2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
70 /* Standard includes. */
\r
73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
74 all the API functions to use the MPU wrappers. That should only be done when
\r
75 task.h is included from an application file. */
\r
76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
78 #include "FreeRTOS.h"
\r
83 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
\r
84 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
\r
87 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
\r
88 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
\r
89 header files above, but not in this file, in order to generate the correct
\r
90 privileged Vs unprivileged linkage and placement. */
\r
91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
\r
94 /* This entire source file will be skipped if the application is not configured
\r
95 to include software timer functionality. This #if is closed at the very bottom
\r
96 of this file. If you want to include software timer functionality then ensure
\r
97 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
98 #if ( configUSE_TIMERS == 1 )
\r
100 /* Misc definitions. */
\r
101 #define tmrNO_DELAY ( TickType_t ) 0U
\r
103 /* The definition of the timers themselves. */
\r
104 typedef struct tmrTimerControl
\r
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. */
\r
107 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
\r
108 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
\r
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. */
\r
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. */
\r
111 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
\r
112 #if( configUSE_TRACE_FACILITY == 1 )
\r
113 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
\r
116 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
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. */
\r
121 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
\r
122 name below to enable the use of older kernel aware debuggers. */
\r
123 typedef xTIMER Timer_t;
\r
125 /* The definition of messages that can be sent and received on the timer queue.
\r
126 Two types of message can be queued - messages that manipulate a software timer,
\r
127 and messages that request the execution of a non-timer related callback. The
\r
128 two message types are defined in two separate structures, xTimerParametersType
\r
129 and xCallbackParametersType respectively. */
\r
130 typedef struct tmrTimerParameters
\r
132 TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
\r
133 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
\r
134 } TimerParameter_t;
\r
137 typedef struct tmrCallbackParameters
\r
139 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
\r
140 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
\r
141 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
\r
142 } CallbackParameters_t;
\r
144 /* The structure that contains the two message types, along with an identifier
\r
145 that is used to determine which message type is valid. */
\r
146 typedef struct tmrTimerQueueMessage
\r
148 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
\r
151 TimerParameter_t xTimerParameters;
\r
153 /* Don't include xCallbackParameters if it is not going to be used as
\r
154 it makes the structure (and therefore the timer queue) larger. */
\r
155 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
156 CallbackParameters_t xCallbackParameters;
\r
157 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
159 } DaemonTaskMessage_t;
\r
161 /*lint -e956 A manual analysis and inspection has been used to determine which
\r
162 static variables must be declared volatile. */
\r
164 /* The list in which active timers are stored. Timers are referenced in expire
\r
165 time order, with the nearest expiry time at the front of the list. Only the
\r
166 timer service task is allowed to access these lists. */
\r
167 PRIVILEGED_DATA static List_t xActiveTimerList1;
\r
168 PRIVILEGED_DATA static List_t xActiveTimerList2;
\r
169 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
\r
170 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
\r
172 /* A queue that is used to send commands to the timer service task. */
\r
173 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
\r
174 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
\r
178 /*-----------------------------------------------------------*/
\r
180 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
182 /* If static allocation is supported then the application must provide the
\r
183 following callback function - which enables the application to optionally
\r
184 provide the memory that will be used by the timer task as the task's stack
\r
186 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize );
\r
191 * Initialise the infrastructure used by the timer service task if it has not
\r
192 * been initialised already.
\r
194 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
\r
197 * The timer service task (daemon). Timer functionality is controlled by this
\r
198 * task. Other tasks communicate with the timer service task using the
\r
199 * xTimerQueue queue.
\r
201 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
\r
204 * Called by the timer service task to interpret and process a command it
\r
205 * received on the timer queue.
\r
207 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
\r
210 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
\r
211 * depending on if the expire time causes a timer counter overflow.
\r
213 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
\r
216 * An active timer has reached its expire time. Reload the timer if it is an
\r
217 * auto reload timer, then call its callback.
