2 * FreeRTOS Kernel V10.1.1
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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41 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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42 #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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45 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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46 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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47 for the header files above, but not in this file, in order to generate the
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48 correct privileged Vs unprivileged linkage and placement. */
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49 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e9021 !e961 !e750. */
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52 /* This entire source file will be skipped if the application is not configured
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53 to include software timer functionality. This #if is closed at the very bottom
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54 of this file. If you want to include software timer functionality then ensure
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55 configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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56 #if ( configUSE_TIMERS == 1 )
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58 /* Misc definitions. */
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59 #define tmrNO_DELAY ( TickType_t ) 0U
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61 /* The name assigned to the timer service task. This can be overridden by
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62 defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
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63 #ifndef configTIMER_SERVICE_TASK_NAME
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64 #define configTIMER_SERVICE_TASK_NAME "Tmr Svc"
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67 /* Bit definitions used in the ucStatus member of a timer structure. */
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68 #define tmrSTATUS_IS_ACTIVE ( ( uint8_t ) 0x01 )
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69 #define tmrSTATUS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 0x02 )
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70 #define tmrSTATUS_IS_AUTORELOAD ( ( uint8_t ) 0x04 )
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72 /* The definition of the timers themselves. */
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73 typedef struct tmrTimerControl /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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75 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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76 ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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77 TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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78 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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79 TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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80 #if( configUSE_TRACE_FACILITY == 1 )
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81 UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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83 uint8_t ucStatus; /*<< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */
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86 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
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87 name below to enable the use of older kernel aware debuggers. */
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88 typedef xTIMER Timer_t;
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90 /* The definition of messages that can be sent and received on the timer queue.
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91 Two types of message can be queued - messages that manipulate a software timer,
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92 and messages that request the execution of a non-timer related callback. The
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93 two message types are defined in two separate structures, xTimerParametersType
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94 and xCallbackParametersType respectively. */
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95 typedef struct tmrTimerParameters
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97 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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98 Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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102 typedef struct tmrCallbackParameters
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104 PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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105 void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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106 uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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107 } CallbackParameters_t;
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109 /* The structure that contains the two message types, along with an identifier
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110 that is used to determine which message type is valid. */
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111 typedef struct tmrTimerQueueMessage
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113 BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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116 TimerParameter_t xTimerParameters;
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118 /* Don't include xCallbackParameters if it is not going to be used as
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119 it makes the structure (and therefore the timer queue) larger. */
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120 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
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121 CallbackParameters_t xCallbackParameters;
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122 #endif /* INCLUDE_xTimerPendFunctionCall */
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124 } DaemonTaskMessage_t;
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126 /*lint -save -e956 A manual analysis and inspection has been used to determine
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127 which static variables must be declared volatile. */
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129 /* The list in which active timers are stored. Timers are referenced in expire
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130 time order, with the nearest expiry time at the front of the list. Only the
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131 timer service task is allowed to access these lists.
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132 xActiveTimerList1 and xActiveTimerList2 could be at function scope but that
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133 breaks some kernel aware debuggers, and debuggers that reply on removing the
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134 static qualifier. */
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135 PRIVILEGED_DATA static List_t xActiveTimerList1;
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136 PRIVILEGED_DATA static List_t xActiveTimerList2;
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137 PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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138 PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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140 /* A queue that is used to send commands to the timer service task. */
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141 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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142 PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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146 /*-----------------------------------------------------------*/
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148 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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150 /* If static allocation is supported then the application must provide the
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151 following callback function - which enables the application to optionally
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152 provide the memory that will be used by the timer task as the task's stack
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154 extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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159 * Initialise the infrastructure used by the timer service task if it has not
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160 * been initialised already.
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162 static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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165 * The timer service task (daemon). Timer functionality is controlled by this
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166 * task. Other tasks communicate with the timer service task using the
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167 * xTimerQueue queue.
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169 static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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172 * Called by the timer service task to interpret and process a command it
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173 * received on the timer queue.
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175 static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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178 * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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179 * depending on if the expire time causes a timer counter overflow.
