2 FreeRTOS V9.0.0rc2 - 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 definition of the timers themselves. */
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104 typedef struct tmrTimerControl
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106 const char *pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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107 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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108 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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109 UBaseType_t uxAutoReload; /*<< Set to pdTRUE if the timer should be automatically restarted once expired. Set to pdFALSE if the timer is, in effect, a one-shot timer. */
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110 void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
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111 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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112 #if( configUSE_TRACE_FACILITY == 1 )
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113 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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116 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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117 uint8_t ucStaticallyAllocated; /*<< Set to pdTRUE if the timer was created statically so no attempt is made to free the memory again if the timer is later deleted. */
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121 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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122 name below to enable the use of older kernel aware debuggers. */
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123 typedef xTIMER Timer_t;
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125 /* The definition of messages that can be sent and received on the timer queue.
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126 Two types of message can be queued - messages that manipulate a software timer,
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127 and messages that request the execution of a non-timer related callback. The
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128 two message types are defined in two separate structures, xTimerParametersType
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129 and xCallbackParametersType respectively. */
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130 typedef struct tmrTimerParameters
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132 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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133 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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134 } TimerParameter_t;
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137 typedef struct tmrCallbackParameters
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139 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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140 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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141 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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142 } CallbackParameters_t;
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144 /* The structure that contains the two message types, along with an identifier
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145 that is used to determine which message type is valid. */
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146 typedef struct tmrTimerQueueMessage
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148 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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151 TimerParameter_t xTimerParameters;
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153 /* Don't include xCallbackParameters if it is not going to be used as
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154 it makes the structure (and therefore the timer queue) larger. */
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155 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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156 CallbackParameters_t xCallbackParameters;
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157 #endif /* INCLUDE_xTimerPendFunctionCall */
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159 } DaemonTaskMessage_t;
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161 /*lint -e956 A manual analysis and inspection has been used to determine which
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162 static variables must be declared volatile. */
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164 /* The list in which active timers are stored. Timers are referenced in expire
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165 time order, with the nearest expiry time at the front of the list. Only the
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166 timer service task is allowed to access these lists. */
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167 PRIVILEGED_DATA static List_t xActiveTimerList1;
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168 PRIVILEGED_DATA static List_t xActiveTimerList2;
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169 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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170 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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172 /* A queue that is used to send commands to the timer service task. */
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173 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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174 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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178 /*-----------------------------------------------------------*/
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180 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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182 /* If static allocation is supported then the application must provide the
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183 following callback function - which enables the application to optionally
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184 provide the memory that will be used by the timer task as the task's stack
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186 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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191 * Initialise the infrastructure used by the timer service task if it has not
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192 * been initialised already.
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194 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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197 * The timer service task (daemon). Timer functionality is controlled by this
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198 * task. Other tasks communicate with the timer service task using the
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199 * xTimerQueue queue.
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201 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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204 * Called by the timer service task to interpret and process a command it
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205 * received on the timer queue.
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207 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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210 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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211 * depending on if the expire time causes a timer counter overflow.
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213 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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216 * An active timer has reached its expire time. Reload the timer if it is an
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217 * auto reload timer, then call its callback.
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219 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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222 * The tick count has overflowed. Switch the timer lists after ensuring the
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223 * current timer list does not still reference some timers.
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225 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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228 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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229 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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231 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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234 * If the timer list contains any active timers then return the expire time of
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235 * the timer that will expire first and set *pxListWasEmpty to false. If the
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236 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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239 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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242 * If a timer has expired, process it. Otherwise, block the timer service task
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243 * until either a timer does expire or a command is received.
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245 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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248 * Called after a Timer_t structure has been allocated either statically or
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249 * dynamically to fill in the structure's members.
