| /* |
| * FreeRTOS Kernel V10.0.1 |
| * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of |
| * this software and associated documentation files (the "Software"), to deal in |
| * the Software without restriction, including without limitation the rights to |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of |
| * the Software, and to permit persons to whom the Software is furnished to do so, |
| * subject to the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be included in all |
| * copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| * |
| * http://www.FreeRTOS.org |
| * http://aws.amazon.com/freertos |
| * |
| * 1 tab == 4 spaces! |
| */ |
| |
| /* Standard includes. */ |
| #include <stdlib.h> |
| |
| /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining |
| all the API functions to use the MPU wrappers. That should only be done when |
| task.h is included from an application file. */ |
| #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE |
| |
| #include "FreeRTOS.h" |
| #include "task.h" |
| #include "queue.h" |
| #include "timers.h" |
| |
| #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 ) |
| #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available. |
| #endif |
| |
| /* Lint e961 and e750 are suppressed as a MISRA exception justified because the |
| MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the |
| header files above, but not in this file, in order to generate the correct |
| privileged Vs unprivileged linkage and placement. */ |
| #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ |
| |
| |
| /* This entire source file will be skipped if the application is not configured |
| to include software timer functionality. This #if is closed at the very bottom |
| of this file. If you want to include software timer functionality then ensure |
| configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */ |
| #if ( configUSE_TIMERS == 1 ) |
| |
| /* Misc definitions. */ |
| #define tmrNO_DELAY ( TickType_t ) 0U |
| |
| /* The name assigned to the timer service task. This can be overridden by |
| defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */ |
| #ifndef configTIMER_SERVICE_TASK_NAME |
| #define configTIMER_SERVICE_TASK_NAME "Tmr Svc" |
| #endif |
| |
| /* The definition of the timers themselves. */ |
| typedef struct tmrTimerControl |
| { |
| 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. */ |
| ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */ |
| TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */ |
| 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. */ |
| void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */ |
| TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */ |
| #if( configUSE_TRACE_FACILITY == 1 ) |
| UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */ |
| #endif |
| |
| #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) |
| 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. */ |
| #endif |
| } xTIMER; |
| |
| /* The old xTIMER name is maintained above then typedefed to the new Timer_t |
| name below to enable the use of older kernel aware debuggers. */ |
| typedef xTIMER Timer_t; |
| |
| /* The definition of messages that can be sent and received on the timer queue. |
| Two types of message can be queued - messages that manipulate a software timer, |
| and messages that request the execution of a non-timer related callback. The |
| two message types are defined in two separate structures, xTimerParametersType |
| and xCallbackParametersType respectively. */ |
| typedef struct tmrTimerParameters |
| { |
| TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */ |
| Timer_t * pxTimer; /*<< The timer to which the command will be applied. */ |
| } TimerParameter_t; |
| |
| |
| typedef struct tmrCallbackParameters |
| { |
| PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */ |
| void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */ |
| uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */ |
| } CallbackParameters_t; |
| |
| /* The structure that contains the two message types, along with an identifier |
| that is used to determine which message type is valid. */ |
| typedef struct tmrTimerQueueMessage |
| { |
| BaseType_t xMessageID; /*<< The command being sent to the timer service task. */ |
| union |
| { |
| TimerParameter_t xTimerParameters; |
| |
| /* Don't include xCallbackParameters if it is not going to be used as |
| it makes the structure (and therefore the timer queue) larger. */ |
| #if ( INCLUDE_xTimerPendFunctionCall == 1 ) |
| CallbackParameters_t xCallbackParameters; |
| #endif /* INCLUDE_xTimerPendFunctionCall */ |
| } u; |
| } DaemonTaskMessage_t; |
| |
| /*lint -save -e956 A manual analysis and inspection has been used to determine |
