2 FreeRTOS V9.0.0rc1 - 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, uint16_t *pusTimerTaskStackSize );
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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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257 uint16_t usTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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260 /* This function is called when the scheduler is started if
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261 configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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262 timer service task has been created/initialised. If timers have already
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263 been created then the initialisation will already have been performed. */
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264 prvCheckForValidListAndQueue();
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266 if( xTimerQueue != NULL )
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269 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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271 StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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272 StackType_t *pxTimerTaskStackBuffer = NULL;
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274 vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &usTimerTaskStackSize );
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275 xReturn = xTaskCreateStatic( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer );
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279 xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", usTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
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281 #endif /* configSUPPORT_STATIC_ALLOCATION */
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285 mtCOVERAGE_TEST_MARKER();
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288 configASSERT( xReturn );
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291 /*-----------------------------------------------------------*/
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293 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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295 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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297 Timer_t *pxNewTimer;
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299 pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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301 if( pxNewTimer != NULL )
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303 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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305 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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307 /* Timers can be created statically or dynamically, so note this
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308 timer was created dynamically in case the timer is later
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310 pxNewTimer->ucStaticallyAllocated = pdFALSE;
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312 #endif /* configSUPPORT_STATIC_ALLOCATION */
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318 #endif /* configSUPPORT_STATIC_ALLOCATION */
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319 /*-----------------------------------------------------------*/
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321 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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323 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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325 Timer_t *pxNewTimer;
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327 #if( configASSERT_DEFINED == 1 )
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329 /* Sanity check that the size of the structure used to declare a
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330 variable of type StaticTimer_t equals the size of the real timer
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332 volatile size_t xSize = sizeof( StaticTimer_t );
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333 configASSERT( xSize == sizeof( Timer_t ) );
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335 #endif /* configASSERT_DEFINED */
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337 /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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338 configASSERT( pxTimerBuffer );
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339 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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341 if( pxNewTimer != NULL )
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343 prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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345 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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347 /* Timers can be created statically or dynamically so note this
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348 timer was created statically in case it is later deleted. */
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349 pxNewTimer->ucStaticallyAllocated = pdTRUE;
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351 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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357 #endif /* configSUPPORT_STATIC_ALLOCATION */
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358 /*-----------------------------------------------------------*/
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360 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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362 /* 0 is not a valid value for xTimerPeriodInTicks. */
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363 configASSERT( ( xTimerPeriodInTicks > 0 ) );
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365 if( pxNewTimer != NULL )
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367 /* Ensure the infrastructure used by the timer service task has been
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368 created/initialised. */
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369 prvCheckForValidListAndQueue();
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371 /* Initialise the timer structure members using the function
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373 pxNewTimer->pcTimerName = pcTimerName;
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374 pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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375 pxNewTimer->uxAutoReload = uxAutoReload;
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376 pxNewTimer->pvTimerID = pvTimerID;
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377 pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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378 vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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379 traceTIMER_CREATE( pxNewTimer );
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382 /*-----------------------------------------------------------*/
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384 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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386 BaseType_t xReturn = pdFAIL;
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387 DaemonTaskMessage_t xMessage;
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389 configASSERT( xTimer );
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391 /* Send a message to the timer service task to perform a particular action
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392 on a particular timer definition. */
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393 if( xTimerQueue != NULL )
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395 /* Send a command to the timer service task to start the xTimer timer. */
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396 xMessage.xMessageID = xCommandID;
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397 xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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398 xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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400 if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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402 if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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404 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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408 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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413 xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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416 traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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420 mtCOVERAGE_TEST_MARKER();
