kopia lustrzana https://github.com/micropython/micropython
1093 wiersze
39 KiB
C
1093 wiersze
39 KiB
C
/*
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FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/* Standard includes. */
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#include <stdlib.h>
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/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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all the API functions to use the MPU wrappers. That should only be done when
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task.h is included from an application file. */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "timers.h"
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#if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
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#error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
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#endif
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/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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header files above, but not in this file, in order to generate the correct
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privileged Vs unprivileged linkage and placement. */
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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/* This entire source file will be skipped if the application is not configured
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to include software timer functionality. This #if is closed at the very bottom
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of this file. If you want to include software timer functionality then ensure
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configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
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#if ( configUSE_TIMERS == 1 )
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/* Misc definitions. */
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#define tmrNO_DELAY ( TickType_t ) 0U
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/* The definition of the timers themselves. */
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typedef struct tmrTimerControl
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{
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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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ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
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TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
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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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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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TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
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#if( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
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#endif
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#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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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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#endif
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} xTIMER;
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/* The old xTIMER name is maintained above then typedefed to the new Timer_t
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name below to enable the use of older kernel aware debuggers. */
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typedef xTIMER Timer_t;
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/* The definition of messages that can be sent and received on the timer queue.
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Two types of message can be queued - messages that manipulate a software timer,
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and messages that request the execution of a non-timer related callback. The
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two message types are defined in two separate structures, xTimerParametersType
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and xCallbackParametersType respectively. */
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typedef struct tmrTimerParameters
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{
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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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Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
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} TimerParameter_t;
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typedef struct tmrCallbackParameters
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{
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PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
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void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
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uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
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} CallbackParameters_t;
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/* The structure that contains the two message types, along with an identifier
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that is used to determine which message type is valid. */
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typedef struct tmrTimerQueueMessage
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{
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BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
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union
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{
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TimerParameter_t xTimerParameters;
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/* Don't include xCallbackParameters if it is not going to be used as
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it makes the structure (and therefore the timer queue) larger. */
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#if ( INCLUDE_xTimerPendFunctionCall == 1 )
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CallbackParameters_t xCallbackParameters;
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#endif /* INCLUDE_xTimerPendFunctionCall */
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} u;
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} DaemonTaskMessage_t;
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/*lint -e956 A manual analysis and inspection has been used to determine which
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static variables must be declared volatile. */
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/* The list in which active timers are stored. Timers are referenced in expire
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time order, with the nearest expiry time at the front of the list. Only the
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timer service task is allowed to access these lists. */
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PRIVILEGED_DATA static List_t xActiveTimerList1;
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PRIVILEGED_DATA static List_t xActiveTimerList2;
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PRIVILEGED_DATA static List_t *pxCurrentTimerList;
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PRIVILEGED_DATA static List_t *pxOverflowTimerList;
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/* A queue that is used to send commands to the timer service task. */
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PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
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PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
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/*lint +e956 */
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/*-----------------------------------------------------------*/
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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/* If static allocation is supported then the application must provide the
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following callback function - which enables the application to optionally
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provide the memory that will be used by the timer task as the task's stack
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and TCB. */
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extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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#endif
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/*
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* Initialise the infrastructure used by the timer service task if it has not
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* been initialised already.
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*/
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static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
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/*
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* The timer service task (daemon). Timer functionality is controlled by this
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* task. Other tasks communicate with the timer service task using the
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* xTimerQueue queue.
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*/
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static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
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/*
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* Called by the timer service task to interpret and process a command it
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* received on the timer queue.
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*/
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static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
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/*
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* Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
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* depending on if the expire time causes a timer counter overflow.
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*/
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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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/*
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* An active timer has reached its expire time. Reload the timer if it is an
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* auto reload timer, then call its callback.
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*/
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static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
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/*
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* The tick count has overflowed. Switch the timer lists after ensuring the
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* current timer list does not still reference some timers.
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*/
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static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
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/*
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* Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
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* if a tick count overflow occurred since prvSampleTimeNow() was last called.
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*/
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static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
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/*
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* If the timer list contains any active timers then return the expire time of
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* the timer that will expire first and set *pxListWasEmpty to false. If the
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* timer list does not contain any timers then return 0 and set *pxListWasEmpty
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* to pdTRUE.
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*/
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static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
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/*
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* If a timer has expired, process it. Otherwise, block the timer service task
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* until either a timer does expire or a command is received.
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*/
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static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
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/*
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* Called after a Timer_t structure has been allocated either statically or
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* dynamically to fill in the structure's members.