\r
219 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
\r
222 * The tick count has overflowed. Switch the timer lists after ensuring the
\r
223 * current timer list does not still reference some timers.
\r
225 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
\r
228 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
\r
229 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
\r
231 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
\r
234 * If the timer list contains any active timers then return the expire time of
\r
235 * the timer that will expire first and set *pxListWasEmpty to false. If the
\r
236 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
\r
239 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
\r
242 * If a timer has expired, process it. Otherwise, block the timer service task
\r
243 * until either a timer does expire or a command is received.
\r
245 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
\r
248 * Called after a Timer_t structure has been allocated either statically or
\r
249 * dynamically to fill in the structure's members.
\r
251 static void prvInitialiseNewTimer( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
252 /*-----------------------------------------------------------*/
\r
254 BaseType_t xTimerCreateTimerTask( void )
\r
256 BaseType_t xReturn = pdFAIL;
\r
257 uint16_t usTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
260 /* This function is called when the scheduler is started if
\r
261 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
\r
262 timer service task has been created/initialised. If timers have already
\r
263 been created then the initialisation will already have been performed. */
\r
264 prvCheckForValidListAndQueue();
\r
266 if( xTimerQueue != NULL )
\r
269 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
271 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
\r
272 StackType_t *pxTimerTaskStackBuffer = NULL;
\r
274 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &usTimerTaskStackSize );
\r
275 xReturn = xTaskCreateStatic( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer );
\r
279 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
\r
281 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
285 mtCOVERAGE_TEST_MARKER();
\r
288 configASSERT( xReturn );
\r
291 /*-----------------------------------------------------------*/
\r
293 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
295 TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
297 Timer_t *pxNewTimer;
\r
299 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
\r
301 if( pxNewTimer != NULL )
\r
303 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
\r
305 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
307 /* Timers can be created statically or dynamically, so note this
\r
308 timer was created dynamically in case the timer is later
\r
310 pxNewTimer->ucStaticallyAllocated = pdFALSE;
\r
312 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
318 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
319 /*-----------------------------------------------------------*/
\r
321 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
323 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
325 Timer_t *pxNewTimer;
\r
327 #if( configASSERT_DEFINED == 1 )
\r
329 /* Sanity check that the size of the structure used to declare a
\r
330 variable of type StaticTimer_t equals the size of the real timer
\r
332 volatile size_t xSize = sizeof( StaticTimer_t );
\r
333 configASSERT( xSize == sizeof( Timer_t ) );
\r
335 #endif /* configASSERT_DEFINED */
\r
337 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
\r
338 configASSERT( pxTimerBuffer );
\r
339 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. */
\r
341 if( pxNewTimer != NULL )
\r
343 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
\r
345 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
347 /* Timers can be created statically or dynamically so note this
\r
348 timer was created statically in case it is later deleted. */
\r
349 pxNewTimer->ucStaticallyAllocated = pdTRUE;
\r
351 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
357 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
358 /*-----------------------------------------------------------*/
\r
360 static void prvInitialiseNewTimer( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
362 /* 0 is not a valid value for xTimerPeriodInTicks. */
\r
363 configASSERT( ( xTimerPeriodInTicks > 0 ) );
\r
365 if( pxNewTimer != NULL )
\r
367 /* Ensure the infrastructure used by the timer service task has been
\r
368 created/initialised. */
\r
369 prvCheckForValidListAndQueue();