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181 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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184 * An active timer has reached its expire time. Reload the timer if it is an
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185 * auto reload timer, then call its callback.
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187 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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190 * The tick count has overflowed. Switch the timer lists after ensuring the
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191 * current timer list does not still reference some timers.
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193 static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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196 * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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197 * if a tick count overflow occurred since prvSampleTimeNow() was last called.
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199 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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202 * If the timer list contains any active timers then return the expire time of
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203 * the timer that will expire first and set *pxListWasEmpty to false. If the
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204 * timer list does not contain any timers then return 0 and set *pxListWasEmpty
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207 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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210 * If a timer has expired, process it. Otherwise, block the timer service task
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211 * until either a timer does expire or a command is received.
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213 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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216 * Called after a Timer_t structure has been allocated either statically or
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217 * dynamically to fill in the structure's members.
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219 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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220 const TickType_t xTimerPeriodInTicks,
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221 const UBaseType_t uxAutoReload,
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222 void * const pvTimerID,
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223 TimerCallbackFunction_t pxCallbackFunction,
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224 Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
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225 /*-----------------------------------------------------------*/
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227 BaseType_t xTimerCreateTimerTask( void )
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229 BaseType_t xReturn = pdFAIL;
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231 /* This function is called when the scheduler is started if
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232 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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233 timer service task has been created/initialised. If timers have already
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234 been created then the initialisation will already have been performed. */
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235 prvCheckForValidListAndQueue();
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237 if( xTimerQueue != NULL )
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239 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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241 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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242 StackType_t *pxTimerTaskStackBuffer = NULL;
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243 uint32_t ulTimerTaskStackSize;
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245 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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246 xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
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247 configTIMER_SERVICE_TASK_NAME,
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248 ulTimerTaskStackSize,
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250 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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251 pxTimerTaskStackBuffer,
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252 pxTimerTaskTCBBuffer );
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254 if( xTimerTaskHandle != NULL )
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261 xReturn = xTaskCreate( prvTimerTask,
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262 configTIMER_SERVICE_TASK_NAME,
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263 configTIMER_TASK_STACK_DEPTH,
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265 ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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266 &xTimerTaskHandle );
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268 #endif /* configSUPPORT_STATIC_ALLOCATION */
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272 mtCOVERAGE_TEST_MARKER();
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275 configASSERT( xReturn );
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278 /*-----------------------------------------------------------*/
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280 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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282 TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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283 const TickType_t xTimerPeriodInTicks,
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284 const UBaseType_t uxAutoReload,
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285 void * const pvTimerID,
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286 TimerCallbackFunction_t pxCallbackFunction )
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288 Timer_t *pxNewTimer;
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290 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */
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292 if( pxNewTimer != NULL )
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294 /* Status is thus far zero as the timer is not created statically
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295 and has not been started. The autoreload bit may get set in
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296 prvInitialiseNewTimer. */
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297 pxNewTimer->ucStatus = 0x00;
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298 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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304 #endif /* configSUPPORT_STATIC_ALLOCATION */
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305 /*-----------------------------------------------------------*/
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307 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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309 TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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310 const TickType_t xTimerPeriodInTicks,
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311 const UBaseType_t uxAutoReload,
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312 void * const pvTimerID,