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251 static void prvInitialiseNewTimer( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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252 /*-----------------------------------------------------------*/
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254 BaseType_t xTimerCreateTimerTask( void )
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256 BaseType_t xReturn = pdFAIL;
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258 /* This function is called when the scheduler is started if
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259 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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260 timer service task has been created/initialised. If timers have already
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261 been created then the initialisation will already have been performed. */
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262 prvCheckForValidListAndQueue();
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264 if( xTimerQueue != NULL )
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267 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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269 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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270 StackType_t *pxTimerTaskStackBuffer = NULL;
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271 uint32_t ulTimerTaskStackSize;
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273 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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274 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask, "Tmr Svc", ulTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer );
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276 if( xTimerTaskHandle != NULL )
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283 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
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285 #endif /* configSUPPORT_STATIC_ALLOCATION */
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289 mtCOVERAGE_TEST_MARKER();
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292 configASSERT( xReturn );
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295 /*-----------------------------------------------------------*/
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297 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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299 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. */
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301 Timer_t *pxNewTimer;
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303 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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305 if( pxNewTimer != NULL )
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307 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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309 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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311 /* Timers can be created statically or dynamically, so note this
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312 timer was created dynamically in case the timer is later
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314 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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316 #endif /* configSUPPORT_STATIC_ALLOCATION */
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322 #endif /* configSUPPORT_STATIC_ALLOCATION */
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323 /*-----------------------------------------------------------*/
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325 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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327 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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329 Timer_t *pxNewTimer;
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331 #if( configASSERT_DEFINED == 1 )
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333 /* Sanity check that the size of the structure used to declare a
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334 variable of type StaticTimer_t equals the size of the real timer
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336 volatile size_t xSize = sizeof( StaticTimer_t );
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337 configASSERT( xSize == sizeof( Timer_t ) );
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339 #endif /* configASSERT_DEFINED */
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341 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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342 configASSERT( pxTimerBuffer );
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343 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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345 if( pxNewTimer != NULL )
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347 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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349 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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351 /* Timers can be created statically or dynamically so note this
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352 timer was created statically in case it is later deleted. */
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353 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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355 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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361 #endif /* configSUPPORT_STATIC_ALLOCATION */
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362 /*-----------------------------------------------------------*/
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364 static void prvInitialiseNewTimer( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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366 /* 0 is not a valid value for xTimerPeriodInTicks. */
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367 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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369 if( pxNewTimer != NULL )
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371 /* Ensure the infrastructure used by the timer service task has been
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372 created/initialised. */
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373 prvCheckForValidListAndQueue();
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375 /* Initialise the timer structure members using the function
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377 pxNewTimer->pcTimerName = pcTimerName;
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378 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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379 pxNewTimer->uxAutoReload = uxAutoReload;
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380 pxNewTimer->pvTimerID = pvTimerID;
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381 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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382 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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383 traceTIMER_CREATE( pxNewTimer );
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386 /*-----------------------------------------------------------*/
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388 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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390 BaseType_t xReturn = pdFAIL;
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391 DaemonTaskMessage_t xMessage;
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393 configASSERT( xTimer );
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395 /* Send a message to the timer service task to perform a particular action
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396 on a particular timer definition. */
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397 if( xTimerQueue != NULL )
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399 /* Send a command to the timer service task to start the xTimer timer. */
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400 xMessage.xMessageID = xCommandID;
