2 FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
28 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
29 >>! the source code for proprietary components outside of the FreeRTOS
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
66 /* Standard includes. */
\r
69 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
70 all the API functions to use the MPU wrappers. That should only be done when
\r
71 task.h is included from an application file. */
\r
72 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
74 #include "FreeRTOS.h"
\r
79 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
\r
80 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
\r
83 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
\r
84 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
\r
85 header files above, but not in this file, in order to generate the correct
\r
86 privileged Vs unprivileged linkage and placement. */
\r
87 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
\r
90 /* This entire source file will be skipped if the application is not configured
\r
91 to include software timer functionality. This #if is closed at the very bottom
\r
92 of this file. If you want to include software timer functionality then ensure
\r
93 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
94 #if ( configUSE_TIMERS == 1 )
\r
96 /* Misc definitions. */
\r
97 #define tmrNO_DELAY ( TickType_t ) 0U
\r
99 /* The definition of the timers themselves. */
\r
100 typedef struct tmrTimerControl
\r
102 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
103 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
\r
104 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
\r
105 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
106 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
107 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
\r
108 #if( configUSE_TRACE_FACILITY == 1 )
\r
109 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
\r
113 /* The definition of messages that can be sent and received on the timer queue.
\r
114 Two types of message can be queued - messages that manipulate a software timer,
\r
115 and messages that request the execution of a non-timer related callback. The
\r
116 two message types are defined in two separate structures, xTimerParametersType
\r
117 and xCallbackParametersType respectively. */
\r
118 typedef struct tmrTimerParameters
\r
120 TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
\r
121 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
\r
122 } TimerParameter_t;
\r
125 typedef struct tmrCallbackParameters
\r
127 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
\r
128 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
\r
129 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
\r
130 } CallbackParameters_t;
\r
132 /* The structure that contains the two message types, along with an identifier
\r
133 that is used to determine which message type is valid. */
\r
134 typedef struct tmrTimerQueueMessage
\r
136 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
\r
139 TimerParameter_t xTimerParameters;
\r
141 /* Don't include xCallbackParameters if it is not going to be used as
\r
142 it makes the structure (and therefore the timer queue) larger. */
\r
143 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
144 CallbackParameters_t xCallbackParameters;
\r
145 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
147 } DaemonTaskMessage_t;
\r
149 /*lint -e956 A manual analysis and inspection has been used to determine which
\r
150 static variables must be declared volatile. */
\r
152 /* The list in which active timers are stored. Timers are referenced in expire
\r
153 time order, with the nearest expiry time at the front of the list. Only the
\r
154 timer service task is allowed to access these lists. */
\r
155 PRIVILEGED_DATA static List_t xActiveTimerList1;
\r
156 PRIVILEGED_DATA static List_t xActiveTimerList2;
\r
157 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
\r
158 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
\r
160 /* A queue that is used to send commands to the timer service task. */
\r
161 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
\r
163 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
\r
165 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
\r
171 /*-----------------------------------------------------------*/
\r
174 * Initialise the infrastructure used by the timer service task if it has not
\r
175 * been initialised already.
\r
177 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
\r
180 * The timer service task (daemon). Timer functionality is controlled by this
\r
181 * task. Other tasks communicate with the timer service task using the
\r
182 * xTimerQueue queue.
\r
184 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
\r
187 * Called by the timer service task to interpret and process a command it
\r
188 * received on the timer queue.
\r
190 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
\r
193 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
\r
194 * depending on if the expire time causes a timer counter overflow.
\r
196 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
\r
199 * An active timer has reached its expire time. Reload the timer if it is an
\r
200 * auto reload timer, then call its callback.
\r
202 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
\r
205 * The tick count has overflowed. Switch the timer lists after ensuring the
\r
206 * current timer list does not still reference some timers.