| which static variables must be declared volatile. */ |
| |
| /* The list in which active timers are stored. Timers are referenced in expire |
| time order, with the nearest expiry time at the front of the list. Only the |
| timer service task is allowed to access these lists. */ |
| PRIVILEGED_DATA static List_t xActiveTimerList1 = {0}; |
| PRIVILEGED_DATA static List_t xActiveTimerList2 = {0}; |
| PRIVILEGED_DATA static List_t *pxCurrentTimerList = NULL; |
| PRIVILEGED_DATA static List_t *pxOverflowTimerList = NULL; |
| |
| /* A queue that is used to send commands to the timer service task. */ |
| PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL; |
| PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL; |
| |
| /*lint -restore */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| |
| /* If static allocation is supported then the application must provide the |
| following callback function - which enables the application to optionally |
| provide the memory that will be used by the timer task as the task's stack |
| and TCB. */ |
| extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ); |
| |
| #endif |
| |
| /* |
| * Initialise the infrastructure used by the timer service task if it has not |
| * been initialised already. |
| */ |
| static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * The timer service task (daemon). Timer functionality is controlled by this |
| * task. Other tasks communicate with the timer service task using the |
| * xTimerQueue queue. |
| */ |
| static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * Called by the timer service task to interpret and process a command it |
| * received on the timer queue. |
| */ |
| static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * Insert the timer into either xActiveTimerList1, or xActiveTimerList2, |
| * depending on if the expire time causes a timer counter overflow. |
| */ |
| static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * An active timer has reached its expire time. Reload the timer if it is an |
| * auto reload timer, then call its callback. |
| */ |
| static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * The tick count has overflowed. Switch the timer lists after ensuring the |
| * current timer list does not still reference some timers. |
| */ |
| static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE |
| * if a tick count overflow occurred since prvSampleTimeNow() was last called. |
| */ |
| static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * If the timer list contains any active timers then return the expire time of |
| * the timer that will expire first and set *pxListWasEmpty to false. If the |
| * timer list does not contain any timers then return 0 and set *pxListWasEmpty |
| * to pdTRUE. |
| */ |
| static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * If a timer has expired, process it. Otherwise, block the timer service task |
| * until either a timer does expire or a command is received. |
| */ |
| static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * Called after a Timer_t structure has been allocated either statically or |
| * dynamically to fill in the structure's members. |
| */ |
| static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ |
| const TickType_t xTimerPeriodInTicks, |
| const UBaseType_t uxAutoReload, |
| void * const pvTimerID, |
| TimerCallbackFunction_t pxCallbackFunction, |
| Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xTimerCreateTimerTask( void ) |
| { |
| BaseType_t xReturn = pdFAIL; |
| |
| /* This function is called when the scheduler is started if |
| configUSE_TIMERS is set to 1. Check that the infrastructure used by the |
| timer service task has been created/initialised. If timers have already |
| been created then the initialisation will already have been performed. */ |
| prvCheckForValidListAndQueue(); |
| |
| if( xTimerQueue != NULL ) |
| { |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| { |
| StaticTask_t *pxTimerTaskTCBBuffer = NULL; |
| StackType_t *pxTimerTaskStackBuffer = NULL; |
| uint32_t ulTimerTaskStackSize; |
| |
| vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize ); |
| xTimerTaskHandle = xTaskCreateStatic( prvTimerTask, |
| configTIMER_SERVICE_TASK_NAME, |
| ulTimerTaskStackSize, |
| NULL, |
| ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, |
| pxTimerTaskStackBuffer, |
| pxTimerTaskTCBBuffer ); |
| |
| if( xTimerTaskHandle != NULL ) |
| { |
| xReturn = pdPASS; |
| } |
| } |
| #else |
| { |
| xReturn = xTaskCreate( prvTimerTask, |
| configTIMER_SERVICE_TASK_NAME, |
| configTIMER_TASK_STACK_DEPTH, |
| NULL, |
| ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, |
| &xTimerTaskHandle ); |
| } |
| #endif /* configSUPPORT_STATIC_ALLOCATION */ |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| |