\r
371 /* Initialise the timer structure members using the function
\r
373 pxNewTimer->pcTimerName = pcTimerName;
\r
374 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
\r
375 pxNewTimer->uxAutoReload = uxAutoReload;
\r
376 pxNewTimer->pvTimerID = pvTimerID;
\r
377 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
\r
378 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
\r
379 traceTIMER_CREATE( pxNewTimer );
\r
382 /*-----------------------------------------------------------*/
\r
384 BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait )
\r
386 BaseType_t xReturn = pdFAIL;
\r
387 DaemonTaskMessage_t xMessage;
\r
389 configASSERT( xTimer );
\r
391 /* Send a message to the timer service task to perform a particular action
\r
392 on a particular timer definition. */
\r
393 if( xTimerQueue != NULL )
\r
395 /* Send a command to the timer service task to start the xTimer timer. */
\r
396 xMessage.xMessageID = xCommandID;
\r
397 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
\r
398 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
\r
400 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
\r
402 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
\r
404 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
408 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
\r
413 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
416 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
\r
420 mtCOVERAGE_TEST_MARKER();
\r
425 /*-----------------------------------------------------------*/
\r
427 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
\r
429 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
\r
430 started, then xTimerTaskHandle will be NULL. */
\r
431 configASSERT( ( xTimerTaskHandle != NULL ) );
\r
432 return xTimerTaskHandle;
\r
434 /*-----------------------------------------------------------*/
\r
436 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
\r
438 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
440 configASSERT( xTimer );
\r
441 return pxTimer->xTimerPeriodInTicks;
\r
443 /*-----------------------------------------------------------*/
\r
445 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
\r
447 Timer_t * pxTimer = ( Timer_t * ) xTimer;
\r
448 TickType_t xReturn;
\r
450 configASSERT( xTimer );
\r
451 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
\r
454 /*-----------------------------------------------------------*/
\r
456 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
458 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
460 configASSERT( xTimer );
\r
461 return pxTimer->pcTimerName;
\r
463 /*-----------------------------------------------------------*/
\r
465 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
\r
467 BaseType_t xResult;
\r
468 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
470 /* Remove the timer from the list of active timers. A check has already
\r
471 been performed to ensure the list is not empty. */
\r
472 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
473 traceTIMER_EXPIRED( pxTimer );
\r
475 /* If the timer is an auto reload timer then calculate the next
\r
476 expiry time and re-insert the timer in the list of active timers. */
\r
477 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
479 /* The timer is inserted into a list using a time relative to anything
\r
480 other than the current time. It will therefore be inserted into the
\r
481 correct list relative to the time this task thinks it is now. */
\r
482 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
\r
484 /* The timer expired before it was added to the active timer
\r
485 list. Reload it now. */
\r
486 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
487 configASSERT( xResult );
\r
492 mtCOVERAGE_TEST_MARKER();
\r
497 mtCOVERAGE_TEST_MARKER();
\r
500 /* Call the timer callback. */
\r
501 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
503 /*-----------------------------------------------------------*/
\r
505 static void prvTimerTask( void *pvParameters )
\r
507 TickType_t xNextExpireTime;
\r
508 BaseType_t xListWasEmpty;
\r
510 /* Just to avoid compiler warnings. */
\r
511 ( void ) pvParameters;
\r
513 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
\r
515 extern void vApplicationDaemonTaskStartupHook( void );
\r
517 /* Allow the application writer to execute some code in the context of
\r
518 this task at the point the task starts executing. This is useful if the
\r
519 application includes initialisation code that would benefit from
\r
520 executing after the scheduler has been started. */
\r
521 vApplicationDaemonTaskStartupHook();
\r
