/*\r
- FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+\r
\r
***************************************************************************\r
- * *\r
- * If you are: *\r
- * *\r
- * + New to FreeRTOS, *\r
- * + Wanting to learn FreeRTOS or multitasking in general quickly *\r
- * + Looking for basic training, *\r
- * + Wanting to improve your FreeRTOS skills and productivity *\r
- * *\r
- * then take a look at the FreeRTOS books - available as PDF or paperback *\r
- * *\r
- * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *\r
- * http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * A pdf reference manual is also available. Both are usually delivered *\r
- * to your inbox within 20 minutes to two hours when purchased between 8am *\r
- * and 8pm GMT (although please allow up to 24 hours in case of *\r
- * exceptional circumstances). Thank you for your support! *\r
- * *\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
***************************************************************************\r
\r
+\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
- ***NOTE*** The exception to the GPL is included to allow you to distribute\r
- a combined work that includes FreeRTOS without being obliged to provide the\r
- source code for proprietary components outside of the FreeRTOS kernel.\r
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
more details. You should have received a copy of the GNU General Public\r
License and the FreeRTOS license exception along with FreeRTOS; if not it\r
can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
\r
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
\r
+/* This entire source file will be skipped if the application is not configured\r
+to include software timer functionality. This #if is closed at the very bottom\r
+of this file. If you want to include software timer functionality then ensure\r
+configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */\r
+#if ( configUSE_TIMERS == 1 )\r
+\r
/* Misc definitions. */\r
#define tmrNO_DELAY ( portTickType ) 0U\r
\r
/* A queue that is used to send commands to the timer service task. */\r
PRIVILEGED_DATA static xQueueHandle xTimerQueue = NULL;\r
\r
+#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )\r
+ \r
+ PRIVILEGED_DATA static xTaskHandle xTimerTaskHandle = NULL;\r
+ \r
+#endif\r
+\r
/*-----------------------------------------------------------*/\r
\r
/*\r
* Insert the timer into either xActiveTimerList1, or xActiveTimerList2,\r
* depending on if the expire time causes a timer counter overflow.\r
*/\r
-static void prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow ) PRIVILEGED_FUNCTION;\r
+static portBASE_TYPE prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow, portTickType xCommandTime ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* An active timer has reached its expire time. Reload the timer if it is an\r
* The tick count has overflowed. Switch the timer lists after ensuring the\r
* current timer list does not still reference some timers.\r
*/\r
-static void prvSwitchTimerLists( portTickType xTimeNow, portTickType xLastTime ) PRIVILEGED_FUNCTION;\r
+static void prvSwitchTimerLists( portTickType xLastTime ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE\r
* timer list does not contain any timers then return 0 and set *pxListWasEmpty\r
* to pdTRUE.\r
*/\r
-static portTickType prvLookForExpiredTimer( portBASE_TYPE *pxListWasEmpty ) PRIVILEGED_FUNCTION;\r
+static portTickType prvGetNextExpireTime( portBASE_TYPE *pxListWasEmpty ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* If a timer has expired, process it. Otherwise, block the timer service task\r
\r
if( xTimerQueue != NULL )\r
{\r
- xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", configTIMER_TASK_STACK_DEPTH, NULL, configTIMER_TASK_PRIORITY, NULL);\r
+ #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )\r
+ {\r
+ /* Create the timer task, storing its handle in xTimerTaskHandle so\r
+ it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */\r
+ xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, &xTimerTaskHandle ); \r
+ }\r
+ #else\r
+ {\r
+ /* Create the timer task without storing its handle. */\r
+ xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, NULL);\r
+ }\r
+ #endif\r
}\r
\r
+ configASSERT( xReturn );\r
return xReturn;\r
}\r
/*-----------------------------------------------------------*/\r
xTIMER *pxNewTimer;\r
\r
/* Allocate the timer structure. */\r
- pxNewTimer = ( xTIMER * ) pvPortMalloc( sizeof( xTIMER ) );\r
- if( pxNewTimer != NULL )\r
+ if( xTimerPeriodInTicks == ( portTickType ) 0U )\r
{\r
- /* Ensure the infrastructure used by the timer service task has been\r
- created/initialised. */\r
- prvCheckForValidListAndQueue();\r
-\r
- /* Initialise the timer structure members using the function parameters. */\r
- pxNewTimer->pcTimerName = pcTimerName;\r
- pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;\r
- pxNewTimer->uxAutoReload = uxAutoReload;\r
- pxNewTimer->pvTimerID = pvTimerID;\r
- pxNewTimer->pxCallbackFunction = pxCallbackFunction;\r
- vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );\r
+ pxNewTimer = NULL;\r
+ configASSERT( ( xTimerPeriodInTicks > 0 ) );\r
}\r
-\r
+ else\r
+ {\r
+ pxNewTimer = ( xTIMER * ) pvPortMalloc( sizeof( xTIMER ) );\r
+ if( pxNewTimer != NULL )\r
+ {\r
+ /* Ensure the infrastructure used by the timer service task has been\r
+ created/initialised. */\r
+ prvCheckForValidListAndQueue();\r
+ \r
+ /* Initialise the timer structure members using the function parameters. */\r
+ pxNewTimer->pcTimerName = pcTimerName;\r
+ pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;\r
+ pxNewTimer->uxAutoReload = uxAutoReload;\r
+ pxNewTimer->pvTimerID = pvTimerID;\r
+ pxNewTimer->pxCallbackFunction = pxCallbackFunction;\r
+ vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );\r
+ \r
+ traceTIMER_CREATE( pxNewTimer );\r
+ }\r
+ else\r
+ {\r
+ traceTIMER_CREATE_FAILED();\r
+ }\r
+ }\r
+ \r
return ( xTimerHandle ) pxNewTimer;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-portBASE_TYPE xTimerGenericCommand( xTimerHandle xTimer, portBASE_TYPE xCommandID, portTickType xOptionalValue, portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime )\r
+portBASE_TYPE xTimerGenericCommand( xTimerHandle xTimer, portBASE_TYPE xCommandID, portTickType xOptionalValue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime )\r
{\r
portBASE_TYPE xReturn = pdFAIL;\r
xTIMER_MESSAGE xMessage;\r
{\r
xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );\r
}\r
+ \r
+ traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );\r
}\r
-\r
+ \r
return xReturn;\r
}\r
/*-----------------------------------------------------------*/\r
\r
+#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )\r
+\r
+ xTaskHandle xTimerGetTimerDaemonTaskHandle( void )\r
+ {\r
+ /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been\r
+ started, then xTimerTaskHandle will be NULL. */\r
+ configASSERT( ( xTimerTaskHandle != NULL ) );\r
+ return xTimerTaskHandle;\r
+ }\r
+ \r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
static void prvProcessExpiredTimer( portTickType xNextExpireTime, portTickType xTimeNow )\r
{\r
xTIMER *pxTimer;\r
+portBASE_TYPE xResult;\r
\r
/* Remove the timer from the list of active timers. A check has already\r
been performed to ensure the list is not empty. */\r
pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );\r
vListRemove( &( pxTimer->xTimerListItem ) );\r
+ traceTIMER_EXPIRED( pxTimer );\r
\r
/* If the timer is an auto reload timer then calculate the next\r
expiry time and re-insert the timer in the list of active timers. */\r
- if( pxTimer->uxAutoReload == pdTRUE )\r
+ if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )\r
{\r
/* This is the only time a timer is inserted into a list using\r
a time relative to anything other than the current time. It\r
the time this task thinks it is now, even if a command to\r
switch lists due to a tick count overflow is already waiting in\r
the timer queue. */\r
- prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow );\r
+ if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )\r
+ {\r
+ /* The timer expired before it was added to the active timer\r
+ list. Reload it now. */\r
+ xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xNextExpireTime, NULL, tmrNO_DELAY );\r
+ configASSERT( xResult );\r
+ ( void ) xResult;\r
+ }\r
}\r
\r
/* Call the timer callback. */\r