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425 /*-----------------------------------------------------------*/
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427 TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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429 /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
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430 started, then xTimerTaskHandle will be NULL. */
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431 configASSERT( ( xTimerTaskHandle != NULL ) );
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432 return xTimerTaskHandle;
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434 /*-----------------------------------------------------------*/
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436 const char * pcTimerGetTimerName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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438 Timer_t *pxTimer = ( Timer_t * ) xTimer;
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440 configASSERT( xTimer );
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441 return pxTimer->pcTimerName;
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443 /*-----------------------------------------------------------*/
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445 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
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447 BaseType_t xResult;
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448 Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
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450 /* Remove the timer from the list of active timers. A check has already
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451 been performed to ensure the list is not empty. */
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452 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
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453 traceTIMER_EXPIRED( pxTimer );
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455 /* If the timer is an auto reload timer then calculate the next
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456 expiry time and re-insert the timer in the list of active timers. */
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457 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
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459 /* The timer is inserted into a list using a time relative to anything
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460 other than the current time. It will therefore be inserted into the
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461 correct list relative to the time this task thinks it is now. */
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462 if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
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464 /* The timer expired before it was added to the active timer
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465 list. Reload it now. */
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466 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
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467 configASSERT( xResult );
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472 mtCOVERAGE_TEST_MARKER();
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477 mtCOVERAGE_TEST_MARKER();
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480 /* Call the timer callback. */
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481 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
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483 /*-----------------------------------------------------------*/
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485 static void prvTimerTask( void *pvParameters )
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487 TickType_t xNextExpireTime;
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488 BaseType_t xListWasEmpty;
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490 /* Just to avoid compiler warnings. */
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491 ( void ) pvParameters;
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493 #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
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495 extern void vApplicationDaemonTaskStartupHook( void );
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497 /* Allow the application writer to execute some code in the context of
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498 this task at the point the task starts executing. This is useful if the
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499 application includes initialisation code that would benefit from
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500 executing after the scheduler has been started. */
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501 vApplicationDaemonTaskStartupHook();
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503 #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
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507 /* Query the timers list to see if it contains any timers, and if so,
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508 obtain the time at which the next timer will expire. */
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509 xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
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511 /* If a timer has expired, process it. Otherwise, block this task
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512 until either a timer does expire, or a command is received. */
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513 prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
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515 /* Empty the command queue. */
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516 prvProcessReceivedCommands();
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519 /*-----------------------------------------------------------*/
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521 static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
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523 TickType_t xTimeNow;
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524 BaseType_t xTimerListsWereSwitched;
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528 /* Obtain the time now to make an assessment as to whether the timer
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529 has expired or not. If obtaining the time causes the lists to switch
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530 then don't process this timer as any timers that remained in the list
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531 when the lists were switched will have been processed within the
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532 prvSampleTimeNow() function. */
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533 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
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534 if( xTimerListsWereSwitched == pdFALSE )
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536 /* The tick count has not overflowed, has the timer expired? */
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537 if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
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539 ( void ) xTaskResumeAll();
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540 prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
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544 /* The tick count has not overflowed, and the next expire
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545 time has not been reached yet. This task should therefore
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546 block to wait for the next expire time or a command to be
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547 received - whichever comes first. The following line cannot
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548 be reached unless xNextExpireTime > xTimeNow, except in the
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549 case when the current timer list is empty. */