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*/
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static void prvInitialiseNewTimer( const char * const pcTimerName,
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const TickType_t xTimerPeriodInTicks,
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const UBaseType_t uxAutoReload,
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void * const pvTimerID,
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TimerCallbackFunction_t pxCallbackFunction,
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Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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/*-----------------------------------------------------------*/
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BaseType_t xTimerCreateTimerTask( void )
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{
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BaseType_t xReturn = pdFAIL;
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/* This function is called when the scheduler is started if
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configUSE_TIMERS is set to 1. Check that the infrastructure used by the
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timer service task has been created/initialised. If timers have already
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been created then the initialisation will already have been performed. */
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prvCheckForValidListAndQueue();
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if( xTimerQueue != NULL )
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{
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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{
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StaticTask_t *pxTimerTaskTCBBuffer = NULL;
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StackType_t *pxTimerTaskStackBuffer = NULL;
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uint32_t ulTimerTaskStackSize;
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vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
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xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
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"Tmr Svc",
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ulTimerTaskStackSize,
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NULL,
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( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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pxTimerTaskStackBuffer,
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pxTimerTaskTCBBuffer );
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if( xTimerTaskHandle != NULL )
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{
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xReturn = pdPASS;
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}
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}
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#else
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{
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xReturn = xTaskCreate( prvTimerTask,
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"Tmr Svc",
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configTIMER_TASK_STACK_DEPTH,
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NULL,
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( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
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&xTimerTaskHandle );
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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configASSERT( xReturn );
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return xReturn;
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}
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/*-----------------------------------------------------------*/
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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TimerHandle_t xTimerCreate( const char * const pcTimerName,
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const TickType_t xTimerPeriodInTicks,
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const UBaseType_t uxAutoReload,
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void * const pvTimerID,
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TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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{
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Timer_t *pxNewTimer;
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pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) );
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if( pxNewTimer != NULL )
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{
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prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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{
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/* Timers can be created statically or dynamically, so note this
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timer was created dynamically in case the timer is later
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deleted. */
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pxNewTimer->ucStaticallyAllocated = pdFALSE;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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}
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return pxNewTimer;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/*-----------------------------------------------------------*/
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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TimerHandle_t xTimerCreateStatic( const char * const pcTimerName,
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const TickType_t xTimerPeriodInTicks,
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const UBaseType_t uxAutoReload,
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void * const pvTimerID,
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TimerCallbackFunction_t pxCallbackFunction,
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StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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{
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Timer_t *pxNewTimer;
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#if( configASSERT_DEFINED == 1 )
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{
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/* Sanity check that the size of the structure used to declare a
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variable of type StaticTimer_t equals the size of the real timer
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structures. */
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volatile size_t xSize = sizeof( StaticTimer_t );
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configASSERT( xSize == sizeof( Timer_t ) );
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}
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#endif /* configASSERT_DEFINED */
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/* A pointer to a StaticTimer_t structure MUST be provided, use it. */
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configASSERT( pxTimerBuffer );
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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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if( pxNewTimer != NULL )
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{
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prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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{
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/* Timers can be created statically or dynamically so note this
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timer was created statically in case it is later deleted. */
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pxNewTimer->ucStaticallyAllocated = pdTRUE;
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}
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#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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}
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return pxNewTimer;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/*-----------------------------------------------------------*/
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static void prvInitialiseNewTimer( const char * const pcTimerName,
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const TickType_t xTimerPeriodInTicks,
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const UBaseType_t uxAutoReload,
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void * const pvTimerID,
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TimerCallbackFunction_t pxCallbackFunction,
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Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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{
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/* 0 is not a valid value for xTimerPeriodInTicks. */
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configASSERT( ( xTimerPeriodInTicks > 0 ) );
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if( pxNewTimer != NULL )
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{
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/* Ensure the infrastructure used by the timer service task has been
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created/initialised. */
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prvCheckForValidListAndQueue();
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/* Initialise the timer structure members using the function
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parameters. */
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pxNewTimer->pcTimerName = pcTimerName;
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pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
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pxNewTimer->uxAutoReload = uxAutoReload;
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pxNewTimer->pvTimerID = pvTimerID;
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pxNewTimer->pxCallbackFunction = pxCallbackFunction;
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vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
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traceTIMER_CREATE( pxNewTimer );
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}
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}
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/*-----------------------------------------------------------*/
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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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{
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BaseType_t xReturn = pdFAIL;
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DaemonTaskMessage_t xMessage;
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configASSERT( xTimer );
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/* Send a message to the timer service task to perform a particular action
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on a particular timer definition. */
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if( xTimerQueue != NULL )
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{
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/* Send a command to the timer service task to start the xTimer timer. */
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xMessage.xMessageID = xCommandID;
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xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
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xMessage.u.xTimerParameters.pxTimer = ( Timer_t * ) xTimer;
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if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
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{
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if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
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{
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xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
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}
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else
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{
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xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
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}
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}
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else
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{
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xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
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}
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traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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return xReturn;
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}
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/*-----------------------------------------------------------*/
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TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
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{
|
|
/* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
|
|
started, then xTimerTaskHandle will be NULL. */
|
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configASSERT( ( xTimerTaskHandle != NULL ) );
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return xTimerTaskHandle;
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}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
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 )
|
|
{
|
|
/* 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;
|
|
static uint8_t ucStaticTimerQueueStorage[ configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ];
|
|
|
|
xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, 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 ) ) );
|
|
}
|
|
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 */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* 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 */
|
|
|
|
|
|
|