2 FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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69 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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70 all the API functions to use the MPU wrappers. That should only be done when
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71 task.h is included from an application file. */
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72 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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74 #include "FreeRTOS.h"
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78 #if ( configUSE_CO_ROUTINES == 1 )
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79 #include "croutine.h"
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82 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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83 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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84 header files above, but not in this file, in order to generate the correct
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85 privileged Vs unprivileged linkage and placement. */
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86 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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89 /* Constants used with the xRxLock and xTxLock structure members. */
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90 #define queueUNLOCKED ( ( BaseType_t ) -1 )
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91 #define queueLOCKED_UNMODIFIED ( ( BaseType_t ) 0 )
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93 /* When the Queue_t structure is used to represent a base queue its pcHead and
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94 pcTail members are used as pointers into the queue storage area. When the
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95 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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96 not necessary, and the pcHead pointer is set to NULL to indicate that the
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97 pcTail pointer actually points to the mutex holder (if any). Map alternative
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98 names to the pcHead and pcTail structure members to ensure the readability of
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99 the code is maintained despite this dual use of two structure members. An
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100 alternative implementation would be to use a union, but use of a union is
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101 against the coding standard (although an exception to the standard has been
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102 permitted where the dual use also significantly changes the type of the
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103 structure member). */
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104 #define pxMutexHolder pcTail
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105 #define uxQueueType pcHead
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106 #define queueQUEUE_IS_MUTEX NULL
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108 /* Semaphores do not actually store or copy data, so have an item size of
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110 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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111 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define queueYIELD_IF_USING_PREEMPTION()
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118 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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122 * Definition of the queue used by the scheduler.
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123 * Items are queued by copy, not reference.
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125 typedef struct QueueDefinition
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127 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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128 int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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129 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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131 union /* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */
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133 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
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134 UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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137 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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138 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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140 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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141 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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142 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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144 volatile BaseType_t xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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145 volatile BaseType_t xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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147 #if ( configUSE_TRACE_FACILITY == 1 )
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148 UBaseType_t uxQueueNumber;
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149 uint8_t ucQueueType;
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152 #if ( configUSE_QUEUE_SETS == 1 )
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153 struct QueueDefinition *pxQueueSetContainer;
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158 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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159 name below to enable the use of older kernel aware debuggers. */
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160 typedef xQUEUE Queue_t;
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162 /*-----------------------------------------------------------*/
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165 * The queue registry is just a means for kernel aware debuggers to locate
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166 * queue structures. It has no other purpose so is an optional component.
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168 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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170 /* The type stored within the queue registry array. This allows a name
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171 to be assigned to each queue making kernel aware debugging a little
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172 more user friendly. */
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173 typedef struct QUEUE_REGISTRY_ITEM
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175 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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176 QueueHandle_t xHandle;
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177 } xQueueRegistryItem;
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179 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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180 new xQueueRegistryItem name below to enable the use of older kernel aware
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182 typedef xQueueRegistryItem QueueRegistryItem_t;
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184 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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185 The pcQueueName member of a structure being NULL is indicative of the
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186 array position being vacant. */
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187 QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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189 #endif /* configQUEUE_REGISTRY_SIZE */
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192 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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193 * prevent an ISR from adding or removing items to the queue, but does prevent
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194 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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195 * queue is locked it will instead increment the appropriate queue lock count
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196 * to indicate that a task may require unblocking. When the queue in unlocked
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197 * these lock counts are inspected, and the appropriate action taken.
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199 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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202 * Uses a critical section to determine if there is any data in a queue.
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204 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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206 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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209 * Uses a critical section to determine if there is any space in a queue.
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211 * @return pdTRUE if there is no space, otherwise pdFALSE;
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213 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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216 * Copies an item into the queue, either at the front of the queue or the
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217 * back of the queue.
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219 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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222 * Copies an item out of a queue.
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224 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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226 #if ( configUSE_QUEUE_SETS == 1 )
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228 * Checks to see if a queue is a member of a queue set, and if so, notifies
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229 * the queue set that the queue contains data.
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231 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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234 /*-----------------------------------------------------------*/
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237 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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238 * accessing the queue event lists.
