2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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83 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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84 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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87 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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88 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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89 header files above, but not in this file, in order to generate the correct
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90 privileged Vs unprivileged linkage and placement. */
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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94 /* This entire source file will be skipped if the application is not configured
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95 to include software timer functionality. This #if is closed at the very bottom
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96 of this file. If you want to include software timer functionality then ensure
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97 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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98 #if ( configUSE_TIMERS == 1 )
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100 /* Misc definitions. */
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101 #define tmrNO_DELAY ( TickType_t ) 0U
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103 /* The name assigned to the timer service task. This can be overridden by
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104 defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
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105 #ifndef tmrTIMER_SERVICE_TASK_NAME
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106 #define tmrTIMER_SERVICE_TASK_NAME "Tmr Svc"
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109 /* The definition of the timers themselves. */
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110 typedef struct tmrTimerControl
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112 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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113 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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114 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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115 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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116 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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117 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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118 #if( configUSE_TRACE_FACILITY == 1 )
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119 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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122 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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123 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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127 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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128 name below to enable the use of older kernel aware debuggers. */
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129 typedef xTIMER Timer_t;
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131 /* The definition of messages that can be sent and received on the timer queue.
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132 Two types of message can be queued - messages that manipulate a software timer,
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133 and messages that request the execution of a non-timer related callback. The
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134 two message types are defined in two separate structures, xTimerParametersType
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135 and xCallbackParametersType respectively. */
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136 typedef struct tmrTimerParameters
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138 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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139 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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140 } TimerParameter_t;
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143 typedef struct tmrCallbackParameters
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145 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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146 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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147 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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148 } CallbackParameters_t;
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150 /* The structure that contains the two message types, along with an identifier
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151 that is used to determine which message type is valid. */
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152 typedef struct tmrTimerQueueMessage
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154 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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157 TimerParameter_t xTimerParameters;
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159 /* Don't include xCallbackParameters if it is not going to be used as
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160 it makes the structure (and therefore the timer queue) larger. */
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161 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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162 CallbackParameters_t xCallbackParameters;
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163 #endif /* INCLUDE_xTimerPendFunctionCall */
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165 } DaemonTaskMessage_t;
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167 /*lint -save -e956 A manual analysis and inspection has been used to determine
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168 which static variables must be declared volatile. */
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170 /* The list in which active timers are stored. Timers are referenced in expire
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171 time order, with the nearest expiry time at the front of the list. Only the
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172 timer service task is allowed to access these lists. */
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173 PRIVILEGED_DATA static List_t xActiveTimerList1;
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174 PRIVILEGED_DATA static List_t xActiveTimerList2;
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175 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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176 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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178 /* A queue that is used to send commands to the timer service task. */
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179 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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180 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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184 /*-----------------------------------------------------------*/
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186 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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188 /* If static allocation is supported then the application must provide the
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189 following callback function - which enables the application to optionally
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190 provide the memory that will be used by the timer task as the task's stack
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192 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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197 * Initialise the infrastructure used by the timer service task if it has not
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198 * been initialised already.
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200 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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203 * The timer service task (daemon). Timer functionality is controlled by this
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204 * task. Other tasks communicate with the timer service task using the
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205 * xTimerQueue queue.
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207 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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210 * Called by the timer service task to interpret and process a command it
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211 * received on the timer queue.
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213 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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216 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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217 * depending on if the expire time causes a timer counter overflow.
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219 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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222 * An active timer has reached its expire time. Reload the timer if it is an
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223 * auto reload timer, then call its callback.
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225 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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228 * The tick count has overflowed. Switch the timer lists after ensuring the
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229 * current timer list does not still reference some timers.
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231 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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234 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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235 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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237 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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240 * If the timer list contains any active timers then return the expire time of
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241 * the timer that will expire first and set *pxListWasEmpty to false. If the
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242 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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245 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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248 * If a timer has expired, process it. Otherwise, block the timer service task
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249 * until either a timer does expire or a command is received.