{\r
/* Query the timers list to see if it contains any timers, and if so,\r
obtain the time at which the next timer will expire. */\r
- xNextExpireTime = prvLookForExpiredTimer( &xListWasEmpty );\r
+ xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );\r
\r
/* If a timer has expired, process it. Otherwise, block this task\r
until either a timer does expire, or a command is received. */\r
/* The tick count has not overflowed, has the timer expired? */\r
if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )\r
{\r
+ xTaskResumeAll();\r
prvProcessExpiredTimer( xNextExpireTime, xTimeNow );\r
}\r
else\r
{\r
- /* The tick count has not overflowed, and the next expire \r
- time has not been reached yet. This task should therefore \r
- block to wait for the next expire time or a command to be \r
+ /* The tick count has not overflowed, and the next expire\r
+ time has not been reached yet. This task should therefore\r
+ block to wait for the next expire time or a command to be\r
received - whichever comes first. The following line cannot\r
- be reached unless xNextExpireTime > xTimeNow, except in the \r
+ be reached unless xNextExpireTime > xTimeNow, except in the\r
case when the current timer list is empty. */\r
vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ) );\r
+\r
+ if( xTaskResumeAll() == pdFALSE )\r
+ {\r
+ /* Yield to wait for either a command to arrive, or the block time\r
+ to expire. If a command arrived between the critical section being\r
+ exited and this yield then the yield will not cause the task\r
+ to block. */\r
+ portYIELD_WITHIN_API();\r
+ }\r
}\r
}\r
- }\r
- if( xTaskResumeAll() == pdFALSE )\r
- {\r
- /* Yield to wait for either a command to arrive, or the block time\r
- to expire. If a command arrived between the critical section being\r
- exited and this yield then the yield will not cause the task\r
- to block. */\r
- portYIELD_WITHIN_API();\r
+ else\r
+ {\r
+ xTaskResumeAll();\r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static portTickType prvLookForExpiredTimer( portBASE_TYPE *pxListWasEmpty )\r
+static portTickType prvGetNextExpireTime( portBASE_TYPE *pxListWasEmpty )\r
{\r
portTickType xNextExpireTime;\r
\r
the timer with the nearest expiry time will expire. If there are no\r
active timers then just set the next expire time to 0. That will cause\r
this task to unblock when the tick count overflows, at which point the\r
- timer lists will be switched and the next expiry time can be \r
+ timer lists will be switched and the next expiry time can be\r
re-assessed. */\r
*pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );\r
if( *pxListWasEmpty == pdFALSE )\r
\r
if( xTimeNow < xLastTime )\r
{\r
- prvSwitchTimerLists( xTimeNow, xLastTime );\r
+ prvSwitchTimerLists( xLastTime );\r
*pxTimerListsWereSwitched = pdTRUE;\r
}\r
else\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow )\r
+static portBASE_TYPE prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow, portTickType xCommandTime )\r
{\r
+portBASE_TYPE xProcessTimerNow = pdFALSE;\r
+\r
listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );\r
listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );\r
\r
- if( xNextExpiryTime < xTimeNow )\r
+ if( xNextExpiryTime <= xTimeNow )\r
{\r
- vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );\r
+ /* Has the expiry time elapsed between the command to start/reset a\r
+ timer was issued, and the time the command was processed? */\r
+ if( ( ( portTickType ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks )\r
+ {\r
+ /* The time between a command being issued and the command being\r
+ processed actually exceeds the timers period. */\r
+ xProcessTimerNow = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );\r
+ }\r
}\r
else\r
{\r
- vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );\r
+ if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )\r
+ {\r
+ /* If, since the command was issued, the tick count has overflowed\r
+ but the expiry time has not, then the timer must have already passed\r
+ its expiry time and should be processed immediately. */\r
+ xProcessTimerNow = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );\r
+ }\r
}\r
+\r
+ return xProcessTimerNow;\r
}\r
