimerParametersType
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93 and xCallbackParametersType respectively. */
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94 typedef struct tmrTimerParameters
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96 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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97 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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101 typedef struct tmrCallbackParameters
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103 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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104 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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105 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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106 } CallbackParameters_t;
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108 /* The structure that contains the two message types, along with an identifier
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109 that is used to determine which message type is valid. */
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110 typedef struct tmrTimerQueueMessage
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112 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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115 TimerParameter_t xTimerParameters;
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117 /* Don't include xCallbackParameters if it is not going to be used as
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118 it makes the structure (and therefore the timer queue) larger. */
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119 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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120 CallbackParameters_t xCallbackParameters;
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121 #endif /* INCLUDE_xTimerPendFunctionCall */
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123 } DaemonTaskMessage_t;
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125 /*lint -save -e956 A manual analysis and inspection has been used to determine
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126 which static variables must be declared volatile. */
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128 /* The list in which active timers are stored. Timers are referenced in expire
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129 time order, with the nearest expiry time at the front of the list. Only the
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130 timer service task is allowed to access these lists. */
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131 PRIVILEGED_DATA static List_t xActiveTimerList1;
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132 PRIVILEGED_DATA static List_t xActiveTimerList2;
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133 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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134 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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136 /* A queue that is used to send commands to the timer service task. */
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137 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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138 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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142 /*-----------------------------------------------------------*/
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144 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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146 /* If static allocation is supported then the application must provide the
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147 following callback function - which enables the application to optionally
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148 provide the memory that will be used by the timer task as the task's stack
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150 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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155 * Initialise the infrastructure used by the timer service task if it has not
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156 * been initialised already.
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158 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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161 * The timer service task (daemon). Timer functionality is controlled by this
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162 * task. Other tasks communicate with the timer service task using the
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163 * xTimerQueue queue.
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165 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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168 * Called by the timer service task to interpret and process a command it
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169 * received on the timer queue.
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171 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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174 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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175 * depending on if the expire time causes a timer counter overflow.
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177 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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180 * An active timer has reached its expire time. Reload the timer if it is an
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181 * auto reload timer, then call its callback.
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183 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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186 * The tick count has overflowed. Switch the timer lists after ensuring the
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187 * current timer list does not still reference some timers.
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189 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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192 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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193 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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195 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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198 * If the timer list contains any active timers then return the expire time of
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199 * the timer that will expire first and set *pxListWasEmpty to false. If the
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200 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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203 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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206 * If a timer has expired, process it. Otherwise, block the timer service task
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207 * until either a timer does expire or a command is received.
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209 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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212 * Called after a Timer_t structure has been allocated either statically or
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213 * dynamically to fill in the structure's members.
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215 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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216 const TickType_t xTimerPeriodInTicks,
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217 const UBaseType_t uxAutoReload,
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218 void * const pvTimerID,
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219 TimerCallbackFunction_t pxCallbackFunction,
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220 Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
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221 /*-----------------------------------------------------------*/
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223 BaseType_t xTimerCreateTimerTask( void )
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225 BaseType_t xReturn = pdFAIL;
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227 /* This function is called when the scheduler is started if
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228 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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229 timer service task has been created/initialised. If timers have already
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230 been created then the initialisation will already have been performed. */
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231 prvCheckForValidListAndQueue();
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233 if( xTimerQueue != NULL )