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401 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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402 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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404 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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406 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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408 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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412 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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417 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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420 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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424 mtCOVERAGE_TEST_MARKER();
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429 /*-----------------------------------------------------------*/
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431 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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433 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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434 started, then xTimerTaskHandle will be NULL. */
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435 configASSERT( ( xTimerTaskHandle != NULL ) );
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436 return xTimerTaskHandle;
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438 /*-----------------------------------------------------------*/
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440 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
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442 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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444 configASSERT( xTimer );
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445 return pxTimer->xTimerPeriodInTicks;
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447 /*-----------------------------------------------------------*/
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449 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
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451 Timer_t * pxTimer = ( Timer_t * ) xTimer;
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452 TickType_t xReturn;
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454 configASSERT( xTimer );
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455 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
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458 /*-----------------------------------------------------------*/
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460 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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462 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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464 configASSERT( xTimer );
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465 return pxTimer->pcTimerName;
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467 /*-----------------------------------------------------------*/
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469 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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471 BaseType_t xResult;
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472 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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474 /* Remove the timer from the list of active timers. A check has already
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475 been performed to ensure the list is not empty. */
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476 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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477 traceTIMER_EXPIRED( pxTimer );
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479 /* If the timer is an auto reload timer then calculate the next
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480 expiry time and re-insert the timer in the list of active timers. */
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481 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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483 /* The timer is inserted into a list using a time relative to anything
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484 other than the current time. It will therefore be inserted into the
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485 correct list relative to the time this task thinks it is now. */
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486 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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488 /* The timer expired before it was added to the active timer
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489 list. Reload it now. */
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490 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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491 configASSERT( xResult );
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496 mtCOVERAGE_TEST_MARKER();
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501 mtCOVERAGE_TEST_MARKER();
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504 /* Call the timer callback. */
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505 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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507 /*-----------------------------------------------------------*/
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509 static void prvTimerTask( void *pvParameters )
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511 TickType_t xNextExpireTime;
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512 BaseType_t xListWasEmpty;
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514 /* Just to avoid compiler warnings. */
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515 ( void ) pvParameters;
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517 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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519 extern void vApplicationDaemonTaskStartupHook( void );
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521 /* Allow the application writer to execute some code in the context of
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522 this task at the point the task starts executing. This is useful if the
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523 application includes initialisation code that would benefit from
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524 executing after the scheduler has been started. */
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525 vApplicationDaemonTaskStartupHook();
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527 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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531 /* Query the timers list to see if it contains any timers, and if so,
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532 obtain the time at which the next timer will expire. */
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533 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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535 /* If a timer has expired, process it. Otherwise, block this task
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536 until either a timer does expire, or a command is received. */
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537 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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539 /* Empty the command queue. */
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540 prvProcessReceivedCommands();
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543 /*-----------------------------------------------------------*/
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545 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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547 TickType_t xTimeNow;
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548 BaseType_t xTimerListsWereSwitched;
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552 /* Obtain the time now to make an assessment as to whether the timer
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553 has expired or not. If obtaining the time causes the lists to switch
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554 then don't process this timer as any timers that remained in the list
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555 when the lists were switched will have been processed within the
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556 prvSampleTimeNow() function. */
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557 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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558 if( xTimerListsWereSwitched == pdFALSE )
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560 /* The tick count has not overflowed, has the timer expired? */
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561 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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563 ( void ) xTaskResumeAll();