\r
208 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
\r
211 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
\r
212 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
\r
214 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
\r
217 * If the timer list contains any active timers then return the expire time of
\r
218 * the timer that will expire first and set *pxListWasEmpty to false. If the
\r
219 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
\r
222 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
\r
225 * If a timer has expired, process it. Otherwise, block the timer service task
\r
226 * until either a timer does expire or a command is received.
\r
228 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, const BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
\r
230 /*-----------------------------------------------------------*/
\r
232 BaseType_t xTimerCreateTimerTask( void )
\r
234 BaseType_t xReturn = pdFAIL;
\r
236 /* This function is called when the scheduler is started if
\r
237 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
\r
238 timer service task has been created/initialised. If timers have already
\r
239 been created then the initialisation will already have been performed. */
\r
240 prvCheckForValidListAndQueue();
\r
242 if( xTimerQueue != NULL )
\r
244 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
\r
246 /* Create the timer task, storing its handle in xTimerTaskHandle so
\r
247 it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
\r
248 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", ( uint16_t ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
\r
252 /* Create the timer task without storing its handle. */
\r
253 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", ( uint16_t ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL);
\r
259 mtCOVERAGE_TEST_MARKER();
\r
262 configASSERT( xReturn );
\r
265 /*-----------------------------------------------------------*/
\r
267 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
269 Timer_t *pxNewTimer;
\r
271 /* Allocate the timer structure. */
\r
272 if( xTimerPeriodInTicks == ( TickType_t ) 0U )
\r
278 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
\r
279 if( pxNewTimer != NULL )
\r
281 /* Ensure the infrastructure used by the timer service task has been
\r
282 created/initialised. */
\r
283 prvCheckForValidListAndQueue();
\r
285 /* Initialise the timer structure members using the function parameters. */
\r
286 pxNewTimer->pcTimerName = pcTimerName;
\r
287 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
\r
288 pxNewTimer->uxAutoReload = uxAutoReload;
\r
289 pxNewTimer->pvTimerID = pvTimerID;
\r
290 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
\r
291 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
\r
293 traceTIMER_CREATE( pxNewTimer );
\r
297 traceTIMER_CREATE_FAILED();
\r
301 /* 0 is not a valid value for xTimerPeriodInTicks. */
\r
302 configASSERT( ( xTimerPeriodInTicks > 0 ) );
\r
304 return ( TimerHandle_t ) pxNewTimer;
\r
306 /*-----------------------------------------------------------*/
\r
308 BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait )
\r
310 BaseType_t xReturn = pdFAIL;
\r
311 DaemonTaskMessage_t xMessage;
\r
313 /* Send a message to the timer service task to perform a particular action
\r
314 on a particular timer definition. */
\r
315 if( xTimerQueue != NULL )
\r
317 /* Send a command to the timer service task to start the xTimer timer. */
\r
318 xMessage.xMessageID = xCommandID;
\r
319 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
\r
320 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
\r
322 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
\r
324 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
\r
326 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
330 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
\r
335 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
338 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
\r
342 mtCOVERAGE_TEST_MARKER();
\r
347 /*-----------------------------------------------------------*/
\r
349 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
\r
351 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
\r
353 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
\r
354 started, then xTimerTaskHandle will be NULL. */
\r
355 configASSERT( ( xTimerTaskHandle != NULL ) );
\r
356 return xTimerTaskHandle;
\r
360 /*-----------------------------------------------------------*/
\r
362 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
\r
364 BaseType_t xResult;
\r
365 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
367 /* Remove the timer from the list of active timers. A check has already
\r
368 been performed to ensure the list is not empty. */
\r
369 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