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240 #define prvLockQueue( pxQueue ) \
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241 taskENTER_CRITICAL(); \
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243 if( ( pxQueue )->xRxLock == queueUNLOCKED ) \
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245 ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \
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247 if( ( pxQueue )->xTxLock == queueUNLOCKED ) \
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249 ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \
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252 taskEXIT_CRITICAL()
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253 /*-----------------------------------------------------------*/
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255 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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257 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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259 configASSERT( pxQueue );
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261 taskENTER_CRITICAL();
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263 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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264 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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265 pxQueue->pcWriteTo = pxQueue->pcHead;
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266 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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267 pxQueue->xRxLock = queueUNLOCKED;
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268 pxQueue->xTxLock = queueUNLOCKED;
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270 if( xNewQueue == pdFALSE )
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272 /* If there are tasks blocked waiting to read from the queue, then
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273 the tasks will remain blocked as after this function exits the queue
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274 will still be empty. If there are tasks blocked waiting to write to
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275 the queue, then one should be unblocked as after this function exits
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276 it will be possible to write to it. */
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277 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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279 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
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281 queueYIELD_IF_USING_PREEMPTION();
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285 mtCOVERAGE_TEST_MARKER();
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290 mtCOVERAGE_TEST_MARKER();
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295 /* Ensure the event queues start in the correct state. */
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296 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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297 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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300 taskEXIT_CRITICAL();
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302 /* A value is returned for calling semantic consistency with previous
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306 /*-----------------------------------------------------------*/
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308 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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310 Queue_t *pxNewQueue;
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311 size_t xQueueSizeInBytes;
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312 QueueHandle_t xReturn = NULL;
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314 /* Remove compiler warnings about unused parameters should
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315 configUSE_TRACE_FACILITY not be set to 1. */
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316 ( void ) ucQueueType;
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318 /* Allocate the new queue structure. */
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319 if( uxQueueLength > ( UBaseType_t ) 0 )
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321 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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322 if( pxNewQueue != NULL )
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324 /* Create the list of pointers to queue items. The queue is one byte
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325 longer than asked for to make wrap checking easier/faster. */
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326 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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328 pxNewQueue->pcHead = ( int8_t * ) pvPortMalloc( xQueueSizeInBytes );
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329 if( pxNewQueue->pcHead != NULL )
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331 /* Initialise the queue members as described above where the
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332 queue type is defined. */
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333 pxNewQueue->uxLength = uxQueueLength;
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334 pxNewQueue->uxItemSize = uxItemSize;
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335 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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337 #if ( configUSE_TRACE_FACILITY == 1 )
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339 pxNewQueue->ucQueueType = ucQueueType;
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341 #endif /* configUSE_TRACE_FACILITY */
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343 #if( configUSE_QUEUE_SETS == 1 )
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345 pxNewQueue->pxQueueSetContainer = NULL;
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347 #endif /* configUSE_QUEUE_SETS */
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349 traceQUEUE_CREATE( pxNewQueue );
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350 xReturn = pxNewQueue;
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354 traceQUEUE_CREATE_FAILED( ucQueueType );
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355 vPortFree( pxNewQueue );
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360 mtCOVERAGE_TEST_MARKER();
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365 mtCOVERAGE_TEST_MARKER();
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368 configASSERT( xReturn );
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372 /*-----------------------------------------------------------*/
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374 #if ( configUSE_MUTEXES == 1 )
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376 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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378 Queue_t *pxNewQueue;
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380 /* Prevent compiler warnings about unused parameters if