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251 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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254 * Called after a Timer_t structure has been allocated either statically or
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255 * dynamically to fill in the structure's members.
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257 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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258 const TickType_t xTimerPeriodInTicks,
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259 const UBaseType_t uxAutoReload,
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260 void * const pvTimerID,
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261 TimerCallbackFunction_t pxCallbackFunction,
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262 Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
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263 /*-----------------------------------------------------------*/
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265 BaseType_t xTimerCreateTimerTask( void )
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267 BaseType_t xReturn = pdFAIL;
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269 /* This function is called when the scheduler is started if
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270 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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271 timer service task has been created/initialised. If timers have already
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272 been created then the initialisation will already have been performed. */
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273 prvCheckForValidListAndQueue();
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275 if( xTimerQueue != NULL )
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277 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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279 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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280 StackType_t *pxTimerTaskStackBuffer = NULL;
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281 uint32_t ulTimerTaskStackSize;
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283 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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284 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
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285 tmrTIMER_SERVICE_TASK_NAME,
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286 ulTimerTaskStackSize,
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288 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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289 pxTimerTaskStackBuffer,
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290 pxTimerTaskTCBBuffer );
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292 if( xTimerTaskHandle != NULL )
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299 xReturn = xTaskCreate( prvTimerTask,
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300 tmrTIMER_SERVICE_TASK_NAME,
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301 configTIMER_TASK_STACK_DEPTH,
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303 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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304 &xTimerTaskHandle );
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306 #endif /* configSUPPORT_STATIC_ALLOCATION */
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310 mtCOVERAGE_TEST_MARKER();
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313 configASSERT( xReturn );
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316 /*-----------------------------------------------------------*/
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318 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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320 TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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321 const TickType_t xTimerPeriodInTicks,
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322 const UBaseType_t uxAutoReload,
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323 void * const pvTimerID,
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324 TimerCallbackFunction_t pxCallbackFunction )
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326 Timer_t *pxNewTimer;
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328 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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330 if( pxNewTimer != NULL )
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332 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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334 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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336 /* Timers can be created statically or dynamically, so note this
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337 timer was created dynamically in case the timer is later
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339 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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341 #endif /* configSUPPORT_STATIC_ALLOCATION */
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347 #endif /* configSUPPORT_STATIC_ALLOCATION */
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348 /*-----------------------------------------------------------*/
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350 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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352 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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353 const TickType_t xTimerPeriodInTicks,
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354 const UBaseType_t uxAutoReload,
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355 void * const pvTimerID,
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356 TimerCallbackFunction_t pxCallbackFunction,
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357 StaticTimer_t *pxTimerBuffer )
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359 Timer_t *pxNewTimer;
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361 #if( configASSERT_DEFINED == 1 )
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363 /* Sanity check that the size of the structure used to declare a
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364 variable of type StaticTimer_t equals the size of the real timer
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366 volatile size_t xSize = sizeof( StaticTimer_t );
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367 configASSERT( xSize == sizeof( Timer_t ) );
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369 #endif /* configASSERT_DEFINED */
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371 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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372 configASSERT( pxTimerBuffer );