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564 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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568 /* The tick count has not overflowed, and the next expire
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569 time has not been reached yet. This task should therefore
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570 block to wait for the next expire time or a command to be
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571 received - whichever comes first. The following line cannot
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572 be reached unless xNextExpireTime > xTimeNow, except in the
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573 case when the current timer list is empty. */
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574 if( xListWasEmpty != pdFALSE )
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576 /* The current timer list is empty - is the overflow list
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578 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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581 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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583 if( xTaskResumeAll() == pdFALSE )
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585 /* Yield to wait for either a command to arrive, or the
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586 block time to expire. If a command arrived between the
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587 critical section being exited and this yield then the yield
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588 will not cause the task to block. */
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589 portYIELD_WITHIN_API();
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593 mtCOVERAGE_TEST_MARKER();
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599 ( void ) xTaskResumeAll();
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603 /*-----------------------------------------------------------*/
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605 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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607 TickType_t xNextExpireTime;
\r
609 /* Timers are listed in expiry time order, with the head of the list
\r
610 referencing the task that will expire first. Obtain the time at which
\r
611 the timer with the nearest expiry time will expire. If there are no
\r
612 active timers then just set the next expire time to 0. That will cause
\r
613 this task to unblock when the tick count overflows, at which point the
\r
614 timer lists will be switched and the next expiry time can be
\r
616 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
617 if( *pxListWasEmpty == pdFALSE )
\r
619 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
623 /* Ensure the task unblocks when the tick count rolls over. */
\r
624 xNextExpireTime = ( TickType_t ) 0U;
\r
627 return xNextExpireTime;
\r
629 /*-----------------------------------------------------------*/
\r
631 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
633 TickType_t xTimeNow;
\r
634 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
636 xTimeNow = xTaskGetTickCount();
\r
638 if( xTimeNow < xLastTime )
\r
640 prvSwitchTimerLists();
\r
641 *pxTimerListsWereSwitched = pdTRUE;
\r
645 *pxTimerListsWereSwitched = pdFALSE;
\r
648 xLastTime = xTimeNow;
\r
652 /*-----------------------------------------------------------*/
\r
654 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
656 BaseType_t xProcessTimerNow = pdFALSE;
\r
658 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
659 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
661 if( xNextExpiryTime <= xTimeNow )
\r
663 /* Has the expiry time elapsed between the command to start/reset a
\r
664 timer was issued, and the time the command was processed? */
\r
665 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
667 /* The time between a command being issued and the command being
\r
668 processed actually exceeds the timers period. */
\r
669 xProcessTimerNow = pdTRUE;
\r
673 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
678 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
680 /* If, since the command was issued, the tick count has overflowed
\r
681 but the expiry time has not, then the timer must have already passed
\r
682 its expiry time and should be processed immediately. */
\r
683 xProcessTimerNow = pdTRUE;
\r
687 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
691 return xProcessTimerNow;
\r
693 /*-----------------------------------------------------------*/
\r
695 static void prvProcessReceivedCommands( void )
\r
697 DaemonTaskMessage_t xMessage;
\r
699 BaseType_t xTimerListsWereSwitched, xResult;
\r
700 TickType_t xTimeNow;
\r
702 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
704 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
706 /* Negative commands are pended function calls rather than timer
\r
708 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
710 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
712 /* The timer uses the xCallbackParameters member to request a
\r
713 callback be executed. Check the callback is not NULL. */
\r
714 configASSERT( pxCallback );
\r
716 /* Call the function. */
\r
717 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
721 mtCOVERAGE_TEST_MARKER();
\r
724 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
726 /* Commands that are positive are timer commands rather than pended
\r
728 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
730 /* The messages uses the xTimerParameters member to work on a
\r
732 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
734 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
736 /* The timer is in a list, remove it. */
\r
737 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
741 mtCOVERAGE_TEST_MARKER();
\r
744 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
746 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
747 it must be present in the function call. prvSampleTimeNow() must be
\r
748 called after the message is received from xTimerQueue so there is no
\r
749 possibility of a higher priority task adding a message to the message
\r
750 queue with a time that is ahead of the timer daemon task (because it
\r
751 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
752 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
754 switch( xMessage.xMessageID )
\r
756 case tmrCOMMAND_START :
\r
757 case tmrCOMMAND_START_FROM_ISR :
\r
758 case tmrCOMMAND_RESET :
\r
759 case tmrCOMMAND_RESET_FROM_ISR :
\r
760 case tmrCOMMAND_START_DONT_TRACE :
\r
761 /* Start or restart a timer. */
\r
762 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
764 /* The timer expired before it was added to the active
\r
765 timer list. Process it now. */
\r
766 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
767 traceTIMER_EXPIRED( pxTimer );
\r
769 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
771 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
772 configASSERT( xResult );
\r
777 mtCOVERAGE_TEST_MARKER();
\r
782 mtCOVERAGE_TEST_MARKER();
\r
786 case tmrCOMMAND_STOP :
\r
787 case tmrCOMMAND_STOP_FROM_ISR :
\r
788 /* The timer has already been removed from the active list.
\r
789 There is nothing to do here. */
\r
792 case tmrCOMMAND_CHANGE_PERIOD :
\r
793 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
794 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
795 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
797 /* The new period does not really have a reference, and can
\r
798 be longer or shorter than the old one. The command time is
\r
799 therefore set to the current time, and as the period cannot
\r
800 be zero the next expiry time can only be in the future,
\r
801 meaning (unlike for the xTimerStart() case above) there is
\r
802 no fail case that needs to be handled here. */
\r
803 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
806 case tmrCOMMAND_DELETE :
\r
807 /* The timer has already been removed from the active list,
\r
808 just free up the memory if the memory was dynamically
\r
810 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
812 /* The timer can only have been allocated dynamically -
\r
814 vPortFree( pxTimer );
\r
816 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
818 /* The timer could have been allocated statically or
\r
819 dynamically, so check before attempting to free the
\r
821 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
823 vPortFree( pxTimer );
\r
827 mtCOVERAGE_TEST_MARKER();
\r
830 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
834 /* Don't expect to get here. */
\r
840 /*-----------------------------------------------------------*/
\r
842 static void prvSwitchTimerLists( void )
\r
844 TickType_t xNextExpireTime, xReloadTime;
\r
847 BaseType_t xResult;
\r
849 /* The tick count has overflowed. The timer lists must be switched.