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550 if( xListWasEmpty != pdFALSE )
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552 /* The current timer list is empty - is the overflow list
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554 xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
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557 vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
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559 if( xTaskResumeAll() == pdFALSE )
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561 /* Yield to wait for either a command to arrive, or the
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562 block time to expire. If a command arrived between the
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563 critical section being exited and this yield then the yield
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564 will not cause the task to block. */
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565 portYIELD_WITHIN_API();
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569 mtCOVERAGE_TEST_MARKER();
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575 ( void ) xTaskResumeAll();
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579 /*-----------------------------------------------------------*/
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581 static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
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583 TickType_t xNextExpireTime;
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585 /* Timers are listed in expiry time order, with the head of the list
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586 referencing the task that will expire first. Obtain the time at which
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587 the timer with the nearest expiry time will expire. If there are no
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588 active timers then just set the next expire time to 0. That will cause
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589 this task to unblock when the tick count overflows, at which point the
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590 timer lists will be switched and the next expiry time can be
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592 *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
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593 if( *pxListWasEmpty == pdFALSE )
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595 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
599 /* Ensure the task unblocks when the tick count rolls over. */
\r
600 xNextExpireTime = ( TickType_t ) 0U;
\r
603 return xNextExpireTime;
\r
605 /*-----------------------------------------------------------*/
\r
607 static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
\r
609 TickType_t xTimeNow;
\r
610 PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
\r
612 xTimeNow = xTaskGetTickCount();
\r
614 if( xTimeNow < xLastTime )
\r
616 prvSwitchTimerLists();
\r
617 *pxTimerListsWereSwitched = pdTRUE;
\r
621 *pxTimerListsWereSwitched = pdFALSE;
\r
624 xLastTime = xTimeNow;
\r
628 /*-----------------------------------------------------------*/
\r
630 static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
\r
632 BaseType_t xProcessTimerNow = pdFALSE;
\r
634 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
\r
635 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
637 if( xNextExpiryTime <= xTimeNow )
\r
639 /* Has the expiry time elapsed between the command to start/reset a
\r
640 timer was issued, and the time the command was processed? */
\r
641 if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
643 /* The time between a command being issued and the command being
\r
644 processed actually exceeds the timers period. */
\r
645 xProcessTimerNow = pdTRUE;
\r
649 vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
\r
654 if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
\r
656 /* If, since the command was issued, the tick count has overflowed
\r
657 but the expiry time has not, then the timer must have already passed
\r
658 its expiry time and should be processed immediately. */
\r
659 xProcessTimerNow = pdTRUE;
\r
663 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
667 return xProcessTimerNow;
\r
669 /*-----------------------------------------------------------*/
\r
671 static void prvProcessReceivedCommands( void )
\r
673 DaemonTaskMessage_t xMessage;
\r
675 BaseType_t xTimerListsWereSwitched, xResult;
\r
676 TickType_t xTimeNow;
\r
678 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
680 #if ( INCLUDE_xTimerPendFunctionCall == 1 )
\r
682 /* Negative commands are pended function calls rather than timer
\r
684 if( xMessage.xMessageID < ( BaseType_t ) 0 )
\r
686 const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
\r
688 /* The timer uses the xCallbackParameters member to request a
\r
689 callback be executed. Check the callback is not NULL. */
\r
690 configASSERT( pxCallback );
\r
692 /* Call the function. */
\r
693 pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
\r
697 mtCOVERAGE_TEST_MARKER();
\r
700 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
702 /* Commands that are positive are timer commands rather than pended
\r
704 if( xMessage.xMessageID >= ( BaseType_t ) 0 )
\r
706 /* The messages uses the xTimerParameters member to work on a
\r
708 pxTimer = xMessage.u.xTimerParameters.pxTimer;
\r
710 if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
\r
712 /* The timer is in a list, remove it. */
\r
713 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
717 mtCOVERAGE_TEST_MARKER();
\r
720 traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
\r
722 /* In this case the xTimerListsWereSwitched parameter is not used, but
\r
723 it must be present in the function call. prvSampleTimeNow() must be
\r
724 called after the message is received from xTimerQueue so there is no
\r
725 possibility of a higher priority task adding a message to the message
\r
726 queue with a time that is ahead of the timer daemon task (because it
\r
727 pre-empted the timer daemon task after the xTimeNow value was set). */
\r
728 xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
\r
730 switch( xMessage.xMessageID )
\r
732 case tmrCOMMAND_START :
\r
733 case tmrCOMMAND_START_FROM_ISR :
\r
734 case tmrCOMMAND_RESET :
\r
735 case tmrCOMMAND_RESET_FROM_ISR :
\r
736 case tmrCOMMAND_START_DONT_TRACE :
\r
737 /* Start or restart a timer. */
\r
738 if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
\r
740 /* The timer expired before it was added to the active
\r
741 timer list. Process it now. */
\r
742 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
743 traceTIMER_EXPIRED( pxTimer );
\r
745 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
747 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
\r
748 configASSERT( xResult );
\r
753 mtCOVERAGE_TEST_MARKER();
\r
758 mtCOVERAGE_TEST_MARKER();
\r
762 case tmrCOMMAND_STOP :
\r
763 case tmrCOMMAND_STOP_FROM_ISR :
\r
764 /* The timer has already been removed from the active list.
\r
765 There is nothing to do here. */
\r
768 case tmrCOMMAND_CHANGE_PERIOD :
\r
769 case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
\r
770 pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
\r
771 configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
\r
773 /* The new period does not really have a reference, and can
\r
774 be longer or shorter than the old one. The command time is
\r
775 therefore set to the current time, and as the period cannot
\r
776 be zero the next expiry time can only be in the future,
\r
777 meaning (unlike for the xTimerStart() case above) there is
\r
778 no fail case that needs to be handled here. */
\r
779 ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
\r
782 case tmrCOMMAND_DELETE :
\r
783 /* The timer has already been removed from the active list,
\r
784 just free up the memory if the memory was dynamically
\r
786 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
788 /* The timer can only have been allocated dynamically -
\r
790 vPortFree( pxTimer );
\r
792 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
794 /* The timer could have been allocated statically or
\r
795 dynamically, so check before attempting to free the
\r
797 if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
799 vPortFree( pxTimer );
\r
803 mtCOVERAGE_TEST_MARKER();
\r
806 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
810 /* Don't expect to get here. */
\r
816 /*-----------------------------------------------------------*/
\r
818 static void prvSwitchTimerLists( void )
\r
820 TickType_t xNextExpireTime, xReloadTime;
\r
823 BaseType_t xResult;
\r
825 /* The tick count has overflowed. The timer lists must be switched.