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373 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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375 if( pxNewTimer != NULL )
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377 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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379 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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381 /* Timers can be created statically or dynamically so note this
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382 timer was created statically in case it is later deleted. */
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383 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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385 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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391 #endif /* configSUPPORT_STATIC_ALLOCATION */
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392 /*-----------------------------------------------------------*/
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394 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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395 const TickType_t xTimerPeriodInTicks,
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396 const UBaseType_t uxAutoReload,
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397 void * const pvTimerID,
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398 TimerCallbackFunction_t pxCallbackFunction,
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399 Timer_t *pxNewTimer )
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401 /* 0 is not a valid value for xTimerPeriodInTicks. */
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402 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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404 if( pxNewTimer != NULL )
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406 /* Ensure the infrastructure used by the timer service task has been
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407 created/initialised. */
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408 prvCheckForValidListAndQueue();
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410 /* Initialise the timer structure members using the function
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412 pxNewTimer->pcTimerName = pcTimerName;
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413 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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414 pxNewTimer->uxAutoReload = uxAutoReload;
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415 pxNewTimer->pvTimerID = pvTimerID;
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416 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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417 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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418 traceTIMER_CREATE( pxNewTimer );
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421 /*-----------------------------------------------------------*/
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423 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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425 BaseType_t xReturn = pdFAIL;
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426 DaemonTaskMessage_t xMessage;
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428 configASSERT( xTimer );
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430 /* Send a message to the timer service task to perform a particular action
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431 on a particular timer definition. */
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432 if( xTimerQueue != NULL )
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434 /* Send a command to the timer service task to start the xTimer timer. */
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435 xMessage.xMessageID = xCommandID;
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436 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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437 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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439 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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441 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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443 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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447 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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452 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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455 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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459 mtCOVERAGE_TEST_MARKER();
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464 /*-----------------------------------------------------------*/
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466 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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468 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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469 started, then xTimerTaskHandle will be NULL. */
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470 configASSERT( ( xTimerTaskHandle != NULL ) );
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471 return xTimerTaskHandle;
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473 /*-----------------------------------------------------------*/
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475 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
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477 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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479 configASSERT( xTimer );
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480 return pxTimer->xTimerPeriodInTicks;
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482 /*-----------------------------------------------------------*/
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484 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
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486 Timer_t * pxTimer = ( Timer_t * ) xTimer;
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487 TickType_t xReturn;
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489 configASSERT( xTimer );
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490 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
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493 /*-----------------------------------------------------------*/
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495 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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497 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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499 configASSERT( xTimer );
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500 return pxTimer->pcTimerName;