370 traceTIMER_EXPIRED( pxTimer );
\r
372 /* If the timer is an auto reload timer then calculate the next
\r
373 expiry time and re-insert the timer in the list of active timers. */
\r
374 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
376 /* The timer is inserted into a list using a time relative to anything
\r
377 other than the current time. It will therefore be inserted into the
\r
378 correct list relative to the time this task thinks it is now. */
\r
379 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
\r
381 /* The timer expired before it was added to the active timer
\r
382 list. Reload it now. */
\r
383 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
384 configASSERT( xResult );
\r
389 mtCOVERAGE_TEST_MARKER();
\r
394 mtCOVERAGE_TEST_MARKER();
\r
397 /* Call the timer callback. */
\r
398 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
400 /*-----------------------------------------------------------*/
\r
402 static void prvTimerTask( void *pvParameters )
\r
404 TickType_t xNextExpireTime;
\r
405 BaseType_t xListWasEmpty;
\r
407 /* Just to avoid compiler warnings. */
\r
408 ( void ) pvParameters;
\r
412 /* Query the timers list to see if it contains any timers, and if so,
\r
413 obtain the time at which the next timer will expire. */
\r
414 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
\r
416 /* If a timer has expired, process it. Otherwise, block this task
\r
417 until either a timer does expire, or a command is received. */
\r
418 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
\r
420 /* Empty the command queue. */
\r
421 prvProcessReceivedCommands();
\r
424 /*-----------------------------------------------------------*/
\r
426 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, const BaseType_t xListWasEmpty )
\r
428 TickType_t xTimeNow;
\r
429 BaseType_t xTimerListsWereSwitched;
\r
433 /* Obtain the time now to make an assessment as to whether the timer
\r
434 has expired or not. If obtaining the time causes the lists to switch
\r
435 then don't process this timer as any timers that remained in the list
\r
436 when the lists were switched will have been processed within the
\r
437 prvSampleTimeNow() function. */
\r
438 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
439 if( xTimerListsWereSwitched == pdFALSE )
\r
441 /* The tick count has not overflowed, has the timer expired? */
\r
442 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
\r
444 ( void ) xTaskResumeAll();
\r
445 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
\r
449 /* The tick count has not overflowed, and the next expire
\r
450 time has not been reached yet. This task should therefore
\r
451 block to wait for the next expire time or a command to be
\r
452 received - whichever comes first. The following line cannot
\r
453 be reached unless xNextExpireTime > xTimeNow, except in the
\r
454 case when the current timer list is empty. */
\r
455 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ) );
\r
457 if( xTaskResumeAll() == pdFALSE )
\r
459 /* Yield to wait for either a command to arrive, or the block time
\r
460 to expire. If a command arrived between the critical section being
\r
461 exited and this yield then the yield will not cause the task
\r
463 portYIELD_WITHIN_API();
\r
467 mtCOVERAGE_TEST_MARKER();
\r
473 ( void ) xTaskResumeAll();
\r
477 /*-----------------------------------------------------------*/
\r
479 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
\r
481 TickType_t xNextExpireTime;
\r
483 /* Timers are listed in expiry time order, with the head of the list
\r
484 referencing the task that will expire first. Obtain the time at which
\r
485 the timer with the nearest expiry time will expire. If there are no
\r
486 active timers then just set the next expire time to 0. That will cause
\r
487 this task to unblock when the tick count overflows, at which point the
\r
488 timer lists will be switched and the next expiry time can be
\r
490 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
491 if( *pxListWasEmpty == pdFALSE )
\r
493 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
497 /* Ensure the task unblocks when the tick count rolls over. */
\r
498 xNextExpireTime = ( TickType_t ) 0U;
\r
501 return xNextExpireTime;
\r
503 /*-----------------------------------------------------------*/
\r
505 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
507 TickType_t xTimeNow;
\r
508 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
510 xTimeNow = xTaskGetTickCount();
\r
512 if( xTimeNow < xLastTime )
\r
514 prvSwitchTimerLists();
\r
515 *pxTimerListsWereSwitched = pdTRUE;
\r
519 *pxTimerListsWereSwitched = pdFALSE;
\r
522 xLastTime = xTimeNow;
\r
526 /*-----------------------------------------------------------*/
\r
528 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