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381 configUSE_TRACE_FACILITY does not equal 1. */
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382 ( void ) ucQueueType;
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384 /* Allocate the new queue structure. */
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385 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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386 if( pxNewQueue != NULL )
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388 /* Information required for priority inheritance. */
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389 pxNewQueue->pxMutexHolder = NULL;
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390 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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392 /* Queues used as a mutex no data is actually copied into or out
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394 pxNewQueue->pcWriteTo = NULL;
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395 pxNewQueue->u.pcReadFrom = NULL;
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397 /* Each mutex has a length of 1 (like a binary semaphore) and
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398 an item size of 0 as nothing is actually copied into or out
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400 pxNewQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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401 pxNewQueue->uxLength = ( UBaseType_t ) 1U;
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402 pxNewQueue->uxItemSize = ( UBaseType_t ) 0U;
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403 pxNewQueue->xRxLock = queueUNLOCKED;
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404 pxNewQueue->xTxLock = queueUNLOCKED;
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406 #if ( configUSE_TRACE_FACILITY == 1 )
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408 pxNewQueue->ucQueueType = ucQueueType;
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412 #if ( configUSE_QUEUE_SETS == 1 )
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414 pxNewQueue->pxQueueSetContainer = NULL;
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418 /* Ensure the event queues start with the correct state. */
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419 vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
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420 vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
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422 traceCREATE_MUTEX( pxNewQueue );
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424 /* Start with the semaphore in the expected state. Preload the
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425 mutex held count as calling xQueueGenericSend() will decrement the
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426 count back to 0. */
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427 vTaskIncrementMutexHeldCount();
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428 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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432 traceCREATE_MUTEX_FAILED();
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435 configASSERT( pxNewQueue );
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439 #endif /* configUSE_MUTEXES */
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440 /*-----------------------------------------------------------*/
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442 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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444 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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448 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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449 be called directly. Note: This is a good way of determining if the
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450 calling task is the mutex holder, but not a good way of determining the
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451 identity of the mutex holder, as the holder may change between the
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452 following critical section exiting and the function returning. */
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453 taskENTER_CRITICAL();
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455 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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457 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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464 taskEXIT_CRITICAL();
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470 /*-----------------------------------------------------------*/
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472 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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474 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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476 BaseType_t xReturn;
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477 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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479 configASSERT( pxMutex );
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481 /* If this is the task that holds the mutex then pxMutexHolder will not
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482 change outside of this task. If this task does not hold the mutex then
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483 pxMutexHolder can never coincidentally equal the tasks handle, and as
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484 this is the only condition we are interested in it does not matter if
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485 pxMutexHolder is accessed simultaneously by another task. Therefore no
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486 mutual exclusion is required to test the pxMutexHolder variable. */
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487 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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489 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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491 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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492 the task handle, therefore no underflow check is required. Also,
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493 uxRecursiveCallCount is only modified by the mutex holder, and as
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494 there can only be one, no mutual exclusion is required to modify the
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495 uxRecursiveCallCount member. */
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496 ( pxMutex->u.uxRecursiveCallCount )--;
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498 /* Have we unwound the call count? */
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499 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
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501 /* Return the mutex. This will automatically unblock any other
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502 task that might be waiting to access the mutex. */