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502 /*-----------------------------------------------------------*/
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504 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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506 BaseType_t xResult;
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507 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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509 /* Remove the timer from the list of active timers. A check has already
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510 been performed to ensure the list is not empty. */
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511 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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512 traceTIMER_EXPIRED( pxTimer );
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514 /* If the timer is an auto reload timer then calculate the next
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515 expiry time and re-insert the timer in the list of active timers. */
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516 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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518 /* The timer is inserted into a list using a time relative to anything
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519 other than the current time. It will therefore be inserted into the
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520 correct list relative to the time this task thinks it is now. */
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521 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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523 /* The timer expired before it was added to the active timer
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524 list. Reload it now. */
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525 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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526 configASSERT( xResult );
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531 mtCOVERAGE_TEST_MARKER();
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536 mtCOVERAGE_TEST_MARKER();
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539 /* Call the timer callback. */
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540 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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542 /*-----------------------------------------------------------*/
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544 static void prvTimerTask( void *pvParameters )
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546 TickType_t xNextExpireTime;
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547 BaseType_t xListWasEmpty;
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549 /* Just to avoid compiler warnings. */
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550 ( void ) pvParameters;
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552 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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554 extern void vApplicationDaemonTaskStartupHook( void );
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556 /* Allow the application writer to execute some code in the context of
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557 this task at the point the task starts executing. This is useful if the
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558 application includes initialisation code that would benefit from
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559 executing after the scheduler has been started. */
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560 vApplicationDaemonTaskStartupHook();
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562 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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566 /* Query the timers list to see if it contains any timers, and if so,
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567 obtain the time at which the next timer will expire. */
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568 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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570 /* If a timer has expired, process it. Otherwise, block this task
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571 until either a timer does expire, or a command is received. */
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572 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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574 /* Empty the command queue. */
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575 prvProcessReceivedCommands();
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578 /*-----------------------------------------------------------*/
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580 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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582 TickType_t xTimeNow;
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583 BaseType_t xTimerListsWereSwitched;
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587 /* Obtain the time now to make an assessment as to whether the timer
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588 has expired or not. If obtaining the time causes the lists to switch
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589 then don't process this timer as any timers that remained in the list
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590 when the lists were switched will have been processed within the
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591 prvSampleTimeNow() function. */
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592 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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593 if( xTimerListsWereSwitched == pdFALSE )
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595 /* The tick count has not overflowed, has the timer expired? */
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596 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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598 ( void ) xTaskResumeAll();
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599 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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603 /* The tick count has not overflowed, and the next expire
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604 time has not been reached yet. This task should therefore
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605 block to wait for the next expire time or a command to be
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606 received - whichever comes first. The following line cannot
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607 be reached unless xNextExpireTime > xTimeNow, except in the
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608 case when the current timer list is empty. */
\r
609 if( xListWasEmpty != pdFALSE )
\r
611 /* The current timer list is empty - is the overflow list
\r
613 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
\r
616 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
\r