523 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
\r
527 /* Query the timers list to see if it contains any timers, and if so,
\r
528 obtain the time at which the next timer will expire. */
\r
529 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
\r
531 /* If a timer has expired, process it. Otherwise, block this task
\r
532 until either a timer does expire, or a command is received. */
\r
533 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
\r
535 /* Empty the command queue. */
\r
536 prvProcessReceivedCommands();
\r
539 /*-----------------------------------------------------------*/
\r
541 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
\r
543 TickType_t xTimeNow;
\r
544 BaseType_t xTimerListsWereSwitched;
\r
548 /* Obtain the time now to make an assessment as to whether the timer
\r
549 has expired or not. If obtaining the time causes the lists to switch
\r
550 then don't process this timer as any timers that remained in the list
\r
551 when the lists were switched will have been processed within the
\r
552 prvSampleTimeNow() function. */
\r
553 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
554 if( xTimerListsWereSwitched == pdFALSE )
\r
556 /* The tick count has not overflowed, has the timer expired? */
\r
557 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
\r
559 ( void ) xTaskResumeAll();
\r
560 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
\r
564 /* The tick count has not overflowed, and the next expire
\r
565 time has not been reached yet. This task should therefore
\r
566 block to wait for the next expire time or a command to be
\r
567 received - whichever comes first. The following line cannot
\r
568 be reached unless xNextExpireTime > xTimeNow, except in the
\r
569 case when the current timer list is empty. */
\r
570 if( xListWasEmpty != pdFALSE )
\r
572 /* The current timer list is empty - is the overflow list
\r
574 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
\r
577 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
\r
579 if( xTaskResumeAll() == pdFALSE )
\r
581 /* Yield to wait for either a command to arrive, or the
\r
582 block time to expire. If a command arrived between the
\r
583 critical section being exited and this yield then the yield
\r
584 will not cause the task to block. */
\r
585 portYIELD_WITHIN_API();
\r
589 mtCOVERAGE_TEST_MARKER();
\r
595 ( void ) xTaskResumeAll();
\r
599 /*-----------------------------------------------------------*/
\r
601 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
\r
603 TickType_t xNextExpireTime;
\r
605 /* Timers are listed in expiry time order, with the head of the list
\r
606 referencing the task that will expire first. Obtain the time at which
\r
607 the timer with the nearest expiry time will expire. If there are no
\r
608 active timers then just set the next expire time to 0. That will cause
\r
609 this task to unblock when the tick count overflows, at which point the
\r
610 timer lists will be switched and the next expiry time can be
\r
612 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
613 if( *pxListWasEmpty == pdFALSE )
\r
615 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
619 /* Ensure the task unblocks when the tick count rolls over. */
\r
620 xNextExpireTime = ( TickType_t ) 0U;
\r
623 return xNextExpireTime;
\r
625 /*-----------------------------------------------------------*/
\r
627 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
629 TickType_t xTimeNow;
\r
630 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
632 xTimeNow = xTaskGetTickCount();
\r
634 if( xTimeNow < xLastTime )
\r
636 prvSwitchTimerLists();
\r
637 *pxTimerListsWereSwitched = pdTRUE;
\r
641 *pxTimerListsWereSwitched = pdFALSE;
\r
644 xLastTime = xTimeNow;
\r
648 /*-----------------------------------------------------------*/
\r
650 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
652 BaseType_t xProcessTimerNow = pdFALSE;
\r
654 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
655 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
657 if( xNextExpiryTime <= xTimeNow )
\r
659 /* Has the expiry time elapsed between the command to start/reset a
\r
660 timer was issued, and the time the command was processed? */
\r
661 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
663 /* The time between a command being issued and the command being
\r
664 processed actually exceeds the timers period. */
\r
665 xProcessTimerNow = pdTRUE;
\r
669 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
674 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
676 /* If, since the command was issued, the tick count has overflowed
\r