| configASSERT( xReturn ); |
| return xReturn; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| |
| TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ |
| const TickType_t xTimerPeriodInTicks, |
| const UBaseType_t uxAutoReload, |
| void * const pvTimerID, |
| TimerCallbackFunction_t pxCallbackFunction ) |
| { |
| Timer_t *pxNewTimer; |
| |
| pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); |
| |
| if( pxNewTimer != NULL ) |
| { |
| prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| { |
| /* Timers can be created statically or dynamically, so note this |
| timer was created dynamically in case the timer is later |
| deleted. */ |
| pxNewTimer->ucStaticallyAllocated = pdFALSE; |
| } |
| #endif /* configSUPPORT_STATIC_ALLOCATION */ |
| } |
| |
| return pxNewTimer; |
| } |
| |
| #endif /* configSUPPORT_STATIC_ALLOCATION */ |
| /*-----------------------------------------------------------*/ |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| |
| TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ |
| const TickType_t xTimerPeriodInTicks, |
| const UBaseType_t uxAutoReload, |
| void * const pvTimerID, |
| TimerCallbackFunction_t pxCallbackFunction, |
| StaticTimer_t *pxTimerBuffer ) |
| { |
| Timer_t *pxNewTimer; |
| |
| #if( configASSERT_DEFINED == 1 ) |
| { |
| /* Sanity check that the size of the structure used to declare a |
| variable of type StaticTimer_t equals the size of the real timer |
| structure. */ |
| volatile size_t xSize = sizeof( StaticTimer_t ); |
| configASSERT( xSize == sizeof( Timer_t ) ); |
| } |
| #endif /* configASSERT_DEFINED */ |
| |
| /* A pointer to a StaticTimer_t structure MUST be provided, use it. */ |
| configASSERT( pxTimerBuffer ); |
| 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. */ |
| |
| if( pxNewTimer != NULL ) |
| { |
| prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); |
| |
| #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| { |
| /* Timers can be created statically or dynamically so note this |
| timer was created statically in case it is later deleted. */ |
| pxNewTimer->ucStaticallyAllocated = pdTRUE; |
| } |
| #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ |
| } |
| |
| return pxNewTimer; |
| } |
| |
| #endif /* configSUPPORT_STATIC_ALLOCATION */ |
| /*-----------------------------------------------------------*/ |
| |
| static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ |
| const TickType_t xTimerPeriodInTicks, |
| const UBaseType_t uxAutoReload, |
| void * const pvTimerID, |
| TimerCallbackFunction_t pxCallbackFunction, |
| Timer_t *pxNewTimer ) |
| { |
| /* 0 is not a valid value for xTimerPeriodInTicks. */ |
| configASSERT( ( xTimerPeriodInTicks > 0 ) ); |
| |
| if( pxNewTimer != NULL ) |
| { |
| /* Ensure the infrastructure used by the timer service task has been |
| created/initialised. */ |
| prvCheckForValidListAndQueue(); |
| |
| /* Initialise the timer structure members using the function |
| parameters. */ |
| pxNewTimer->pcTimerName = pcTimerName; |
| pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks; |
| pxNewTimer->uxAutoReload = uxAutoReload; |
| pxNewTimer->pvTimerID = pvTimerID; |
| pxNewTimer->pxCallbackFunction = pxCallbackFunction; |
| vListInitialiseItem( &( pxNewTimer->xTimerListItem ) ); |
| traceTIMER_CREATE( pxNewTimer ); |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) |
| { |
| BaseType_t xReturn = pdFAIL; |
| DaemonTaskMessage_t xMessage; |
| |
| configASSERT( xTimer ); |
| |
| /* Send a message to the timer service task to perform a particular action |
| on a particular timer definition. */ |
| if( xTimerQueue != NULL ) |
| { |
| /* Send a command to the timer service task to start the xTimer timer. */ |
| xMessage.xMessageID = xCommandID; |
| xMessage.u.xTimerParameters.xMessageValue = xOptionalValue; |
| xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer; |
| |
| if( xCommandID < tmrFIRST_FROM_ISR_COMMAND ) |
| { |
| if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING ) |
| { |
| xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait ); |
| } |
| else |
| { |
| xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY ); |
| } |
| } |
| else |
| { |
| xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken ); |
| } |
| |
| traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn ); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| |
| return xReturn; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) |
| { |
| /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been |
| started, then xTimerTaskHandle will be NULL. */ |
| configASSERT( ( xTimerTaskHandle != NULL ) ); |
| return xTimerTaskHandle; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) |
| { |
| Timer_t *pxTimer = ( Timer_t * ) xTimer; |