\r
826 If there are any timers still referenced from the current timer list
\r
827 then they must have expired and should be processed before the lists
\r
829 while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
\r
831 xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
833 /* Remove the timer from the list. */
\r
834 pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
\r
835 ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
\r
836 traceTIMER_EXPIRED( pxTimer );
\r
838 /* Execute its callback, then send a command to restart the timer if
\r
839 it is an auto-reload timer. It cannot be restarted here as the lists
\r
840 have not yet been switched. */
\r
841 pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
\r
843 if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE )
\r
845 /* Calculate the reload value, and if the reload value results in
\r
846 the timer going into the same timer list then it has already expired
\r
847 and the timer should be re-inserted into the current list so it is
\r
848 processed again within this loop. Otherwise a command should be sent
\r
849 to restart the timer to ensure it is only inserted into a list after
\r
850 the lists have been swapped. */
\r
851 xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
\r
852 if( xReloadTime > xNextExpireTime )
\r
854 listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
\r
855 listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
\r
856 vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
\r
860 xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
\r
861 configASSERT( xResult );
\r
867 mtCOVERAGE_TEST_MARKER();
\r
871 pxTemp = pxCurrentTimerList;
\r
872 pxCurrentTimerList = pxOverflowTimerList;
\r
873 pxOverflowTimerList = pxTemp;
\r
875 /*-----------------------------------------------------------*/
\r
877 static void prvCheckForValidListAndQueue( void )
\r
879 /* Check that the list from which active timers are referenced, and the
\r
880 queue used to communicate with the timer service, have been
\r
882 taskENTER_CRITICAL();
\r
884 if( xTimerQueue == NULL )
\r
886 vListInitialise( &xActiveTimerList1 );
\r
887 vListInitialise( &xActiveTimerList2 );
\r
888 pxCurrentTimerList = &xActiveTimerList1;
\r
889 pxOverflowTimerList = &xActiveTimerList2;
\r
891 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
893 /* The timer queue is allocated statically in case
\r
894 configSUPPORT_DYNAMIC_ALLOCATION is 0. */
\r
895 static StaticQueue_t xStaticTimerQueue;
\r
896 static uint8_t ucStaticTimerQueueStorage[ configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ];
\r
898 xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
\r
902 xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
\r
906 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
908 if( xTimerQueue != NULL )
\r
910 vQueueAddToRegistry( xTimerQueue, "TmrQ" );
\r
914 mtCOVERAGE_TEST_MARKER();
\r
917 #endif /* configQUEUE_REGISTRY_SIZE */
\r
921 mtCOVERAGE_TEST_MARKER();
\r
924 taskEXIT_CRITICAL();
\r
926 /*-----------------------------------------------------------*/
\r
928 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
\r
930 BaseType_t xTimerIsInActiveList;
\r
931 Timer_t *pxTimer = ( Timer_t * ) xTimer;
\r
933 configASSERT( xTimer );
\r
935 /* Is the timer in the list of active timers? */
\r
936 taskENTER_CRITICAL();
\r
938 /* Checking to see if it is in the NULL list in effect checks to see if
\r
939 it is referenced from either the current or the overflow timer lists in
\r
940 one go, but the logic has to be reversed, hence the '!'. */
\r
941 xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
\r
943 taskEXIT_CRITICAL();
\r
945 return xTimerIsInActiveList;
\r
946 } /*lint !e818 Can't be pointer to const due to the typedef. */
\r
947 /*-----------------------------------------------------------*/
\r
949 void *pvTimerGetTimerID( const TimerHandle_t xTimer )
\r
951 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
954 configASSERT( xTimer );
\r
956 taskENTER_CRITICAL();
\r
958 pvReturn = pxTimer->pvTimerID;
\r
960 taskEXIT_CRITICAL();
\r
964 /*-----------------------------------------------------------*/
\r
966 void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
\r
968 Timer_t * const pxTimer = ( Timer_t * ) xTimer;
\r
970 configASSERT( xTimer );
\r
972 taskENTER_CRITICAL();
\r
974 pxTimer->pvTimerID = pvNewID;
\r
976 taskEXIT_CRITICAL();
\r
978 /*-----------------------------------------------------------*/
\r
980 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
982 BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
\r
984 DaemonTaskMessage_t xMessage;
\r
985 BaseType_t xReturn;
\r
987 /* Complete the message with the function parameters and post it to the
\r
989 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
\r
990 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
991 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
992 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
994 xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
\r
996 tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1001 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1002 /*-----------------------------------------------------------*/
\r
1004 #if( INCLUDE_xTimerPendFunctionCall == 1 )
\r
1006 BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
\r
1008 DaemonTaskMessage_t xMessage;
\r
1009 BaseType_t xReturn;
\r
1011 /* This function can only be called after a timer has been created or
\r
1012 after the scheduler has been started because, until then, the timer
\r
1013 queue does not exist. */
\r
1014 configASSERT( xTimerQueue );
\r
1016 /* Complete the message with the function parameters and post it to the
\r
1018 xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
\r
1019 xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
\r
1020 xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
\r
1021 xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
\r
1023 xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
\r
1025 tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
\r
1030 #endif /* INCLUDE_xTimerPendFunctionCall */
\r
1031 /*-----------------------------------------------------------*/
\r
1033 /* This entire source file will be skipped if the application is not configured
\r
1034 to include software timer functionality. If you want to include software timer
\r
1035 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
\r
1036 #endif /* configUSE_TIMERS == 1 */
\r