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235 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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237 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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238 StackType_t *pxTimerTaskStackBuffer = NULL;
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239 uint32_t ulTimerTaskStackSize;
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241 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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242 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
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243 configTIMER_SERVICE_TASK_NAME,
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244 ulTimerTaskStackSize,
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246 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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247 pxTimerTaskStackBuffer,
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248 pxTimerTaskTCBBuffer );
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250 if( xTimerTaskHandle != NULL )
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257 xReturn = xTaskCreate( prvTimerTask,
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258 configTIMER_SERVICE_TASK_NAME,
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259 configTIMER_TASK_STACK_DEPTH,
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261 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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262 &xTimerTaskHandle );
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264 #endif /* configSUPPORT_STATIC_ALLOCATION */
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268 mtCOVERAGE_TEST_MARKER();
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271 configASSERT( xReturn );
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274 /*-----------------------------------------------------------*/
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276 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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278 TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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279 const TickType_t xTimerPeriodInTicks,
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280 const UBaseType_t uxAutoReload,
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281 void * const pvTimerID,
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282 TimerCallbackFunction_t pxCallbackFunction )
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284 Timer_t *pxNewTimer;
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286 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */
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288 if( pxNewTimer != NULL )
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290 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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292 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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294 /* Timers can be created statically or dynamically, so note this
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295 timer was created dynamically in case the timer is later
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297 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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299 #endif /* configSUPPORT_STATIC_ALLOCATION */
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305 #endif /* configSUPPORT_STATIC_ALLOCATION */
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306 /*-----------------------------------------------------------*/
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308 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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310 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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311 const TickType_t xTimerPeriodInTicks,
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312 const UBaseType_t uxAutoReload,
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313 void * const pvTimerID,
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314 TimerCallbackFunction_t pxCallbackFunction,
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315 StaticTimer_t *pxTimerBuffer )
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317 Timer_t *pxNewTimer;
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319 #if( configASSERT_DEFINED == 1 )
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321 /* Sanity check that the size of the structure used to declare a
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322 variable of type StaticTimer_t equals the size of the real timer
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324 volatile size_t xSize = sizeof( StaticTimer_t );
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325 configASSERT( xSize == sizeof( Timer_t ) );
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326 ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
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328 #endif /* configASSERT_DEFINED */
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330 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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331 configASSERT( pxTimerBuffer );
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332 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */
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334 if( pxNewTimer != NULL )
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336 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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338 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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340 /* Timers can be created statically or dynamically so note this
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341 timer was created statically in case it is later deleted. */
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342 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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344 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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350 #endif /* configSUPPORT_STATIC_ALLOCATION */
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351 /*-----------------------------------------------------------*/
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353 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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354 const TickType_t xTimerPeriodInTicks,
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355 const UBaseType_t uxAutoReload,
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356 void * const pvTimerID,
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357 TimerCallbackFunction_t pxCallbackFunction,
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358 Timer_t *pxNewTimer )
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360 /* 0 is not a valid value for xTimerPeriodInTicks. */
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361 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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363 if( pxNewTimer != NULL )
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365 /* Ensure the infrastructure used by the timer service task has been
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366 created/initialised. */
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367 prvCheckForValidListAndQueue();
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369 /* Initialise the timer structure members using the function
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371 pxNewTimer->pcTimerName = pcTimerName;
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372 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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373 pxNewTimer->uxAutoReload = uxAutoReload;
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374 pxNewTimer->pvTimerID = pvTimerID;
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375 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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376 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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377 traceTIMER_CREATE( pxNewTimer );
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380 /*-----------------------------------------------------------*/
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382 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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384 BaseType_t xReturn = pdFAIL;
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385 DaemonTaskMessage_t xMessage;
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387 configASSERT( xTimer );
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389 /* Send a message to the timer service task to perform a particular action
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390 on a particular timer definition. */
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391 if( xTimerQueue != NULL )
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393 /* Send a command to the timer service task to start the xTimer timer. */
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394 xMessage.xMessageID = xCommandID;