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503 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
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507 mtCOVERAGE_TEST_MARKER();
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514 /* The mutex cannot be given because the calling task is not the
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518 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
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524 #endif /* configUSE_RECURSIVE_MUTEXES */
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525 /*-----------------------------------------------------------*/
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527 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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529 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
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531 BaseType_t xReturn;
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532 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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534 configASSERT( pxMutex );
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536 /* Comments regarding mutual exclusion as per those within
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537 xQueueGiveMutexRecursive(). */
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539 traceTAKE_MUTEX_RECURSIVE( pxMutex );
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541 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
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543 ( pxMutex->u.uxRecursiveCallCount )++;
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548 xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
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550 /* pdPASS will only be returned if the mutex was successfully
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551 obtained. The calling task may have entered the Blocked state
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552 before reaching here. */
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553 if( xReturn == pdPASS )
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555 ( pxMutex->u.uxRecursiveCallCount )++;
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559 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
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566 #endif /* configUSE_RECURSIVE_MUTEXES */
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567 /*-----------------------------------------------------------*/
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569 #if ( configUSE_COUNTING_SEMAPHORES == 1 )
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571 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
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573 QueueHandle_t xHandle;
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575 configASSERT( uxMaxCount != 0 );
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576 configASSERT( uxInitialCount <= uxMaxCount );
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578 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
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580 if( xHandle != NULL )
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582 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
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584 traceCREATE_COUNTING_SEMAPHORE();
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588 traceCREATE_COUNTING_SEMAPHORE_FAILED();
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591 configASSERT( xHandle );
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595 #endif /* configUSE_COUNTING_SEMAPHORES */
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596 /*-----------------------------------------------------------*/
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598 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
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600 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
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601 TimeOut_t xTimeOut;
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602 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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604 configASSERT( pxQueue );
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605 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
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606 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
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607 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
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609 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
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614 /* This function relaxes the coding standard somewhat to allow return
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615 statements within the function itself. This is done in the interest
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616 of execution time efficiency. */
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619 taskENTER_CRITICAL();
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621 /* Is there room on the queue now? The running task must be
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622 the highest priority task wanting to access the queue. If
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623 the head item in the queue is to be overwritten then it does
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624 not matter if the queue is full. */
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625 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
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627 traceQUEUE_SEND( pxQueue );
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628 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
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630 #if ( configUSE_QUEUE_SETS == 1 )
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632 if( pxQueue->pxQueueSetContainer != NULL )
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634 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
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636 /* The queue is a member of a queue set, and posting
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637 to the queue set caused a higher priority task to
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638 unblock. A context switch is required. */
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639 queueYIELD_IF_USING_PREEMPTION();
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643 mtCOVERAGE_TEST_MARKER();
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648 /* If there was a task waiting for data to arrive on the
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649 queue then unblock it now. */
\r
650 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
652 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
654 /* The unblocked task has a priority higher than
\r
655 our own so yield immediately. Yes it is ok to
\r
656 do this from within the critical section - the
\r
657 kernel takes care of that. */
\r
658 queueYIELD_IF_USING_PREEMPTION();
\r
662 mtCOVERAGE_TEST_MARKER();
\r