| |
| configASSERT( xTimer ); |
| return pxTimer->xTimerPeriodInTicks; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) |
| { |
| Timer_t * pxTimer = ( Timer_t * ) xTimer; |
| TickType_t xReturn; |
| |
| configASSERT( xTimer ); |
| xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) ); |
| return xReturn; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ |
| { |
| Timer_t *pxTimer = ( Timer_t * ) xTimer; |
| |
| configASSERT( xTimer ); |
| return pxTimer->pcTimerName; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) |
| { |
| BaseType_t xResult; |
| Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); |
| |
| /* Remove the timer from the list of active timers. A check has already |
| been performed to ensure the list is not empty. */ |
| ( void ) uxListRemove( &( pxTimer->xTimerListItem ) ); |
| traceTIMER_EXPIRED( pxTimer ); |
| |
| /* If the timer is an auto reload timer then calculate the next |
| expiry time and re-insert the timer in the list of active timers. */ |
| if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE ) |
| { |
| /* The timer is inserted into a list using a time relative to anything |
| other than the current time. It will therefore be inserted into the |
| correct list relative to the time this task thinks it is now. */ |
| if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE ) |
| { |
| /* The timer expired before it was added to the active timer |
| list. Reload it now. */ |
| xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY ); |
| configASSERT( xResult ); |
| ( void ) xResult; |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| |
| /* Call the timer callback. */ |
| pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvTimerTask( void *pvParameters ) |
| { |
| TickType_t xNextExpireTime; |
| BaseType_t xListWasEmpty; |
| |
| /* Just to avoid compiler warnings. */ |
| ( void ) pvParameters; |
| |
| #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 ) |
| { |
| extern void vApplicationDaemonTaskStartupHook( void ); |
| |
| /* Allow the application writer to execute some code in the context of |
| this task at the point the task starts executing. This is useful if the |
| application includes initialisation code that would benefit from |
| executing after the scheduler has been started. */ |
| vApplicationDaemonTaskStartupHook(); |
| } |
| #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */ |
| |
| for( ;; ) |
| { |
| /* Query the timers list to see if it contains any timers, and if so, |
| obtain the time at which the next timer will expire. */ |
| xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty ); |
| |
| /* If a timer has expired, process it. Otherwise, block this task |
| until either a timer does expire, or a command is received. */ |
| prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty ); |
| |
| /* Empty the command queue. */ |
| prvProcessReceivedCommands(); |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) |
| { |
| TickType_t xTimeNow; |
| BaseType_t xTimerListsWereSwitched; |
| |
| vTaskSuspendAll(); |
| { |
| /* Obtain the time now to make an assessment as to whether the timer |
| has expired or not. If obtaining the time causes the lists to switch |
| then don't process this timer as any timers that remained in the list |
| when the lists were switched will have been processed within the |
| prvSampleTimeNow() function. */ |
| xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched ); |
| if( xTimerListsWereSwitched == pdFALSE ) |
| { |
| /* The tick count has not overflowed, has the timer expired? */ |
| if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) ) |
| { |
| ( void ) xTaskResumeAll(); |
| prvProcessExpiredTimer( xNextExpireTime, xTimeNow ); |
| } |
| else |
| { |
| /* The tick count has not overflowed, and the next expire |
| time has not been reached yet. This task should therefore |
| block to wait for the next expire time or a command to be |
| received - whichever comes first. The following line cannot |
| be reached unless xNextExpireTime > xTimeNow, except in the |
| case when the current timer list is empty. */ |
| if( xListWasEmpty != pdFALSE ) |
| { |
| /* The current timer list is empty - is the overflow list |
| also empty? */ |
| xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList ); |
| } |
| |
| vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty ); |
| |
| if( xTaskResumeAll() == pdFALSE ) |
| { |
| /* Yield to wait for either a command to arrive, or the |
| block time to expire. If a command arrived between the |
| critical section being exited and this yield then the yield |
| will not cause the task to block. */ |
| portYIELD_WITHIN_API(); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| } |
| else |
| { |
| ( void ) xTaskResumeAll(); |