\r
850 If there are any timers still referenced from the current timer list
\r
851 then they must have expired and should be processed before the lists
\r
853 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
855 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
857 /* Remove the timer from the list. */
\r
858 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
859 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
860 traceTIMER_EXPIRED( pxTimer );
\r
862 /* Execute its callback, then send a command to restart the timer if
\r
863 it is an auto-reload timer. It cannot be restarted here as the lists
\r
864 have not yet been switched. */
\r
865 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
867 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
869 /* Calculate the reload value, and if the reload value results in
\r
870 the timer going into the same timer list then it has already expired
\r
871 and the timer should be re-inserted into the current list so it is
\r
872 processed again within this loop. Otherwise a command should be sent
\r
873 to restart the timer to ensure it is only inserted into a list after
\r
874 the lists have been swapped. */
\r
875 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
876 if( xReloadTime > xNextExpireTime )
\r
878 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
879 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
880 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
884 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
885 configASSERT( xResult );
\r
891 mtCOVERAGE_TEST_MARKER();
\r
895 pxTemp = pxCurrentTimerList;
\r
896 pxCurrentTimerList = pxOverflowTimerList;
\r
897 pxOverflowTimerList = pxTemp;
\r
899 /*-----------------------------------------------------------*/
\r
901 static void prvCheckForValidListAndQueue( void )
\r
903 /* Check that the list from which active timers are referenced, and the
\r
904 queue used to communicate with the timer service, have been
\r
906 taskENTER_CRITICAL();
\r
908 if( xTimerQueue == NULL )
\r
910 vListInitialise( &xActiveTimerList1 );
\r
911 vListInitialise( &xActiveTimerList2 );
\r
912 pxCurrentTimerList = &xActiveTimerList1;
\r
913 pxOverflowTimerList = &xActiveTimerList2;
\r
915 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
917 /* The timer queue is allocated statically in case
\r
918 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
919 static StaticQueue_t xStaticTimerQueue;
\r
920 static uint8_t ucStaticTimerQueueStorage[ configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ];
\r
922 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
926 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
930 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
932 if( xTimerQueue != NULL )
\r
934 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
938 mtCOVERAGE_TEST_MARKER();
\r
941 #endif /* configQUEUE_REGISTRY_SIZE */
\r
945 mtCOVERAGE_TEST_MARKER();
\r
948 taskEXIT_CRITICAL();
\r
950 /*-----------------------------------------------------------*/
\r
952 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
954 BaseType_t xTimerIsInActiveList;
\r
955 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
957 configASSERT( xTimer );
\r
959 /* Is the timer in the list of active timers? */
\r
960 taskENTER_CRITICAL();
\r
962 /* Checking to see if it is in the NULL list in effect checks to see if
\r
963 it is referenced from either the current or the overflow timer lists in
\r
964 one go, but the logic has to be reversed, hence the '!'. */
\r
965 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
967 taskEXIT_CRITICAL();
\r
969 return xTimerIsInActiveList;
\r
970 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
971 /*-----------------------------------------------------------*/
\r
973 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
975 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
978 configASSERT( xTimer );
\r
980 taskENTER_CRITICAL();
\r
982 pvReturn = pxTimer->pvTimerID;
\r
984 taskEXIT_CRITICAL();
\r
988 /*-----------------------------------------------------------*/
\r
990 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
992 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
994 configASSERT( xTimer );
\r
996 taskENTER_CRITICAL();
\r
998 pxTimer->pvTimerID = pvNewID;
\r
1000 taskEXIT_CRITICAL();
\r
1002 /*-----------------------------------------------------------*/
\r
1004 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1006 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
1008 DaemonTaskMessage_t xMessage;
\r
1009 BaseType_t xReturn;
\r
1011 /* Complete the message with the function parameters and post it to the
\r
1013 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1014 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1015 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1016 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1018 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1020 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1025 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1026 /*-----------------------------------------------------------*/
\r
1028 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1030 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1032 DaemonTaskMessage_t xMessage;
\r
1033 BaseType_t xReturn;
\r
1035 /* This function can only be called after a timer has been created or
\r
1036 after the scheduler has been started because, until then, the timer
\r
1037 queue does not exist. */
\r
1038 configASSERT( xTimerQueue );
\r
1040 /* Complete the message with the function parameters and post it to the
\r
1042 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1043 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1044 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1045 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1047 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1049 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1054 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1055 /*-----------------------------------------------------------*/
\r
1057 /* This entire source file will be skipped if the application is not configured
\r
1058 to include software timer functionality. If you want to include software timer
\r
1059 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1060 #endif /* configUSE_TIMERS == 1 */
\r