618 if( xTaskResumeAll() == pdFALSE )
\r
620 /* Yield to wait for either a command to arrive, or the
\r
621 block time to expire. If a command arrived between the
\r
622 critical section being exited and this yield then the yield
\r
623 will not cause the task to block. */
\r
624 portYIELD_WITHIN_API();
\r
628 mtCOVERAGE_TEST_MARKER();
\r
634 ( void ) xTaskResumeAll();
\r
638 /*-----------------------------------------------------------*/
\r
640 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
\r
642 TickType_t xNextExpireTime;
\r
644 /* Timers are listed in expiry time order, with the head of the list
\r
645 referencing the task that will expire first. Obtain the time at which
\r
646 the timer with the nearest expiry time will expire. If there are no
\r
647 active timers then just set the next expire time to 0. That will cause
\r
648 this task to unblock when the tick count overflows, at which point the
\r
649 timer lists will be switched and the next expiry time can be
\r
651 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
652 if( *pxListWasEmpty == pdFALSE )
\r
654 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
658 /* Ensure the task unblocks when the tick count rolls over. */
\r
659 xNextExpireTime = ( TickType_t ) 0U;
\r
662 return xNextExpireTime;
\r
664 /*-----------------------------------------------------------*/
\r
666 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
668 TickType_t xTimeNow;
\r
669 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
671 xTimeNow = xTaskGetTickCount();
\r
673 if( xTimeNow < xLastTime )
\r
675 prvSwitchTimerLists();
\r
676 *pxTimerListsWereSwitched = pdTRUE;
\r
680 *pxTimerListsWereSwitched = pdFALSE;
\r
683 xLastTime = xTimeNow;
\r
687 /*-----------------------------------------------------------*/
\r
689 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
691 BaseType_t xProcessTimerNow = pdFALSE;
\r
693 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
694 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
696 if( xNextExpiryTime <= xTimeNow )
\r
698 /* Has the expiry time elapsed between the command to start/reset a
\r
699 timer was issued, and the time the command was processed? */
\r
700 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
702 /* The time between a command being issued and the command being
\r
703 processed actually exceeds the timers period. */
\r
704 xProcessTimerNow = pdTRUE;
\r
708 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
713 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
715 /* If, since the command was issued, the tick count has overflowed
\r
716 but the expiry time has not, then the timer must have already passed
\r
717 its expiry time and should be processed immediately. */
\r
718 xProcessTimerNow = pdTRUE;
\r
722 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
726 return xProcessTimerNow;
\r
728 /*-----------------------------------------------------------*/
\r
730 static void prvProcessReceivedCommands( void )
\r
732 DaemonTaskMessage_t xMessage;
\r
734 BaseType_t xTimerListsWereSwitched, xResult;
\r
735 TickType_t xTimeNow;
\r
737 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
739 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
741 /* Negative commands are pended function calls rather than timer
\r
743 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
745 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
747 /* The timer uses the xCallbackParameters member to request a
\r
748 callback be executed. Check the callback is not NULL. */
\r
749 configASSERT( pxCallback );
\r
751 /* Call the function. */
\r
752 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
756 mtCOVERAGE_TEST_MARKER();
\r
759 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
761 /* Commands that are positive are timer commands rather than pended
\r
763 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
765 /* The messages uses the xTimerParameters member to work on a
\r
767 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
769 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
\r
771 /* The timer is in a list, remove it. */
\r
772 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
776 mtCOVERAGE_TEST_MARKER();
\r
779 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
781 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
782 it must be present in the function call. prvSampleTimeNow() must be
\r
783 called after the message is received from xTimerQueue so there is no
\r
784 possibility of a higher priority task adding a message to the message
\r
785 queue with a time that is ahead of the timer daemon task (because it
\r
786 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
787 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
789 switch( xMessage.xMessageID )
\r
791 case tmrCOMMAND_START :
\r
792 case tmrCOMMAND_START_FROM_ISR :
\r
793 case tmrCOMMAND_RESET :
\r
794 case tmrCOMMAND_RESET_FROM_ISR :
\r
795 case tmrCOMMAND_START_DONT_TRACE :
\r
796 /* Start or restart a timer. */
\r
797 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
799 /* The timer expired before it was added to the active
\r
800 timer list. Process it now. */
\r
801 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
802 traceTIMER_EXPIRED( pxTimer );
\r
804 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
806 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
807 configASSERT( xResult );
\r
812 mtCOVERAGE_TEST_MARKER();
\r
817 mtCOVERAGE_TEST_MARKER();
\r
821 case tmrCOMMAND_STOP :
\r
822 case tmrCOMMAND_STOP_FROM_ISR :
\r
823 /* The timer has already been removed from the active list.
\r
824 There is nothing to do here. */
\r
827 case tmrCOMMAND_CHANGE_PERIOD :
\r
828 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
829 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
830 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
832 /* The new period does not really have a reference, and can
\r
833 be longer or shorter than the old one. The command time is
\r
834 therefore set to the current time, and as the period cannot
\r
835 be zero the next expiry time can only be in the future,
\r
836 meaning (unlike for the xTimerStart() case above) there is
\r
837 no fail case that needs to be handled here. */
\r
838 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
841 case tmrCOMMAND_DELETE :
\r
842 /* The timer has already been removed from the active list,
\r
843 just free up the memory if the memory was dynamically
\r
845 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
847 /* The timer can only have been allocated dynamically -
\r
849 vPortFree( pxTimer );
\r
851 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
853 /* The timer could have been allocated statically or
\r
854 dynamically, so check before attempting to free the
\r
856 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
858 vPortFree( pxTimer );
\r
862 mtCOVERAGE_TEST_MARKER();
\r
865 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
869 /* Don't expect to get here. */
\r
875 /*-----------------------------------------------------------*/
\r
877 static void prvSwitchTimerLists( void )
\r
879 TickType_t xNextExpireTime, xReloadTime;
\r
882 BaseType_t xResult;
\r
884 /* The tick count has overflowed. The timer lists must be switched.