| } |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) |
| { |
| TickType_t xNextExpireTime; |
| |
| /* Timers are listed in expiry time order, with the head of the list |
| referencing the task that will expire first. Obtain the time at which |
| the timer with the nearest expiry time will expire. If there are no |
| active timers then just set the next expire time to 0. That will cause |
| this task to unblock when the tick count overflows, at which point the |
| timer lists will be switched and the next expiry time can be |
| re-assessed. */ |
| *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList ); |
| if( *pxListWasEmpty == pdFALSE ) |
| { |
| xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList ); |
| } |
| else |
| { |
| /* Ensure the task unblocks when the tick count rolls over. */ |
| xNextExpireTime = ( TickType_t ) 0U; |
| } |
| |
| return xNextExpireTime; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) |
| { |
| TickType_t xTimeNow; |
| PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */ |
| |
| xTimeNow = xTaskGetTickCount(); |
| |
| if( xTimeNow < xLastTime ) |
| { |
| prvSwitchTimerLists(); |
| *pxTimerListsWereSwitched = pdTRUE; |
| } |
| else |
| { |
| *pxTimerListsWereSwitched = pdFALSE; |
| } |
| |
| xLastTime = xTimeNow; |
| |
| return xTimeNow; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) |
| { |
| BaseType_t xProcessTimerNow = pdFALSE; |
| |
| listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime ); |
| listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer ); |
| |
| if( xNextExpiryTime <= xTimeNow ) |
| { |
| /* Has the expiry time elapsed between the command to start/reset a |
| timer was issued, and the time the command was processed? */ |
| if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ |
| { |
| /* The time between a command being issued and the command being |
| processed actually exceeds the timers period. */ |
| xProcessTimerNow = pdTRUE; |
| } |
| else |
| { |
| vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) ); |
| } |
| } |
| else |
| { |
| if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) ) |
| { |
| /* If, since the command was issued, the tick count has overflowed |
| but the expiry time has not, then the timer must have already passed |
| its expiry time and should be processed immediately. */ |
| xProcessTimerNow = pdTRUE; |
| } |
| else |
| { |
| vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) ); |
| } |
| } |
| |
| return xProcessTimerNow; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvProcessReceivedCommands( void ) |
| { |
| DaemonTaskMessage_t xMessage; |
| Timer_t *pxTimer; |
| BaseType_t xTimerListsWereSwitched, xResult; |
| TickType_t xTimeNow; |
| |
| 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. */ |
| { |
| #if ( INCLUDE_xTimerPendFunctionCall == 1 ) |
| { |
| /* Negative commands are pended function calls rather than timer |
| commands. */ |
| if( xMessage.xMessageID < ( BaseType_t ) 0 ) |
| { |
| const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters ); |
| |
| /* The timer uses the xCallbackParameters member to request a |
| callback be executed. Check the callback is not NULL. */ |
| configASSERT( pxCallback ); |
| |
| /* Call the function. */ |
| pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 ); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| #endif /* INCLUDE_xTimerPendFunctionCall */ |
| |
| /* Commands that are positive are timer commands rather than pended |
| function calls. */ |
| if( xMessage.xMessageID >= ( BaseType_t ) 0 ) |
| { |
| /* The messages uses the xTimerParameters member to work on a |
| software timer. */ |
| pxTimer = xMessage.u.xTimerParameters.pxTimer; |
| |
| if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */ |
| { |
| /* The timer is in a list, remove it. */ |
| ( void ) uxListRemove( &( pxTimer->xTimerListItem ) ); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| |
| traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue ); |
| |
| /* In this case the xTimerListsWereSwitched parameter is not used, but |
| it must be present in the function call. prvSampleTimeNow() must be |
| called after the message is received from xTimerQueue so there is no |
| possibility of a higher priority task adding a message to the message |
| queue with a time that is ahead of the timer daemon task (because it |
| pre-empted the timer daemon task after the xTimeNow value was set). */ |
| xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched ); |
| |
| switch( xMessage.xMessageID ) |
| { |
| case tmrCOMMAND_START : |
| case tmrCOMMAND_START_FROM_ISR : |
| case tmrCOMMAND_RESET : |
| case tmrCOMMAND_RESET_FROM_ISR : |
| case tmrCOMMAND_START_DONT_TRACE : |
| /* Start or restart a timer. */ |
