diff options
Diffstat (limited to 'freertos/Source/timers.c')
| -rw-r--r-- | freertos/Source/timers.c | 285 |
1 files changed, 224 insertions, 61 deletions
diff --git a/freertos/Source/timers.c b/freertos/Source/timers.c index 560573b..d4a821a 100644 --- a/freertos/Source/timers.c +++ b/freertos/Source/timers.c @@ -1,5 +1,5 @@ /* - FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. + FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. @@ -112,6 +112,10 @@ typedef struct tmrTimerControl #if( configUSE_TRACE_FACILITY == 1 ) UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */ #endif + + #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucStaticallyAllocated; /*<< Set to pdTRUE if the timer was created statically so no attempt is made to free the memory again if the timer is later deleted. */ + #endif } xTIMER; /* The old xTIMER name is maintained above then typedefed to the new Timer_t @@ -167,16 +171,21 @@ 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; -#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) +/*lint +e956 */ - PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL; +/*-----------------------------------------------------------*/ -#endif +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) -/*lint +e956 */ + /* If static allocation is supported then the application must provide the + following callback function - which enables the application to optionally + provide the memory that will be used by the timer task as the task's stack + and TCB. */ + extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ); -/*-----------------------------------------------------------*/ +#endif /* * Initialise the infrastructure used by the timer service task if it has not @@ -235,6 +244,16 @@ static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIV */ 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, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ /*-----------------------------------------------------------*/ BaseType_t xTimerCreateTimerTask( void ) @@ -249,18 +268,36 @@ BaseType_t xReturn = pdFAIL; if( xTimerQueue != NULL ) { - #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) + #if( configSUPPORT_STATIC_ALLOCATION == 1 ) { - /* Create the timer task, storing its handle in xTimerTaskHandle so - it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */ - xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", ( uint16_t ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle ); + StaticTask_t *pxTimerTaskTCBBuffer = NULL; + StackType_t *pxTimerTaskStackBuffer = NULL; + uint32_t ulTimerTaskStackSize; + + vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize ); + xTimerTaskHandle = xTaskCreateStatic( prvTimerTask, + "Tmr Svc", + ulTimerTaskStackSize, + NULL, + ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, + pxTimerTaskStackBuffer, + pxTimerTaskTCBBuffer ); + + if( xTimerTaskHandle != NULL ) + { + xReturn = pdPASS; + } } #else { - /* Create the timer task without storing its handle. */ - xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", ( uint16_t ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL); + xReturn = xTaskCreate( prvTimerTask, + "Tmr Svc", + configTIMER_TASK_STACK_DEPTH, + NULL, + ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, + &xTimerTaskHandle ); } - #endif + #endif /* configSUPPORT_STATIC_ALLOCATION */ } else { @@ -272,44 +309,108 @@ BaseType_t xReturn = pdFAIL; } /*-----------------------------------------------------------*/ -TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -Timer_t *pxNewTimer; +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - /* Allocate the timer structure. */ - if( xTimerPeriodInTicks == ( TickType_t ) 0U ) - { - pxNewTimer = NULL; - } - else + TimerHandle_t xTimerCreate( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { + Timer_t *pxNewTimer; + pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); + if( pxNewTimer != NULL ) { - /* Ensure the infrastructure used by the timer service task has been - created/initialised. */ - prvCheckForValidListAndQueue(); - - /* Initialise the timer structure members using the function parameters. */ - pxNewTimer->pcTimerName = pcTimerName; - pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks; - pxNewTimer->uxAutoReload = uxAutoReload; - pxNewTimer->pvTimerID = pvTimerID; - pxNewTimer->pxCallbackFunction = pxCallbackFunction; - vListInitialiseItem( &( pxNewTimer->xTimerListItem ) ); - - traceTIMER_CREATE( pxNewTimer ); + prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); + + #if( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + /* Timers can be created statically or dynamically, so note this + timer was created dynamically in case the timer is later + deleted. */ + pxNewTimer->ucStaticallyAllocated = pdFALSE; + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ } - else + + return pxNewTimer; + } + +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) + + TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + 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 + structures. */ + volatile size_t xSize = sizeof( StaticTimer_t ); + configASSERT( xSize == sizeof( Timer_t ) ); + } + #endif /* configASSERT_DEFINED */ + + /* A pointer to a StaticTimer_t structure MUST be provided, use it. */ + configASSERT( pxTimerBuffer ); + pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ + + if( pxNewTimer != NULL ) { - traceTIMER_CREATE_FAILED(); + prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); + + #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* Timers can be created statically or dynamically so note this + timer was created statically in case it is later deleted. */ + pxNewTimer->ucStaticallyAllocated = pdTRUE; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ } + + return pxNewTimer; } +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +static void prvInitialiseNewTimer( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +{ /* 0 is not a valid value for xTimerPeriodInTicks. */ configASSERT( ( xTimerPeriodInTicks > 0 ) ); - return ( TimerHandle_t ) pxNewTimer; + if( pxNewTimer != NULL ) + { + /* Ensure the infrastructure used by the timer service task has been + created/initialised. */ + prvCheckForValidListAndQueue(); + + /* Initialise the timer structure members using the function + parameters. */ + pxNewTimer->pcTimerName = pcTimerName; + pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks; + pxNewTimer->uxAutoReload = uxAutoReload; + pxNewTimer->pvTimerID = pvTimerID; + pxNewTimer->pxCallbackFunction = pxCallbackFunction; + vListInitialiseItem( &( pxNewTimer->xTimerListItem ) ); + traceTIMER_CREATE( pxNewTimer ); + } } /*-----------------------------------------------------------*/ @@ -356,20 +457,36 @@ DaemonTaskMessage_t xMessage; } /*-----------------------------------------------------------*/ -#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) +TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) +{ + /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been + started, then xTimerTaskHandle will be NULL. */ + configASSERT( ( xTimerTaskHandle != NULL ) ); + return xTimerTaskHandle; +} +/*-----------------------------------------------------------*/ - TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) - { - /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been - started, then xTimerTaskHandle will be NULL. */ - configASSERT( ( xTimerTaskHandle != NULL ) ); - return xTimerTaskHandle; - } +TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) +{ +Timer_t *pxTimer = ( Timer_t * ) xTimer; -#endif + 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 * pcTimerGetTimerName( TimerHandle_t xTimer ) +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; @@ -395,7 +512,7 @@ Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTi /* 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 ) == pdTRUE ) + if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE ) { /* The timer expired before it was added to the active timer list. Reload it now. */ @@ -426,6 +543,18 @@ 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, @@ -562,7 +691,7 @@ BaseType_t xProcessTimerNow = pdFALSE; { /* Has the expiry time elapsed between the command to start/reset a timer was issued, and the time the command was processed? */ - if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks ) + 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. */ @@ -659,7 +788,7 @@ TickType_t xTimeNow; 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 ) == pdTRUE ) + 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. */ @@ -694,19 +823,40 @@ TickType_t xTimeNow; 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. */ + /* 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. */ - vPortFree( pxTimer ); + 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 : @@ -790,8 +940,21 @@ static void prvCheckForValidListAndQueue( void ) vListInitialise( &xActiveTimerList2 ); pxCurrentTimerList = &xActiveTimerList1; pxOverflowTimerList = &xActiveTimerList2; - xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) ); - configASSERT( xTimerQueue ); + + #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 ) { |