677 but the expiry time has not, then the timer must have already passed
\r
678 its expiry time and should be processed immediately. */
\r
679 xProcessTimerNow = pdTRUE;
\r
683 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
687 return xProcessTimerNow;
\r
689 /*-----------------------------------------------------------*/
\r
691 static void prvProcessReceivedCommands( void )
\r
693 DaemonTaskMessage_t xMessage;
\r
695 BaseType_t xTimerListsWereSwitched, xResult;
\r
696 TickType_t xTimeNow;
\r
698 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
700 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
702 /* Negative commands are pended function calls rather than timer
\r
704 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
706 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
708 /* The timer uses the xCallbackParameters member to request a
\r
709 callback be executed. Check the callback is not NULL. */
\r
710 configASSERT( pxCallback );
\r
712 /* Call the function. */
\r
713 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
717 mtCOVERAGE_TEST_MARKER();
\r
720 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
722 /* Commands that are positive are timer commands rather than pended
\r
724 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
726 /* The messages uses the xTimerParameters member to work on a
\r
728 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
730 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
732 /* The timer is in a list, remove it. */
\r
733 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
737 mtCOVERAGE_TEST_MARKER();
\r
740 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
742 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
743 it must be present in the function call. prvSampleTimeNow() must be
\r
744 called after the message is received from xTimerQueue so there is no
\r
745 possibility of a higher priority task adding a message to the message
\r
746 queue with a time that is ahead of the timer daemon task (because it
\r
747 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
748 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
750 switch( xMessage.xMessageID )
\r
752 case tmrCOMMAND_START :
\r
753 case tmrCOMMAND_START_FROM_ISR :
\r
754 case tmrCOMMAND_RESET :
\r
755 case tmrCOMMAND_RESET_FROM_ISR :
\r
756 case tmrCOMMAND_START_DONT_TRACE :
\r
757 /* Start or restart a timer. */
\r
758 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
760 /* The timer expired before it was added to the active
\r
761 timer list. Process it now. */
\r
762 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
763 traceTIMER_EXPIRED( pxTimer );
\r
765 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
767 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
768 configASSERT( xResult );
\r
773 mtCOVERAGE_TEST_MARKER();
\r
778 mtCOVERAGE_TEST_MARKER();
\r
782 case tmrCOMMAND_STOP :
\r
783 case tmrCOMMAND_STOP_FROM_ISR :
\r
784 /* The timer has already been removed from the active list.
\r
785 There is nothing to do here. */
\r
788 case tmrCOMMAND_CHANGE_PERIOD :
\r
789 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
790 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
791 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
793 /* The new period does not really have a reference, and can
\r
794 be longer or shorter than the old one. The command time is
\r
795 therefore set to the current time, and as the period cannot
\r
796 be zero the next expiry time can only be in the future,
\r
797 meaning (unlike for the xTimerStart() case above) there is
\r
798 no fail case that needs to be handled here. */
\r
799 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
802 case tmrCOMMAND_DELETE :
\r
803 /* The timer has already been removed from the active list,
\r
804 just free up the memory if the memory was dynamically
\r
806 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
808 /* The timer can only have been allocated dynamically -
\r
810 vPortFree( pxTimer );
\r
812 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
814 /* The timer could have been allocated statically or
\r
815 dynamically, so check before attempting to free the
\r
817 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
819 vPortFree( pxTimer );
\r
823 mtCOVERAGE_TEST_MARKER();
\r
826 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
830 /* Don't expect to get here. */
\r
836 /*-----------------------------------------------------------*/
\r
838 static void prvSwitchTimerLists( void )
\r
840 TickType_t xNextExpireTime, xReloadTime;
\r
843 BaseType_t xResult;
\r
845 /* The tick count has overflowed. The timer lists must be switched.
