| /* |
| * FreeRTOS Kernel V10.4.6 |
| * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. |
| * |
| * SPDX-License-Identifier: MIT |
| * |
| * 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. |
| * |
| * https://www.FreeRTOS.org |
| * https://github.com/FreeRTOS |
| * |
| */ |
| |
| /* 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 e9021, 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 !e9021 !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 ) |
| #define tmrMAX_TIME_BEFORE_OVERFLOW ( ( TickType_t ) -1 ) |
| |
| /* 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 |
| |
| /* Bit definitions used in the ucStatus member of a timer structure. */ |
| #define tmrSTATUS_IS_ACTIVE ( ( uint8_t ) 0x01 ) |
| #define tmrSTATUS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 0x02 ) |
| #define tmrSTATUS_IS_AUTORELOAD ( ( uint8_t ) 0x04 ) |
| |
| /* The definition of the timers themselves. */ |
| typedef struct tmrTimerControl /* The old naming convention is used to prevent breaking kernel aware debuggers. */ |
| { |
| 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. */ |
| 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 |
| uint8_t ucStatus; /*<< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */ |
| } 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. |
| * xActiveTimerList1 and xActiveTimerList2 could be at function scope but that |
| * breaks some kernel aware debuggers, and debuggers that reply on removing the |
| * static qualifier. */ |
| PRIVILEGED_DATA static List_t xActiveTimerList1; |
| PRIVILEGED_DATA static List_t xActiveTimerList2; |
| PRIVILEGED_DATA static List_t * pxCurrentTimerList; |
| PRIVILEGED_DATA static List_t * pxOverflowTimerList; |
| |
| /* 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 */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * 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 portTASK_FUNCTION_PROTO( prvTimerTask, 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; |
| |
| /* |
| * Reload the specified auto-reload timer. If the reloading is backlogged, |
| * clear the backlog, calling the callback for each additional reload. When |
| * this function returns, the next expiry time is after xTimeNow. |
| */ |
| static void prvReloadTimer( Timer_t * const pxTimer, |
| TickType_t xExpiredTime, |
| const TickType_t xTimeNow ) 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 /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ |
| { |
| 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 ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */ |
| |
| if( pxNewTimer != NULL ) |
| { |
| /* Status is thus far zero as the timer is not created statically |
| * and has not been started. The auto-reload bit may get set in |
| * prvInitialiseNewTimer. */ |
| pxNewTimer->ucStatus = 0x00; |
| prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); |
| } |
| |
| return pxNewTimer; |
| } |
| |
| #endif /* configSUPPORT_DYNAMIC_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 ) ); |
| ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */ |
| } |
| #endif /* configASSERT_DEFINED */ |
| |
| /* A pointer to a StaticTimer_t structure MUST be provided, use it. */ |
| configASSERT( pxTimerBuffer ); |
| pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */ |
| |
| if( pxNewTimer != NULL ) |
| { |
| /* Timers can be created statically or dynamically so note this |
| * timer was created statically in case it is later deleted. The |
| * auto-reload bit may get set in prvInitialiseNewTimer(). */ |
| pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED; |
| |
| prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); |
| } |
| |
| 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 ) ); |
| |
| /* 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->pvTimerID = pvTimerID; |
| pxNewTimer->pxCallbackFunction = pxCallbackFunction; |
| vListInitialiseItem( &( pxNewTimer->xTimerListItem ) ); |
| |
| if( uxAutoReload != pdFALSE ) |
| { |
| pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD; |
| } |
| |
| 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 = 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 = xTimer; |
| |
| configASSERT( xTimer ); |
| return pxTimer->xTimerPeriodInTicks; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vTimerSetReloadMode( TimerHandle_t xTimer, |
| const UBaseType_t uxAutoReload ) |
| { |
| Timer_t * pxTimer = xTimer; |
| |
| configASSERT( xTimer ); |
| taskENTER_CRITICAL(); |
| { |
| if( uxAutoReload != pdFALSE ) |
| { |
| pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD; |
| } |
| else |
| { |
| pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_AUTORELOAD ); |
| } |
| } |
| taskEXIT_CRITICAL(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) |
| { |
| Timer_t * pxTimer = xTimer; |
| UBaseType_t uxReturn; |
| |
| configASSERT( xTimer ); |
| taskENTER_CRITICAL(); |
| { |
| if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 ) |
| { |
| /* Not an auto-reload timer. */ |
| uxReturn = ( UBaseType_t ) pdFALSE; |
| } |
| else |
| { |
| /* Is an auto-reload timer. */ |
| uxReturn = ( UBaseType_t ) pdTRUE; |
| } |
| } |