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313 TimerCallbackFunction_t pxCallbackFunction,
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314 StaticTimer_t *pxTimerBuffer )
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316 Timer_t *pxNewTimer;
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318 #if( configASSERT_DEFINED == 1 )
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320 /* Sanity check that the size of the structure used to declare a
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321 variable of type StaticTimer_t equals the size of the real timer
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323 volatile size_t xSize = sizeof( StaticTimer_t );
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324 configASSERT( xSize == sizeof( Timer_t ) );
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325 ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
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327 #endif /* configASSERT_DEFINED */
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329 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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330 configASSERT( pxTimerBuffer );
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331 pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */
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333 if( pxNewTimer != NULL )
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335 /* Timers can be created statically or dynamically so note this
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336 timer was created statically in case it is later deleted. The
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337 autoreload bit may get set in prvInitialiseNewTimer(). */
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338 pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
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340 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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346 #endif /* configSUPPORT_STATIC_ALLOCATION */
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347 /*-----------------------------------------------------------*/
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349 static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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350 const TickType_t xTimerPeriodInTicks,
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351 const UBaseType_t uxAutoReload,
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352 void * const pvTimerID,
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353 TimerCallbackFunction_t pxCallbackFunction,
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354 Timer_t *pxNewTimer )
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356 /* 0 is not a valid value for xTimerPeriodInTicks. */
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357 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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359 if( pxNewTimer != NULL )
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361 /* Ensure the infrastructure used by the timer service task has been
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362 created/initialised. */
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363 prvCheckForValidListAndQueue();
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365 /* Initialise the timer structure members using the function
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367 pxNewTimer->pcTimerName = pcTimerName;
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368 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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369 pxNewTimer->pvTimerID = pvTimerID;
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370 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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371 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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372 if( uxAutoReload != pdFALSE )
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374 pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
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376 traceTIMER_CREATE( pxNewTimer );
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379 /*-----------------------------------------------------------*/
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381 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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383 BaseType_t xReturn = pdFAIL;
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384 DaemonTaskMessage_t xMessage;
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386 configASSERT( xTimer );
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388 /* Send a message to the timer service task to perform a particular action
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389 on a particular timer definition. */
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390 if( xTimerQueue != NULL )
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392 /* Send a command to the timer service task to start the xTimer timer. */
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393 xMessage.xMessageID = xCommandID;
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394 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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395 xMessage.u.xTimerParameters.pxTimer = xTimer;
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397 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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399 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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401 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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405 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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410 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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413 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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417 mtCOVERAGE_TEST_MARKER();
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422 /*-----------------------------------------------------------*/
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424 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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426 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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427 started, then xTimerTaskHandle will be NULL. */
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428 configASSERT( ( xTimerTaskHandle != NULL ) );
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429 return xTimerTaskHandle;
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431 /*-----------------------------------------------------------*/
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433 TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
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435 Timer_t *pxTimer = xTimer;
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437 configASSERT( xTimer );
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438 return pxTimer->xTimerPeriodInTicks;
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440 /*-----------------------------------------------------------*/
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442 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
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444 Timer_t * pxTimer = xTimer;
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445 TickType_t xReturn;
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447 configASSERT( xTimer );
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448 xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