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395 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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396 xMessage.u.xTimerParameters.pxTimer = xTimer;
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398 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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400 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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402 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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406 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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411 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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414 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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418 mtCOVERAGE_TEST_MARKER();
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423 /*-----------------------------------------------------------*/
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425 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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427 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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428 started, then xTimerTaskHandle will be NULL. */
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429 configASSERT( ( xTimerTaskHandle != NULL ) );
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430 return xTimerTaskHandle;
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432 /*-----------------------------------------------------------*/
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434 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
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436 Timer_t *pxTimer = xTimer;
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438 configASSERT( xTimer );
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439 return pxTimer->xTimerPeriodInTicks;
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441 /*-----------------------------------------------------------*/
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443 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
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445 Timer_t * pxTimer = xTimer;
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446 TickType_t xReturn;
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448 configASSERT( xTimer );
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449 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
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452 /*-----------------------------------------------------------*/
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454 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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456 Timer_t *pxTimer = xTimer;
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458 configASSERT( xTimer );
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459 return pxTimer->pcTimerName;
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461 /*-----------------------------------------------------------*/
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463 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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465 BaseType_t xResult;
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466 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
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468 /* Remove the timer from the list of active timers. A check has already
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469 been performed to ensure the list is not empty. */
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470 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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471 traceTIMER_EXPIRED( pxTimer );
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473 /* If the timer is an auto reload timer then calculate the next
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474 expiry time and re-insert the timer in the list of active timers. */
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475 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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477 /* The timer is inserted into a list using a time relative to anything
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478 other than the current time. It will therefore be inserted into the
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479 correct list relative to the time this task thinks it is now. */
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480 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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482 /* The timer expired before it was added to the active timer
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483 list. Reload it now. */
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484 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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485 configASSERT( xResult );
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490 mtCOVERAGE_TEST_MARKER();
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495 mtCOVERAGE_TEST_MARKER();
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498 /* Call the timer callback. */
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499 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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501 /*-----------------------------------------------------------*/
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503 static void prvTimerTask( void *pvParameters )
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505 TickType_t xNextExpireTime;
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506 BaseType_t xListWasEmpty;
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508 /* Just to avoid compiler warnings. */
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509 ( void ) pvParameters;
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511 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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513 extern void vApplicationDaemonTaskStartupHook( void );
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515 /* Allow the application writer to execute some code in the context of
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516 this task at the point the task starts executing. This is useful if the
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517 application includes initialisation code that would benefit from
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518 executing after the scheduler has been started. */
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519 vApplicationDaemonTaskStartupHook();
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521 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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525 /* Query the timers list to see if it contains any timers, and if so,
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526 obtain the time at which the next timer will expire. */
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527 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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529 /* If a timer has expired, process it. Otherwise, block this task
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530 until either a timer does expire, or a command is received. */
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531 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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533 /* Empty the command queue. */
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534 prvProcessReceivedCommands();
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537 /*-----------------------------------------------------------*/
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539 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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541 TickType_t xTimeNow;
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542 BaseType_t xTimerListsWereSwitched;
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546 /* Obtain the time now to make an assessment as to whether the timer
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547 has expired or not. If obtaining the time causes the lists to switch
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548 then don't process this timer as any timers that remained in the list
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549 when the lists were switched will have been processed within the
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550 prvSampleTimeNow() function. */
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551 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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552 if( xTimerListsWereSwitched == pdFALSE )
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554 /* The tick count has not overflowed, has the timer expired? */
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555 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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557 ( void ) xTaskResumeAll();