| taskEXIT_CRITICAL(); |
| |
| return uxReturn; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) |
| { |
| Timer_t * pxTimer = 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 = xTimer; |
| |
| configASSERT( xTimer ); |
| return pxTimer->pcTimerName; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvReloadTimer( Timer_t * const pxTimer, |
| TickType_t xExpiredTime, |
| const TickType_t xTimeNow ) |
| { |
| /* Insert the timer into the appropriate list for the next expiry time. |
| * If the next expiry time has already passed, advance the expiry time, |
| * call the callback function, and try again. */ |
| while( prvInsertTimerInActiveList( pxTimer, ( xExpiredTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xExpiredTime ) != pdFALSE ) |
| { |
| /* Advance the expiry time. */ |
| xExpiredTime += pxTimer->xTimerPeriodInTicks; |
| |
| /* Call the timer callback. */ |
| traceTIMER_EXPIRED( pxTimer ); |
| pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, |
| const TickType_t xTimeNow ) |
| { |
| Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ |
| |
| /* 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 ) ); |
| |
| /* 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->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 ) |
| { |
| prvReloadTimer( pxTimer, xNextExpireTime, xTimeNow ); |
| } |
| else |
| { |
| pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE ); |
| } |
| |
| /* Call the timer callback. */ |
| traceTIMER_EXPIRED( pxTimer ); |
| pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static portTASK_FUNCTION( prvTimerTask, 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; |
| 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: |
| /* Start or restart a timer. */ |
| pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE; |
| |
| 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. */ |
| if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 ) |
| { |
| prvReloadTimer( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow ); |
| } |
| else |
| { |
| pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE ); |
| } |
| |
| /* Call the timer callback. */ |
| traceTIMER_EXPIRED( pxTimer ); |
| pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); |
| } |
| else |
| { |
| mtCOVERAGE_TEST_MARKER(); |
| } |
| |
| break; |
| |
| case tmrCOMMAND_STOP: |
| case tmrCOMMAND_STOP_FROM_ISR: |
| /* The timer has already been removed from the active list. */ |
| pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE ); |
| break; |
| |
| case tmrCOMMAND_CHANGE_PERIOD: |
| case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR: |
| pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE; |
| 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: |
| #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| { |
| /* The timer has already been removed from the active list, |
| * just free up the memory if the memory was dynamically |
| * allocated. */ |
| if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 ) |
| { |
| vPortFree( pxTimer ); |
| } |
| else |
| { |
| pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE ); |
| } |
| } |
| #else /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */ |
| { |
| /* If dynamic allocation is not enabled, the memory |
| * could not have been dynamically allocated. So there is |
| * no need to free the memory - just mark the timer as |
| * "not active". */ |
| pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE ); |
| } |
| #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ |
| break; |
| |
| default: |
| /* Don't expect to get here. */ |
| break; |
| } |
| } |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvSwitchTimerLists( void ) |
| { |
| TickType_t xNextExpireTime; |
| List_t * pxTemp; |
| |
| /* 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 ); |
| |
| /* Process the expired timer. For auto-reload timers, be careful to |
| * process only expirations that occur on the current list. Further |
| * expirations must wait until after the lists are switched. */ |
| prvProcessExpiredTimer( xNextExpireTime, tmrMAX_TIME_BEFORE_OVERFLOW ); |
| } |
| |
| 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. */ |
| PRIVILEGED_DATA static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */ |
| PRIVILEGED_DATA 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 ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ |
| |
| #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 xReturn; |
| Timer_t * pxTimer = xTimer; |
| |
| configASSERT( xTimer ); |
| |
| /* Is the timer in the list of active timers? */ |
| taskENTER_CRITICAL(); |
| { |
| if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 ) |
| { |
| xReturn = pdFALSE; |
| } |
| else |
| { |
| xReturn = pdTRUE; |
| } |
| } |
| taskEXIT_CRITICAL(); |
| |
| return xReturn; |
| } /*lint !e818 Can't be pointer to const due to the typedef. */ |
| /*-----------------------------------------------------------*/ |
| |
| void * pvTimerGetTimerID( const TimerHandle_t xTimer ) |
| { |
| Timer_t * const pxTimer = 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 = 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 */ |