| if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE ) |
| { |
| /* The timer expired before it was added to the active |
| timer list. Process it now. */ |
| pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); |
| traceTIMER_EXPIRED( pxTimer ); |
| |
| if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE ) |
| { |
| xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY ); |
| configASSERT( xResult ); |
| ( void ) xResult; |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| break; |
| |
| case tmrCOMMAND_STOP : |
| case tmrCOMMAND_STOP_FROM_ISR : |
| /* The timer has already been removed from the active list. |
| There is nothing to do here. */ |
| break; |
| |
| case tmrCOMMAND_CHANGE_PERIOD : |
| case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR : |
| pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue; |
| configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) ); |
| |
| /* The new period does not really have a reference, and can |
| be longer or shorter than the old one. The command time is |
| therefore set to the current time, and as the period cannot |
| be zero the next expiry time can only be in the future, |
| meaning (unlike for the xTimerStart() case above) there is |
| no fail case that needs to be handled here. */ |
| ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow ); |
| break; |
| |
| case tmrCOMMAND_DELETE : |
| /* The timer has already been removed from the active list, |
| just free up the memory if the memory was dynamically |
| allocated. */ |
| #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) |
| { |
| /* The timer can only have been allocated dynamically - |
| free it again. */ |
| vPortFree( pxTimer ); |
| } |
| #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) |
| { |
| /* The timer could have been allocated statically or |
| dynamically, so check before attempting to free the |
| memory. */ |
| if( pxTimer->ucStaticallyAllocated == ( uint8_t ) pdFALSE ) |
| { |
| vPortFree( pxTimer ); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ |
| break; |
| |
| default : |
| /* Don't expect to get here. */ |
| break; |
| } |
| } |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvSwitchTimerLists( void ) |
| { |
| TickType_t xNextExpireTime, xReloadTime; |
| List_t *pxTemp; |
| Timer_t *pxTimer; |
| BaseType_t xResult; |
| |
| /* The tick count has overflowed. The timer lists must be switched. |
| If there are any timers still referenced from the current timer list |
| then they must have expired and should be processed before the lists |
| are switched. */ |
| while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE ) |
| { |
| xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList ); |
| |
| /* Remove the timer from the list. */ |
| pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); |
| ( void ) uxListRemove( &( pxTimer->xTimerListItem ) ); |
| traceTIMER_EXPIRED( pxTimer ); |
| |
| /* Execute its callback, then send a command to restart the timer if |
| it is an auto-reload timer. It cannot be restarted here as the lists |
| have not yet been switched. */ |
| pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); |
| |
| if( pxTimer->uxAutoReload == ( UBaseType_t ) pdTRUE ) |
| { |
| /* Calculate the reload value, and if the reload value results in |
| the timer going into the same timer list then it has already expired |
| and the timer should be re-inserted into the current list so it is |
| processed again within this loop. Otherwise a command should be sent |
| to restart the timer to ensure it is only inserted into a list after |
| the lists have been swapped. */ |
| xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ); |
| if( xReloadTime > xNextExpireTime ) |
| { |
| listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime ); |
| listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer ); |
| vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) ); |
| } |
| else |
| { |
| xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY ); |
| configASSERT( xResult ); |
| ( void ) xResult; |
| } |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| |
| pxTemp = pxCurrentTimerList; |
| pxCurrentTimerList = pxOverflowTimerList; |
| pxOverflowTimerList = pxTemp; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvCheckForValidListAndQueue( void ) |
| { |
| /* Check that the list from which active timers are referenced, and the |
| queue used to communicate with the timer service, have been |
| initialised. */ |
| taskENTER_CRITICAL(); |
| { |
| if( xTimerQueue == NULL ) |
| { |
| vListInitialise( &xActiveTimerList1 ); |
| vListInitialise( &xActiveTimerList2 ); |
| pxCurrentTimerList = &xActiveTimerList1; |
| pxOverflowTimerList = &xActiveTimerList2; |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| { |