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451 /*-----------------------------------------------------------*/
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453 const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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455 Timer_t *pxTimer = xTimer;
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457 configASSERT( xTimer );
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458 return pxTimer->pcTimerName;
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460 /*-----------------------------------------------------------*/
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462 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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464 BaseType_t xResult;
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465 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
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467 /* Remove the timer from the list of active timers. A check has already
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468 been performed to ensure the list is not empty. */
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469 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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470 traceTIMER_EXPIRED( pxTimer );
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472 /* If the timer is an auto reload timer then calculate the next
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473 expiry time and re-insert the timer in the list of active timers. */
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474 if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
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476 /* The timer is inserted into a list using a time relative to anything
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477 other than the current time. It will therefore be inserted into the
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478 correct list relative to the time this task thinks it is now. */
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479 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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481 /* The timer expired before it was added to the active timer
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482 list. Reload it now. */
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483 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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484 configASSERT( xResult );
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489 mtCOVERAGE_TEST_MARKER();
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494 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
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495 mtCOVERAGE_TEST_MARKER();
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498 /* Call the timer callback. */
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499 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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501 /*-----------------------------------------------------------*/
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503 static void prvTimerTask( void *pvParameters )
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505 TickType_t xNextExpireTime;
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506 BaseType_t xListWasEmpty;
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508 /* Just to avoid compiler warnings. */
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509 ( void ) pvParameters;
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511 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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513 extern void vApplicationDaemonTaskStartupHook( void );
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515 /* Allow the application writer to execute some code in the context of
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516 this task at the point the task starts executing. This is useful if the
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517 application includes initialisation code that would benefit from
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518 executing after the scheduler has been started. */
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519 vApplicationDaemonTaskStartupHook();
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521 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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525 /* Query the timers list to see if it contains any timers, and if so,
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526 obtain the time at which the next timer will expire. */
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527 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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529 /* If a timer has expired, process it. Otherwise, block this task
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530 until either a timer does expire, or a command is received. */
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531 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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533 /* Empty the command queue. */
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534 prvProcessReceivedCommands();
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537 /*-----------------------------------------------------------*/
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539 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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541 TickType_t xTimeNow;
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542 BaseType_t xTimerListsWereSwitched;
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546 /* Obtain the time now to make an assessment as to whether the timer
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547 has expired or not. If obtaining the time causes the lists to switch
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548 then don't process this timer as any timers that remained in the list
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549 when the lists were switched will have been processed within the
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550 prvSampleTimeNow() function. */
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551 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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552 if( xTimerListsWereSwitched == pdFALSE )
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554 /* The tick count has not overflowed, has the timer expired? */
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555 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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557 ( void ) xTaskResumeAll();
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558 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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562 /* The tick count has not overflowed, and the next expire
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563 time has not been reached yet. This task should therefore
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564 block to wait for the next expire time or a command to be
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565 received - whichever comes first. The following line cannot
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566 be reached unless xNextExpireTime > xTimeNow, except in the
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567 case when the current timer list is empty. */
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568 if( xListWasEmpty != pdFALSE )
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570 /* The current timer list is empty - is the overflow list
