/* * FreeRTOS Kernel V10.5.1 (ESP-IDF SMP modified) * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates * * SPDX-License-Identifier: MIT * * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD * * 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 /* 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 BaseType_t xAutoReload, 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 BaseType_t xAutoReload, 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, xAutoReload, 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 BaseType_t xAutoReload, 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, xAutoReload, 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 BaseType_t xAutoReload, 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( xAutoReload != 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 BaseType_t xAutoReload ) { Timer_t * pxTimer = xTimer; configASSERT( xTimer ); taskENTER_CRITICAL(); { if( xAutoReload != pdFALSE ) { pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD; } else { pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_AUTORELOAD ); } } taskEXIT_CRITICAL(); } /*-----------------------------------------------------------*/ BaseType_t xTimerGetReloadMode( TimerHandle_t xTimer ) { Timer_t * pxTimer = xTimer; BaseType_t xReturn; configASSERT( xTimer ); taskENTER_CRITICAL(); { if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 ) { /* Not an auto-reload timer. */ xReturn = pdFALSE; } else { /* Is an auto-reload timer. */ xReturn = pdTRUE; } } taskEXIT_CRITICAL(); return xReturn; } UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) { return ( UBaseType_t ) xTimerGetReloadMode( xTimer ); } /*-----------------------------------------------------------*/ 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 */