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558 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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562 /* The tick count has not overflowed, and the next expire
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563 time has not been reached yet. This task should therefore
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564 block to wait for the next expire time or a command to be
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565 received - whichever comes first. The following line cannot
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566 be reached unless xNextExpireTime > xTimeNow, except in the
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567 case when the current timer list is empty. */
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568 if( xListWasEmpty != pdFALSE )
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570 /* The current timer list is empty - is the overflow list
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572 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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575 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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577 if( xTaskResumeAll() == pdFALSE )
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579 /* Yield to wait for either a command to arrive, or the
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580 block time to expire. If a command arrived between the
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581 critical section being exited and this yield then the yield
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582 will not cause the task to block. */
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583 portYIELD_WITHIN_API();
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587 mtCOVERAGE_TEST_MARKER();
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593 ( void ) xTaskResumeAll();
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597 /*-----------------------------------------------------------*/
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599 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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601 TickType_t xNextExpireTime;
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603 /* Timers are listed in expiry time order, with the head of the list
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604 referencing the task that will expire first. Obtain the time at which
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605 the timer with the nearest expiry time will expire. If there are no
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606 active timers then just set the next expire time to 0. That will cause
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607 this task to unblock when the tick count overflows, at which point the
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608 timer lists will be switched and the next expiry time can be
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610 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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611 if( *pxListWasEmpty == pdFALSE )
\r
613 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
617 /* Ensure the task unblocks when the tick count rolls over. */
\r
618 xNextExpireTime = ( TickType_t ) 0U;
\r
621 return xNextExpireTime;
\r
623 /*-----------------------------------------------------------*/
\r
625 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
627 TickType_t xTimeNow;
\r
628 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
630 xTimeNow = xTaskGetTickCount();
\r
632 if( xTimeNow < xLastTime )
\r
634 prvSwitchTimerLists();
\r
635 *pxTimerListsWereSwitched = pdTRUE;
\r
639 *pxTimerListsWereSwitched = pdFALSE;
\r
642 xLastTime = xTimeNow;
\r
646 /*-----------------------------------------------------------*/
\r
648 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
650 BaseType_t xProcessTimerNow = pdFALSE;
\r
652 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
653 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
655 if( xNextExpiryTime <= xTimeNow )
\r
657 /* Has the expiry time elapsed between the command to start/reset a
\r
658 timer was issued, and the time the command was processed? */
\r
659 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
661 /* The time between a command being issued and the command being
\r
662 processed actually exceeds the timers period. */
\r
663 xProcessTimerNow = pdTRUE;
\r
667 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
672 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
674 /* If, since the command was issued, the tick count has overflowed
\r
675 but the expiry time has not, then the timer must have already passed
\r
676 its expiry time and should be processed immediately. */
\r
677 xProcessTimerNow = pdTRUE;
\r
681 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
685 return xProcessTimerNow;
\r
687 /*-----------------------------------------------------------*/
\r
689 static void prvProcessReceivedCommands( void )
\r
691 DaemonTaskMessage_t xMessage;
\r
693 BaseType_t xTimerListsWereSwitched, xResult;
\r
694 TickType_t xTimeNow;
\r
696 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
698 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
700 /* Negative commands are pended function calls rather than timer
\r
702 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
704 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
706 /* The timer uses the xCallbackParameters member to request a
\r
707 callback be executed. Check the callback is not NULL. */
\r
708 configASSERT( pxCallback );
\r
710 /* Call the function. */
\r
711 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
715 mtCOVERAGE_TEST_MARKER();
\r
718 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
720 /* Commands that are positive are timer commands rather than pended
\r
722 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
724 /* The messages uses the xTimerParameters member to work on a
\r
726 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
728 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
\r
730 /* The timer is in a list, remove it. */
\r
731 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
735 mtCOVERAGE_TEST_MARKER();
\r
738 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
740 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
741 it must be present in the function call. prvSampleTimeNow() must be
\r
742 called after the message is received from xTimerQueue so there is no
\r
743 possibility of a higher priority task adding a message to the message
\r
744 queue with a time that is ahead of the timer daemon task (because it
\r
745 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
746 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
748 switch( xMessage.xMessageID )
\r
750 case tmrCOMMAND_START :
\r
751 case tmrCOMMAND_START_FROM_ISR :
\r
752 case tmrCOMMAND_RESET :
\r
753 case tmrCOMMAND_RESET_FROM_ISR :
\r
754 case tmrCOMMAND_START_DONT_TRACE :
\r
755 /* Start or restart a timer. */
\r
756 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
758 /* The timer expired before it was added to the active
\r
759 timer list. Process it now. */
\r
760 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
761 traceTIMER_EXPIRED( pxTimer );
\r
763 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
765 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
766 configASSERT( xResult );
\r
771 mtCOVERAGE_TEST_MARKER();
\r
776 mtCOVERAGE_TEST_MARKER();
\r
780 case tmrCOMMAND_STOP :
\r
781 case tmrCOMMAND_STOP_FROM_ISR :
\r
782 /* The timer has already been removed from the active list.
\r
783 There is nothing to do here. */
\r
786 case tmrCOMMAND_CHANGE_PERIOD :
\r
787 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
788 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
789 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
791 /* The new period does not really have a reference, and can
\r
792 be longer or shorter than the old one. The command time is
\r
793 therefore set to the current time, and as the period cannot
\r
794 be zero the next expiry time can only be in the future,
\r
795 meaning (unlike for the xTimerStart() case above) there is
\r
796 no fail case that needs to be handled here. */
\r
797 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
800 case tmrCOMMAND_DELETE :
\r
801 /* The timer has already been removed from the active list,
\r
802 just free up the memory if the memory was dynamically
\r
804 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
806 /* The timer can only have been allocated dynamically -
\r
808 vPortFree( pxTimer );
\r
810 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
812 /* The timer could have been allocated statically or
\r
813 dynamically, so check before attempting to free the
\r
815 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
817 vPortFree( pxTimer );
\r
821 mtCOVERAGE_TEST_MARKER();
\r
824 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
828 /* Don't expect to get here. */
\r
834 /*-----------------------------------------------------------*/
\r
836 static void prvSwitchTimerLists( void )
\r
838 TickType_t xNextExpireTime, xReloadTime;
\r
841 BaseType_t xResult;
\r
843 /* The tick count has overflowed. The timer lists must be switched.