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572 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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575 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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577 if( xTaskResumeAll() == pdFALSE )
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579 /* Yield to wait for either a command to arrive, or the
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580 block time to expire. If a command arrived between the
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581 critical section being exited and this yield then the yield
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582 will not cause the task to block. */
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583 portYIELD_WITHIN_API();
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587 mtCOVERAGE_TEST_MARKER();
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593 ( void ) xTaskResumeAll();
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597 /*-----------------------------------------------------------*/
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599 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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601 TickType_t xNextExpireTime;
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603 /* Timers are listed in expiry time order, with the head of the list
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604 referencing the task that will expire first. Obtain the time at which
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605 the timer with the nearest expiry time will expire. If there are no
\r
606 active timers then just set the next expire time to 0. That will cause
\r
607 this task to unblock when the tick count overflows, at which point the
\r
608 timer lists will be switched and the next expiry time can be
\r
610 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
\r
611 if( *pxListWasEmpty == pdFALSE )
\r
613 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
617 /* Ensure the task unblocks when the tick count rolls over. */
\r
618 xNextExpireTime = ( TickType_t ) 0U;
\r
621 return xNextExpireTime;
\r
623 /*-----------------------------------------------------------*/
\r
625 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
627 TickType_t xTimeNow;
\r
628 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
630 xTimeNow = xTaskGetTickCount();
\r
632 if( xTimeNow < xLastTime )
\r
634 prvSwitchTimerLists();
\r
635 *pxTimerListsWereSwitched = pdTRUE;
\r
639 *pxTimerListsWereSwitched = pdFALSE;
\r
642 xLastTime = xTimeNow;
\r
646 /*-----------------------------------------------------------*/
\r
648 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
650 BaseType_t xProcessTimerNow = pdFALSE;
\r
652 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
653 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
655 if( xNextExpiryTime <= xTimeNow )
\r
657 /* Has the expiry time elapsed between the command to start/reset a
\r
658 timer was issued, and the time the command was processed? */
\r
659 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
661 /* The time between a command being issued and the command being
\r
662 processed actually exceeds the timers period. */
\r
663 xProcessTimerNow = pdTRUE;
\r
667 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
672 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
674 /* If, since the command was issued, the tick count has overflowed
\r
675 but the expiry time has not, then the timer must have already passed
\r
676 its expiry time and should be processed immediately. */
\r
677 xProcessTimerNow = pdTRUE;
\r
681 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
685 return xProcessTimerNow;
\r
687 /*-----------------------------------------------------------*/
\r
689 static void prvProcessReceivedCommands( void )
\r
691 DaemonTaskMessage_t xMessage;
\r
693 BaseType_t xTimerListsWereSwitched, xResult;
\r
694 TickType_t xTimeNow;
\r
696 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
698 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
700 /* Negative commands are pended function calls rather than timer
\r
702 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
704 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
706 /* The timer uses the xCallbackParameters member to request a
\r
707 callback be executed. Check the callback is not NULL. */
\r
708 configASSERT( pxCallback );
\r
710 /* Call the function. */
\r
711 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
715 mtCOVERAGE_TEST_MARKER();
\r
718 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
720 /* Commands that are positive are timer commands rather than pended
\r
722 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
724 /* The messages uses the xTimerParameters member to work on a
\r
726 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
728 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
\r
730 /* The timer is in a list, remove it. */
\r
731 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
735 mtCOVERAGE_TEST_MARKER();
\r
738 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
740 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
741 it must be present in the function call. prvSampleTimeNow() must be
\r
742 called after the message is received from xTimerQueue so there is no
\r
743 possibility of a higher priority task adding a message to the message
\r
744 queue with a time that is ahead of the timer daemon task (because it
\r
745 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
746 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
748 switch( xMessage.xMessageID )
\r
750 case tmrCOMMAND_START :
\r
751 case tmrCOMMAND_START_FROM_ISR :
\r
752 case tmrCOMMAND_RESET :
\r
753 case tmrCOMMAND_RESET_FROM_ISR :
\r
754 case tmrCOMMAND_START_DONT_TRACE :
\r
755 /* Start or restart a timer. */
\r
756 pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
\r
757 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
759 /* The timer expired before it was added to the active
\r
760 timer list. Process it now. */
\r
761 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
762 traceTIMER_EXPIRED( pxTimer );
\r
764 if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
\r
766 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
767 configASSERT( xResult );
\r
772 mtCOVERAGE_TEST_MARKER();
\r
777 mtCOVERAGE_TEST_MARKER();
\r
781 case tmrCOMMAND_STOP :
\r
782 case tmrCOMMAND_STOP_FROM_ISR :
\r
783 /* The timer has already been removed from the active list. */
\r
784 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
\r
787 case tmrCOMMAND_CHANGE_PERIOD :
\r
788 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
789 pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
\r
790 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
791 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
793 /* The new period does not really have a reference, and can
\r
794 be longer or shorter than the old one. The command time is
\r
795 therefore set to the current time, and as the period cannot
\r
796 be zero the next expiry time can only be in the future,
\r
797 meaning (unlike for the xTimerStart() case above) there is
\r
798 no fail case that needs to be handled here. */
\r
799 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
802 case tmrCOMMAND_DELETE :
\r
803 /* The timer has already been removed from the active list,
\r
804 just free up the memory if the memory was dynamically
\r
806 if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 )
\r
808 vPortFree( pxTimer );
\r
812 pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
\r
817 /* Don't expect to get here. */
\r
823 /*-----------------------------------------------------------*/
\r
825 static void prvSwitchTimerLists( void )
\r
827 TickType_t xNextExpireTime, xReloadTime;
\r
830 BaseType_t xResult;
\r
832 /* The tick count has overflowed. The timer lists must be switched.