/*-----------------------------------------------------------*/\r
\r
{\r
xTIMER_MESSAGE xMessage;\r
xTIMER *pxTimer;\r
-portBASE_TYPE xTimerListsWereSwitched;\r
+portBASE_TYPE xTimerListsWereSwitched, xResult;\r
portTickType xTimeNow;\r
\r
/* In this case the xTimerListsWereSwitched parameter is not used, but it\r
}\r
}\r
\r
+ traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.xMessageValue );\r
+ \r
switch( xMessage.xMessageID )\r
{\r
case tmrCOMMAND_START : \r
/* Start or restart a timer. */\r
- prvInsertTimerInActiveList( pxTimer, xTimeNow + pxTimer->xTimerPeriodInTicks, xTimeNow );\r
+ if( prvInsertTimerInActiveList( pxTimer, xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.xMessageValue ) == pdTRUE )\r
+ {\r
+ /* The timer expired before it was added to the active timer\r
+ list. Process it now. */\r
+ pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );\r
+\r
+ if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )\r
+ {\r
+ xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );\r
+ configASSERT( xResult );\r
+ ( void ) xResult;\r
+ }\r
+ }\r
break;\r
\r
case tmrCOMMAND_STOP : \r
\r
case tmrCOMMAND_CHANGE_PERIOD :\r
pxTimer->xTimerPeriodInTicks = xMessage.xMessageValue;\r
- prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow );\r
+ configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );\r
+ prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );\r
break;\r
\r
case tmrCOMMAND_DELETE :\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvSwitchTimerLists( portTickType xTimeNow, portTickType xLastTime )\r
+static void prvSwitchTimerLists( portTickType xLastTime )\r
{\r
-portTickType xNextExpireTime;\r
+portTickType xNextExpireTime, xReloadTime;\r
xList *pxTemp;\r
+xTIMER *pxTimer;\r
+portBASE_TYPE xResult;\r
\r
/* Remove compiler warnings if configASSERT() is not defined. */\r
( void ) xLastTime;\r
while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )\r
{\r
xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );\r
- configASSERT( ( xNextExpireTime >= xLastTime ) );\r
- prvProcessExpiredTimer( xNextExpireTime, xTimeNow );\r
+\r
+ /* Remove the timer from the list. */\r
+ pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );\r
+ vListRemove( &( pxTimer->xTimerListItem ) );\r
+\r
+ /* Execute its callback, then send a command to restart the timer if\r
+ it is an auto-reload timer. It cannot be restarted here as the lists\r
+ have not yet been switched. */\r
+ pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );\r
+\r
+ if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )\r
+ {\r
+ /* Calculate the reload value, and if the reload value results in\r
+ the timer going into the same timer list then it has already expired\r
+ and the timer should be re-inserted into the current list so it is\r
+ processed again within this loop. Otherwise a command should be sent\r
+ to restart the timer to ensure it is only inserted into a list after\r
+ the lists have been swapped. */\r
+ xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );\r
+ if( xReloadTime > xNextExpireTime )\r
+ {\r
+ listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );\r
+ listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );\r
+ vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );\r
+ }\r
+ else\r
+ {\r
+ xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xNextExpireTime, NULL, tmrNO_DELAY );\r
+ configASSERT( xResult );\r
+ ( void ) xResult;\r
+ }\r
+ }\r
}\r
\r
pxTemp = pxCurrentTimerList;\r
vListInitialise( &xActiveTimerList2 );\r
pxCurrentTimerList = &xActiveTimerList1;\r
pxOverflowTimerList = &xActiveTimerList2;\r
- xTimerQueue = xQueueCreate( configTIMER_QUEUE_LENGTH, sizeof( xTIMER_MESSAGE ) );\r
+ xTimerQueue = xQueueCreate( ( unsigned portBASE_TYPE ) configTIMER_QUEUE_LENGTH, sizeof( xTIMER_MESSAGE ) );\r
}\r
}\r
taskEXIT_CRITICAL();\r
}\r
/*-----------------------------------------------------------*/\r
\r
-\r
-\r
-\r
+/* This entire source file will be skipped if the application is not configured\r
+to include software timer functionality. If you want to include software timer\r
+functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */\r
+#endif /* configUSE_TIMERS == 1 */\r
projects / freertos / blobdiff