\r
846 If there are any timers still referenced from the current timer list
\r
847 then they must have expired and should be processed before the lists
\r
849 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
851 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
853 /* Remove the timer from the list. */
\r
854 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
855 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
856 traceTIMER_EXPIRED( pxTimer );
\r
858 /* Execute its callback, then send a command to restart the timer if
\r
859 it is an auto-reload timer. It cannot be restarted here as the lists
\r
860 have not yet been switched. */
\r
861 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
863 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
865 /* Calculate the reload value, and if the reload value results in
\r
866 the timer going into the same timer list then it has already expired
\r
867 and the timer should be re-inserted into the current list so it is
\r
868 processed again within this loop. Otherwise a command should be sent
\r
869 to restart the timer to ensure it is only inserted into a list after
\r
870 the lists have been swapped. */
\r
871 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
872 if( xReloadTime > xNextExpireTime )
\r
874 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
875 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
876 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
880 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
881 configASSERT( xResult );
\r
887 mtCOVERAGE_TEST_MARKER();
\r
891 pxTemp = pxCurrentTimerList;
\r
892 pxCurrentTimerList = pxOverflowTimerList;
\r
893 pxOverflowTimerList = pxTemp;
\r
895 /*-----------------------------------------------------------*/
\r
897 static void prvCheckForValidListAndQueue( void )
\r
899 /* Check that the list from which active timers are referenced, and the
\r
900 queue used to communicate with the timer service, have been
\r
902 taskENTER_CRITICAL();
\r
904 if( xTimerQueue == NULL )
\r
906 vListInitialise( &xActiveTimerList1 );
\r
907 vListInitialise( &xActiveTimerList2 );
\r
908 pxCurrentTimerList = &xActiveTimerList1;
\r
909 pxOverflowTimerList = &xActiveTimerList2;
\r
911 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
913 /* The timer queue is allocated statically in case
\r
914 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
915 static StaticQueue_t xStaticTimerQueue;
\r
916 static uint8_t ucStaticTimerQueueStorage[ configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ];
\r
918 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
922 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
926 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
928 if( xTimerQueue != NULL )
\r
930 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
934 mtCOVERAGE_TEST_MARKER();
\r
937 #endif /* configQUEUE_REGISTRY_SIZE */
\r
941 mtCOVERAGE_TEST_MARKER();
\r
944 taskEXIT_CRITICAL();
\r
946 /*-----------------------------------------------------------*/
\r
948 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
950 BaseType_t xTimerIsInActiveList;
\r
951 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
953 configASSERT( xTimer );
\r
955 /* Is the timer in the list of active timers? */
\r
956 taskENTER_CRITICAL();
\r
958 /* Checking to see if it is in the NULL list in effect checks to see if
\r
959 it is referenced from either the current or the overflow timer lists in
\r
960 one go, but the logic has to be reversed, hence the '!'. */
\r
961 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
963 taskEXIT_CRITICAL();
\r
965 return xTimerIsInActiveList;
\r
966 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
967 /*-----------------------------------------------------------*/
\r
969 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
971 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
974 configASSERT( xTimer );
\r
976 taskENTER_CRITICAL();
\r
978 pvReturn = pxTimer->pvTimerID;
\r
980 taskEXIT_CRITICAL();
\r
984 /*-----------------------------------------------------------*/
\r
986 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
988 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
990 configASSERT( xTimer );
\r
992 taskENTER_CRITICAL();
\r
994 pxTimer->pvTimerID = pvNewID;
\r
996 taskEXIT_CRITICAL();
\r
998 /*-----------------------------------------------------------*/
\r
1000 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1002 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1004 DaemonTaskMessage_t xMessage;
\r
1005 BaseType_t xReturn;
\r
1007 /* Complete the message with the function parameters and post it to the
\r
1009 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1010 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1011 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1012 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1014 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1016 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1021 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1022 /*-----------------------------------------------------------*/
\r
1024 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1026 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1028 DaemonTaskMessage_t xMessage;
\r
1029 BaseType_t xReturn;
\r
1031 /* This function can only be called after a timer has been created or
\r
1032 after the scheduler has been started because, until then, the timer
\r
1033 queue does not exist. */
\r
1034 configASSERT( xTimerQueue );
\r
1036 /* Complete the message with the function parameters and post it to the
\r
1038 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1039 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1040 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1041 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1043 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1045 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1050 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1051 /*-----------------------------------------------------------*/
\r
1053 /* This entire source file will be skipped if the application is not configured
\r
1054 to include software timer functionality. If you want to include software timer
\r
1055 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1056 #endif /* configUSE_TIMERS == 1 */
\r