| /* The timer queue is allocated statically in case |
| configSUPPORT_DYNAMIC_ALLOCATION is 0. */ |
| static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */ |
| 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. */ |
| |
| xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue ); |
| } |
| #else |
| { |
| xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) ); |
| } |
| #endif |
| |
| #if ( configQUEUE_REGISTRY_SIZE > 0 ) |
| { |
| if( xTimerQueue != NULL ) |
| { |
| vQueueAddToRegistry( xTimerQueue, "TmrQ" ); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| #endif /* configQUEUE_REGISTRY_SIZE */ |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| } |
| taskEXIT_CRITICAL(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) |
| { |
| BaseType_t xTimerIsInActiveList; |
| Timer_t *pxTimer = ( Timer_t * ) xTimer; |
| |
| configASSERT( xTimer ); |
| |
| /* Is the timer in the list of active timers? */ |
| taskENTER_CRITICAL(); |
| { |
| /* Checking to see if it is in the NULL list in effect checks to see if |
| it is referenced from either the current or the overflow timer lists in |
| one go, but the logic has to be reversed, hence the '!'. */ |
| xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) ); /*lint !e961. Cast is only redundant when NULL is passed into the macro. */ |
| } |
| taskEXIT_CRITICAL(); |
| |
| return xTimerIsInActiveList; |
| } /*lint !e818 Can't be pointer to const due to the typedef. */ |
| /*-----------------------------------------------------------*/ |
| |
| void *pvTimerGetTimerID( const TimerHandle_t xTimer ) |
| { |
| Timer_t * const pxTimer = ( Timer_t * ) xTimer; |
| void *pvReturn; |
| |
| configASSERT( xTimer ); |
| |
| taskENTER_CRITICAL(); |
| { |
| pvReturn = pxTimer->pvTimerID; |
| } |
| taskEXIT_CRITICAL(); |
| |
| return pvReturn; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) |
| { |
| Timer_t * const pxTimer = ( Timer_t * ) xTimer; |
| |
| configASSERT( xTimer ); |
| |
| taskENTER_CRITICAL(); |
| { |
| pxTimer->pvTimerID = pvNewID; |
| } |
| taskEXIT_CRITICAL(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #if( INCLUDE_xTimerPendFunctionCall == 1 ) |
| |
| BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) |
| { |
| DaemonTaskMessage_t xMessage; |
| BaseType_t xReturn; |
| |
| /* Complete the message with the function parameters and post it to the |
| daemon task. */ |
| xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR; |
| xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend; |
| xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1; |
| xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2; |
| |
| xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken ); |
| |
| tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn ); |
| |
| return xReturn; |
| } |
| |
| #endif /* INCLUDE_xTimerPendFunctionCall */ |
| /*-----------------------------------------------------------*/ |
| |
| #if( INCLUDE_xTimerPendFunctionCall == 1 ) |
| |
| BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) |
| { |
| DaemonTaskMessage_t xMessage; |
| BaseType_t xReturn; |
| |
| /* This function can only be called after a timer has been created or |
| after the scheduler has been started because, until then, the timer |
| queue does not exist. */ |
| configASSERT( xTimerQueue ); |
| |
| /* Complete the message with the function parameters and post it to the |
| daemon task. */ |
| xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK; |
| xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend; |
| xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1; |
| xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2; |
| |
| xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait ); |
| |
| tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn ); |
| |
| return xReturn; |
| } |
| |
| #endif /* INCLUDE_xTimerPendFunctionCall */ |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configUSE_TRACE_FACILITY == 1 ) |
| |
| UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) |
| { |
| return ( ( Timer_t * ) xTimer )->uxTimerNumber; |
| } |
| |
| #endif /* configUSE_TRACE_FACILITY */ |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configUSE_TRACE_FACILITY == 1 ) |
| |
| void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber ) |
| { |
| ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber; |
| } |
| |
| #endif /* configUSE_TRACE_FACILITY */ |
| /*-----------------------------------------------------------*/ |
| |
| /* This entire source file will be skipped if the application is not configured |
| to include software timer functionality. If you want to include software timer |
| functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */ |
| #endif /* configUSE_TIMERS == 1 */ |
| |
| |
| |