\r
833 If there are any timers still referenced from the current timer list
\r
834 then they must have expired and should be processed before the lists
\r
836 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
838 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
840 /* Remove the timer from the list. */
\r
841 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
842 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
843 traceTIMER_EXPIRED( pxTimer );
\r
845 /* Execute its callback, then send a command to restart the timer if
\r
846 it is an auto-reload timer. It cannot be restarted here as the lists
\r
847 have not yet been switched. */
\r
848 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
850 if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
\r
852 /* Calculate the reload value, and if the reload value results in
\r
853 the timer going into the same timer list then it has already expired
\r
854 and the timer should be re-inserted into the current list so it is
\r
855 processed again within this loop. Otherwise a command should be sent
\r
856 to restart the timer to ensure it is only inserted into a list after
\r
857 the lists have been swapped. */
\r
858 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
859 if( xReloadTime > xNextExpireTime )
\r
861 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
862 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
863 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
867 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
868 configASSERT( xResult );
\r
874 mtCOVERAGE_TEST_MARKER();
\r
878 pxTemp = pxCurrentTimerList;
\r
879 pxCurrentTimerList = pxOverflowTimerList;
\r
880 pxOverflowTimerList = pxTemp;
\r
882 /*-----------------------------------------------------------*/
\r
884 static void prvCheckForValidListAndQueue( void )
\r
886 /* Check that the list from which active timers are referenced, and the
\r
887 queue used to communicate with the timer service, have been
\r
889 taskENTER_CRITICAL();
\r
891 if( xTimerQueue == NULL )
\r
893 vListInitialise( &xActiveTimerList1 );
\r
894 vListInitialise( &xActiveTimerList2 );
\r
895 pxCurrentTimerList = &xActiveTimerList1;
\r
896 pxOverflowTimerList = &xActiveTimerList2;
\r
898 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
900 /* The timer queue is allocated statically in case
\r
901 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
902 static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
\r
903 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
905 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
909 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
913 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
915 if( xTimerQueue != NULL )
\r
917 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
921 mtCOVERAGE_TEST_MARKER();
\r
924 #endif /* configQUEUE_REGISTRY_SIZE */
\r
928 mtCOVERAGE_TEST_MARKER();
\r
931 taskEXIT_CRITICAL();
\r
933 /*-----------------------------------------------------------*/
\r
935 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
937 BaseType_t xReturn;
\r
938 Timer_t *pxTimer = xTimer;
\r
940 configASSERT( xTimer );
\r
942 /* Is the timer in the list of active timers? */
\r
943 taskENTER_CRITICAL();
\r
945 if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 )
\r
954 taskEXIT_CRITICAL();
\r
957 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
958 /*-----------------------------------------------------------*/
\r
960 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
962 Timer_t * const pxTimer = xTimer;
\r
965 configASSERT( xTimer );
\r
967 taskENTER_CRITICAL();
\r
969 pvReturn = pxTimer->pvTimerID;
\r
971 taskEXIT_CRITICAL();
\r
975 /*-----------------------------------------------------------*/
\r
977 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
979 Timer_t * const pxTimer = xTimer;
\r
981 configASSERT( xTimer );
\r
983 taskENTER_CRITICAL();
\r
985 pxTimer->pvTimerID = pvNewID;
\r
987 taskEXIT_CRITICAL();
\r
989 /*-----------------------------------------------------------*/
\r
991 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
993 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
995 DaemonTaskMessage_t xMessage;
\r
996 BaseType_t xReturn;
\r
998 /* Complete the message with the function parameters and post it to the
\r
1000 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
1001 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1002 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1003 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1005 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
1007 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1012 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1013 /*-----------------------------------------------------------*/
\r
1015 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1017 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1019 DaemonTaskMessage_t xMessage;
\r
1020 BaseType_t xReturn;
\r
1022 /* This function can only be called after a timer has been created or
\r
1023 after the scheduler has been started because, until then, the timer
\r
1024 queue does not exist. */
\r
1025 configASSERT( xTimerQueue );
\r
1027 /* Complete the message with the function parameters and post it to the
\r
1029 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1030 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1031 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1032 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1034 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1036 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1041 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1042 /*-----------------------------------------------------------*/
\r
1044 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1046 UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
\r
1048 return ( ( Timer_t * ) xTimer )->uxTimerNumber;
\r
1051 #endif /* configUSE_TRACE_FACILITY */
\r
1052 /*-----------------------------------------------------------*/
\r
1054 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1056 void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber )
\r
1058 ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
\r
1061 #endif /* configUSE_TRACE_FACILITY */
\r
1062 /*-----------------------------------------------------------*/
\r
1064 /* This entire source file will be skipped if the application is not configured
\r
1065 to include software timer functionality. If you want to include software timer
\r
1066 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1067 #endif /* configUSE_TIMERS == 1 */
\r