\r
844 If there are any timers still referenced from the current timer list
\r
845 then they must have expired and should be processed before the lists
\r
847 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
849 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
851 /* Remove the timer from the list. */
\r
852 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
853 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
854 traceTIMER_EXPIRED( pxTimer );
\r
856 /* Execute its callback, then send a command to restart the timer if
\r
857 it is an auto-reload timer. It cannot be restarted here as the lists
\r
858 have not yet been switched. */
\r
859 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
861 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
863 /* Calculate the reload value, and if the reload value results in
\r
864 the timer going into the same timer list then it has already expired
\r
865 and the timer should be re-inserted into the current list so it is
\r
866 processed again within this loop. Otherwise a command should be sent
\r
867 to restart the timer to ensure it is only inserted into a list after
\r
868 the lists have been swapped. */
\r
869 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
870 if( xReloadTime > xNextExpireTime )
\r
872 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
873 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
874 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
878 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
879 configASSERT( xResult );
\r
885 mtCOVERAGE_TEST_MARKER();
\r
889 pxTemp = pxCurrentTimerList;
\r
890 pxCurrentTimerList = pxOverflowTimerList;
\r
891 pxOverflowTimerList = pxTemp;
\r
893 /*-----------------------------------------------------------*/
\r
895 static void prvCheckForValidListAndQueue( void )
\r
897 /* Check that the list from which active timers are referenced, and the
\r
898 queue used to communicate with the timer service, have been
\r
900 taskENTER_CRITICAL();
\r
902 if( xTimerQueue == NULL )
\r
904 vListInitialise( &xActiveTimerList1 );
\r
905 vListInitialise( &xActiveTimerList2 );
\r
906 pxCurrentTimerList = &xActiveTimerList1;
\r
907 pxOverflowTimerList = &xActiveTimerList2;
\r
909 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
911 /* The timer queue is allocated statically in case
\r
912 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
913 static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
914 static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
916 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
920 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
924 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
926 if( xTimerQueue != NULL )
\r
928 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
932 mtCOVERAGE_TEST_MARKER();
\r
935 #endif /* configQUEUE_REGISTRY_SIZE */
\r
939 mtCOVERAGE_TEST_MARKER();
\r
942 taskEXIT_CRITICAL();
\r
944 /*-----------------------------------------------------------*/
\r
946 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
948 BaseType_t xTimerIsInActiveList;
\r
949 Timer_t *pxTimer = xTimer;
\r
951 configASSERT( xTimer );
\r
953 /* Is the timer in the list of active timers? */
\r
954 taskENTER_CRITICAL();
\r
956 /* Checking to see if it is in the NULL list in effect checks to see if
\r
957 it is referenced from either the current or the overflow timer lists in
\r
958 one go, but the logic has to be reversed, hence the '!'. */
\r
959 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdTRUE )
\r
961 xTimerIsInActiveList = pdFALSE;
\r
965 xTimerIsInActiveList = pdTRUE;
\r
968 taskEXIT_CRITICAL();
\r
970 return xTimerIsInActiveList;
\r
971 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
972 /*-----------------------------------------------------------*/
\r
974 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
976 Timer_t * const pxTimer = xTimer;
\r
979 configASSERT( xTimer );
\r
981 taskENTER_CRITICAL();
\r
983 pvReturn = pxTimer->pvTimerID;
\r
985 taskEXIT_CRITICAL();
\r
989 /*-----------------------------------------------------------*/
\r
991 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
993 Timer_t * const pxTimer = xTimer;
\r
995 configASSERT( xTimer );
\r
997 taskENTER_CRITICAL();
\r
999 pxTimer->pvTimerID = pvNewID;
\r
1001 taskEXIT_CRITICAL();
\r
1003 /*-----------------------------------------------------------*/
\r
1005 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1007 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1009 DaemonTaskMessage_t xMessage;
\r
1010 BaseType_t xReturn;
\r
1012 /* Complete the message with the function parameters and post it to the
\r
1014 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1015 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1016 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1017 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1019 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1021 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1026 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1027 /*-----------------------------------------------------------*/
\r
1029 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1031 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1033 DaemonTaskMessage_t xMessage;
\r
1034 BaseType_t xReturn;
\r
1036 /* This function can only be called after a timer has been created or
\r
1037 after the scheduler has been started because, until then, the timer
\r
1038 queue does not exist. */
\r
1039 configASSERT( xTimerQueue );
\r
1041 /* Complete the message with the function parameters and post it to the
\r
1043 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1044 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1045 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1046 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1048 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1050 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1055 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1056 /*-----------------------------------------------------------*/
\r
1058 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1060 UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
\r
1062 return ( ( Timer_t * ) xTimer )->uxTimerNumber;
\r
1065 #endif /* configUSE_TRACE_FACILITY */
\r
1066 /*-----------------------------------------------------------*/
\r
1068 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1070 void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber )
\r
1072 ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
\r
1075 #endif /* configUSE_TRACE_FACILITY */
\r
1076 /*-----------------------------------------------------------*/
\r
1078 /* This entire source file will be skipped if the application is not configured
\r
1079 to include software timer functionality. If you want to include software timer
\r
1080 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1081 #endif /* configUSE_TIMERS == 1 */
\r