530 BaseType_t xProcessTimerNow = pdFALSE;
\r
532 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
533 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
535 if( xNextExpiryTime <= xTimeNow )
\r
537 /* Has the expiry time elapsed between the command to start/reset a
\r
538 timer was issued, and the time the command was processed? */
\r
539 if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
\r
541 /* The time between a command being issued and the command being
\r
542 processed actually exceeds the timers period. */
\r
543 xProcessTimerNow = pdTRUE;
\r
547 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
552 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
554 /* If, since the command was issued, the tick count has overflowed
\r
555 but the expiry time has not, then the timer must have already passed
\r
556 its expiry time and should be processed immediately. */
\r
557 xProcessTimerNow = pdTRUE;
\r
561 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
565 return xProcessTimerNow;
\r
567 /*-----------------------------------------------------------*/
\r
569 static void prvProcessReceivedCommands( void )
\r
571 DaemonTaskMessage_t xMessage;
\r
573 BaseType_t xTimerListsWereSwitched, xResult;
\r
574 TickType_t xTimeNow;
\r
576 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
578 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
580 /* Negative commands are pended function calls rather than timer
\r
582 if( xMessage.xMessageID < 0 )
\r
584 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
586 /* The timer uses the xCallbackParameters member to request a
\r
587 callback be executed. Check the callback is not NULL. */
\r
588 configASSERT( pxCallback );
\r
590 /* Call the function. */
\r
591 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
595 mtCOVERAGE_TEST_MARKER();
\r
598 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
600 /* Commands that are positive are timer commands rather than pended
\r
602 if( xMessage.xMessageID >= 0 )
\r
604 /* The messages uses the xTimerParameters member to work on a
\r
606 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
608 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
610 /* The timer is in a list, remove it. */
\r
611 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
615 mtCOVERAGE_TEST_MARKER();
\r
618 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
620 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
621 it must be present in the function call. prvSampleTimeNow() must be
\r
622 called after the message is received from xTimerQueue so there is no
\r
623 possibility of a higher priority task adding a message to the message
\r
624 queue with a time that is ahead of the timer daemon task (because it
\r
625 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
626 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
628 switch( xMessage.xMessageID )
\r
630 case tmrCOMMAND_START :
\r
631 case tmrCOMMAND_START_FROM_ISR :
\r
632 case tmrCOMMAND_RESET :
\r
633 case tmrCOMMAND_RESET_FROM_ISR :
\r
634 case tmrCOMMAND_START_DONT_TRACE :
\r
635 /* Start or restart a timer. */
\r
636 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) == pdTRUE )
\r
638 /* The timer expired before it was added to the active
\r
639 timer list. Process it now. */
\r
640 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
641 traceTIMER_EXPIRED( pxTimer );
\r
643 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
645 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
646 configASSERT( xResult );
\r
651 mtCOVERAGE_TEST_MARKER();
\r
656 mtCOVERAGE_TEST_MARKER();
\r
660 case tmrCOMMAND_STOP :
\r
661 case tmrCOMMAND_STOP_FROM_ISR :
\r
662 /* The timer has already been removed from the active list.
\r
663 There is nothing to do here. */
\r
666 case tmrCOMMAND_CHANGE_PERIOD :
\r
667 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
668 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
670 /* The new period does not really have a reference, and can be
\r
671 longer or shorter than the old one. The command time is
\r
672 therefore set to the current time, and as the period cannot be
\r
673 zero the next expiry time can only be in the future, meaning
\r
674 (unlike for the xTimerStart() case above) there is no fail case
\r
675 that needs to be handled here. */
\r
676 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
679 case tmrCOMMAND_DELETE :
\r
680 /* The timer has already been removed from the active list,
\r
681 just free up the memory. */
\r
682 vPortFree( pxTimer );
\r
686 /* Don't expect to get here. */
\r
692 /*-----------------------------------------------------------*/
\r
694 static void prvSwitchTimerLists( void )
\r
696 TickType_t xNextExpireTime, xReloadTime;
\r
699 BaseType_t xResult;
\r
701 /* The tick count has overflowed. The timer lists must be switched.