\r
885 If there are any timers still referenced from the current timer list
\r
886 then they must have expired and should be processed before the lists
\r
888 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
890 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
892 /* Remove the timer from the list. */
\r
893 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
894 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
895 traceTIMER_EXPIRED( pxTimer );
\r
897 /* Execute its callback, then send a command to restart the timer if
\r
898 it is an auto-reload timer. It cannot be restarted here as the lists
\r
899 have not yet been switched. */
\r
900 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
902 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
904 /* Calculate the reload value, and if the reload value results in
\r
905 the timer going into the same timer list then it has already expired
\r
906 and the timer should be re-inserted into the current list so it is
\r
907 processed again within this loop. Otherwise a command should be sent
\r
908 to restart the timer to ensure it is only inserted into a list after
\r
909 the lists have been swapped. */
\r
910 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
911 if( xReloadTime > xNextExpireTime )
\r
913 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
914 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
915 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
919 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
920 configASSERT( xResult );
\r
926 mtCOVERAGE_TEST_MARKER();
\r
930 pxTemp = pxCurrentTimerList;
\r
931 pxCurrentTimerList = pxOverflowTimerList;
\r
932 pxOverflowTimerList = pxTemp;
\r
934 /*-----------------------------------------------------------*/
\r
936 static void prvCheckForValidListAndQueue( void )
\r
938 /* Check that the list from which active timers are referenced, and the
\r
939 queue used to communicate with the timer service, have been
\r
941 taskENTER_CRITICAL();
\r
943 if( xTimerQueue == NULL )
\r
945 vListInitialise( &xActiveTimerList1 );
\r
946 vListInitialise( &xActiveTimerList2 );
\r
947 pxCurrentTimerList = &xActiveTimerList1;
\r
948 pxOverflowTimerList = &xActiveTimerList2;
\r
950 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
952 /* The timer queue is allocated statically in case
\r
953 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
954 static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
955 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
957 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
961 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
965 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
967 if( xTimerQueue != NULL )
\r
969 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
973 mtCOVERAGE_TEST_MARKER();
\r
976 #endif /* configQUEUE_REGISTRY_SIZE */
\r
980 mtCOVERAGE_TEST_MARKER();
\r
983 taskEXIT_CRITICAL();
\r
985 /*-----------------------------------------------------------*/
\r
987 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
989 BaseType_t xTimerIsInActiveList;
\r
990 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
992 configASSERT( xTimer );
\r
994 /* Is the timer in the list of active timers? */
\r
995 taskENTER_CRITICAL();
\r
997 /* Checking to see if it is in the NULL list in effect checks to see if
\r
998 it is referenced from either the current or the overflow timer lists in
\r
999 one go, but the logic has to be reversed, hence the '!'. */
\r
1000 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) ); /*lint !e961. Cast is only redundant when NULL is passed into the macro. */
\r
1002 taskEXIT_CRITICAL();
\r
1004 return xTimerIsInActiveList;
\r
1005 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
1006 /*-----------------------------------------------------------*/
\r
1008 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
1010 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
1013 configASSERT( xTimer );
\r
1015 taskENTER_CRITICAL();
\r
1017 pvReturn = pxTimer->pvTimerID;
\r
1019 taskEXIT_CRITICAL();
\r
1023 /*-----------------------------------------------------------*/
\r
1025 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
1027 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
1029 configASSERT( xTimer );
\r
1031 taskENTER_CRITICAL();
\r
1033 pxTimer->pvTimerID = pvNewID;
\r
1035 taskEXIT_CRITICAL();
\r
1037 /*-----------------------------------------------------------*/
\r
1039 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1041 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1043 DaemonTaskMessage_t xMessage;
\r
1044 BaseType_t xReturn;
\r
1046 /* Complete the message with the function parameters and post it to the
\r
1048 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1049 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1050 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1051 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1053 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1055 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1060 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1061 /*-----------------------------------------------------------*/
\r
1063 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1065 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1067 DaemonTaskMessage_t xMessage;
\r
1068 BaseType_t xReturn;
\r
1070 /* This function can only be called after a timer has been created or
\r
1071 after the scheduler has been started because, until then, the timer
\r
1072 queue does not exist. */
\r
1073 configASSERT( xTimerQueue );
\r
1075 /* Complete the message with the function parameters and post it to the
\r
1077 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1078 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1079 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1080 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1082 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1084 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1089 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1090 /*-----------------------------------------------------------*/
\r
1092 /* This entire source file will be skipped if the application is not configured
\r
1093 to include software timer functionality. If you want to include software timer
\r
1094 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1095 #endif /* configUSE_TIMERS == 1 */
\r