\r
702 If there are any timers still referenced from the current timer list
\r
703 then they must have expired and should be processed before the lists
\r
705 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
707 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
709 /* Remove the timer from the list. */
\r
710 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
711 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
712 traceTIMER_EXPIRED( pxTimer );
\r
714 /* Execute its callback, then send a command to restart the timer if
\r
715 it is an auto-reload timer. It cannot be restarted here as the lists
\r
716 have not yet been switched. */
\r
717 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
719 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
721 /* Calculate the reload value, and if the reload value results in
\r
722 the timer going into the same timer list then it has already expired
\r
723 and the timer should be re-inserted into the current list so it is
\r
724 processed again within this loop. Otherwise a command should be sent
\r
725 to restart the timer to ensure it is only inserted into a list after
\r
726 the lists have been swapped. */
\r
727 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
728 if( xReloadTime > xNextExpireTime )
\r
730 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
731 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
732 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
736 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
737 configASSERT( xResult );
\r
743 mtCOVERAGE_TEST_MARKER();
\r
747 pxTemp = pxCurrentTimerList;
\r
748 pxCurrentTimerList = pxOverflowTimerList;
\r
749 pxOverflowTimerList = pxTemp;
\r
751 /*-----------------------------------------------------------*/
\r
753 static void prvCheckForValidListAndQueue( void )
\r
755 /* Check that the list from which active timers are referenced, and the
\r
756 queue used to communicate with the timer service, have been
\r
758 taskENTER_CRITICAL();
\r
760 if( xTimerQueue == NULL )
\r
762 vListInitialise( &xActiveTimerList1 );
\r
763 vListInitialise( &xActiveTimerList2 );
\r
764 pxCurrentTimerList = &xActiveTimerList1;
\r
765 pxOverflowTimerList = &xActiveTimerList2;
\r
766 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
767 configASSERT( xTimerQueue );
\r
769 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
771 if( xTimerQueue != NULL )
\r
773 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
777 mtCOVERAGE_TEST_MARKER();
\r
780 #endif /* configQUEUE_REGISTRY_SIZE */
\r
784 mtCOVERAGE_TEST_MARKER();
\r
787 taskEXIT_CRITICAL();
\r
789 /*-----------------------------------------------------------*/
\r
791 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
793 BaseType_t xTimerIsInActiveList;
\r
794 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
796 /* Is the timer in the list of active timers? */
\r
797 taskENTER_CRITICAL();
\r
799 /* Checking to see if it is in the NULL list in effect checks to see if
\r
800 it is referenced from either the current or the overflow timer lists in
\r
801 one go, but the logic has to be reversed, hence the '!'. */
\r
802 xTimerIsInActiveList = !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
804 taskEXIT_CRITICAL();
\r
806 return xTimerIsInActiveList;
\r
808 /*-----------------------------------------------------------*/
\r
810 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
812 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
814 return pxTimer->pvTimerID;
\r
816 /*-----------------------------------------------------------*/
\r
818 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
820 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
822 DaemonTaskMessage_t xMessage;
\r
823 BaseType_t xReturn;
\r
825 /* Complete the message with the function parameters and post it to the
\r
827 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
828 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
829 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
830 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
832 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
834 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
839 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
840 /*-----------------------------------------------------------*/
\r
842 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
844 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
846 DaemonTaskMessage_t xMessage;
\r
847 BaseType_t xReturn;
\r
849 /* Complete the message with the function parameters and post it to the
\r
851 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
852 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
853 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
854 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
856 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
858 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
863 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
864 /*-----------------------------------------------------------*/
\r
866 /* This entire source file will be skipped if the application is not configured
\r
867 to include software timer functionality. If you want to include software timer
\r
868 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
869 #endif /* configUSE_TIMERS == 1 */
\r