665 else if( xYieldRequired != pdFALSE )
\r
667 /* This path is a special case that will only get
\r
668 executed if the task was holding multiple mutexes
\r
669 and the mutexes were given back in an order that is
\r
670 different to that in which they were taken. */
\r
671 queueYIELD_IF_USING_PREEMPTION();
\r
675 mtCOVERAGE_TEST_MARKER();
\r
679 #else /* configUSE_QUEUE_SETS */
\r
681 /* If there was a task waiting for data to arrive on the
\r
682 queue then unblock it now. */
\r
683 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
685 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
687 /* The unblocked task has a priority higher than
\r
688 our own so yield immediately. Yes it is ok to do
\r
689 this from within the critical section - the kernel
\r
690 takes care of that. */
\r
691 queueYIELD_IF_USING_PREEMPTION();
\r
695 mtCOVERAGE_TEST_MARKER();
\r
700 mtCOVERAGE_TEST_MARKER();
\r
703 #endif /* configUSE_QUEUE_SETS */
\r
705 taskEXIT_CRITICAL();
\r
710 if( xTicksToWait == ( TickType_t ) 0 )
\r
712 /* The queue was full and no block time is specified (or
\r
713 the block time has expired) so leave now. */
\r
714 taskEXIT_CRITICAL();
\r
716 /* Return to the original privilege level before exiting
\r
718 traceQUEUE_SEND_FAILED( pxQueue );
\r
719 return errQUEUE_FULL;
\r
721 else if( xEntryTimeSet == pdFALSE )
\r
723 /* The queue was full and a block time was specified so
\r
724 configure the timeout structure. */
\r
725 vTaskSetTimeOutState( &xTimeOut );
\r
726 xEntryTimeSet = pdTRUE;
\r
730 /* Entry time was already set. */
\r
731 mtCOVERAGE_TEST_MARKER();
\r
735 taskEXIT_CRITICAL();
\r
737 /* Interrupts and other tasks can send to and receive from the queue
\r
738 now the critical section has been exited. */
\r
741 prvLockQueue( pxQueue );
\r
743 /* Update the timeout state to see if it has expired yet. */
\r
744 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
746 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
748 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
749 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
751 /* Unlocking the queue means queue events can effect the
\r
752 event list. It is possible that interrupts occurring now
\r
753 remove this task from the event list again - but as the
\r
754 scheduler is suspended the task will go onto the pending
\r
755 ready last instead of the actual ready list. */
\r
756 prvUnlockQueue( pxQueue );
\r
758 /* Resuming the scheduler will move tasks from the pending
\r
759 ready list into the ready list - so it is feasible that this
\r
760 task is already in a ready list before it yields - in which
\r
761 case the yield will not cause a context switch unless there
\r
762 is also a higher priority task in the pending ready list. */
\r
763 if( xTaskResumeAll() == pdFALSE )
\r
765 portYIELD_WITHIN_API();
\r
771 prvUnlockQueue( pxQueue );
\r
772 ( void ) xTaskResumeAll();
\r
777 /* The timeout has expired. */
\r
778 prvUnlockQueue( pxQueue );
\r
779 ( void ) xTaskResumeAll();
\r
781 /* Return to the original privilege level before exiting the
\r
783 traceQUEUE_SEND_FAILED( pxQueue );
\r
784 return errQUEUE_FULL;
\r
788 /*-----------------------------------------------------------*/
\r
790 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
792 BaseType_t xQueueAltGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, BaseType_t xCopyPosition )
\r
794 BaseType_t xEntryTimeSet = pdFALSE;
\r
795 TimeOut_t xTimeOut;
\r
796 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
798 configASSERT( pxQueue );
\r
799 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
803 taskENTER_CRITICAL();
\r
805 /* Is there room on the queue now? To be running we must be
\r
806 the highest priority task wanting to access the queue. */
\r
807 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
809 traceQUEUE_SEND( pxQueue );
\r
810 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
812 /* If there was a task waiting for data to arrive on the
\r
813 queue then unblock it now. */
\r
814 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
816 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
818 /* The unblocked task has a priority higher than
\r
819 our own so yield immediately. */
\r
820 portYIELD_WITHIN_API();
\r
824 mtCOVERAGE_TEST_MARKER();
\r
829 mtCOVERAGE_TEST_MARKER();
\r
832 taskEXIT_CRITICAL();
\r
837 if( xTicksToWait == ( TickType_t ) 0 )
\r
839 taskEXIT_CRITICAL();
\r
840 return errQUEUE_FULL;
\r
842 else if( xEntryTimeSet == pdFALSE )
\r
844 vTaskSetTimeOutState( &xTimeOut );
\r
845 xEntryTimeSet = pdTRUE;
\r
849 taskEXIT_CRITICAL();
\r
851 taskENTER_CRITICAL();
\r
853 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
855 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
857 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
858 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
859 portYIELD_WITHIN_API();
\r
863 mtCOVERAGE_TEST_MARKER();
\r
868 taskEXIT_CRITICAL();
\r
869 traceQUEUE_SEND_FAILED( pxQueue );
\r
870 return errQUEUE_FULL;
\r
873 taskEXIT_CRITICAL();
\r
877 #endif /* configUSE_ALTERNATIVE_API */
\r
878 /*-----------------------------------------------------------*/
\r
880 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
882 BaseType_t xQueueAltGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, BaseType_t xJustPeeking )
\r
884 BaseType_t xEntryTimeSet = pdFALSE;
\r
885 TimeOut_t xTimeOut;
\r
886 int8_t *pcOriginalReadPosition;
\r
887 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
889 configASSERT( pxQueue );
\r
890 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
894 taskENTER_CRITICAL();
\r
896 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
898 /* Remember our read position in case we are just peeking. */
\r
899 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
901 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
903 if( xJustPeeking == pdFALSE )
\r
905 traceQUEUE_RECEIVE( pxQueue );
\r
907 /* Data is actually being removed (not just peeked). */
\r
908 --( pxQueue->uxMessagesWaiting );
\r
910 #if ( configUSE_MUTEXES == 1 )
\r
912 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
914 /* Record the information required to implement
\r
915 priority inheritance should it become necessary. */
\r
916 pxQueue->pxMutexHolder = ( int8_t * ) xTaskGetCurrentTaskHandle();
\r
920 mtCOVERAGE_TEST_MARKER();
\r
925 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
927 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
929 portYIELD_WITHIN_API();
\r
933 mtCOVERAGE_TEST_MARKER();
\r
939 traceQUEUE_PEEK( pxQueue );
\r
941 /* We are not removing the data, so reset our read
\r
943 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
945 /* The data is being left in the queue, so see if there are
\r
946 any other tasks waiting for the data. */
\r
947 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
949 /* Tasks that are removed from the event list will get added to
\r
950 the pending ready list as the scheduler is still suspended. */
\r
951 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
953 /* The task waiting has a higher priority than this task. */
\r
954 portYIELD_WITHIN_API();
\r
958 mtCOVERAGE_TEST_MARKER();
\r
963 mtCOVERAGE_TEST_MARKER();
\r
967 taskEXIT_CRITICAL();
\r
972 if( xTicksToWait == ( TickType_t ) 0 )
\r
974 taskEXIT_CRITICAL();
\r
975 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
976 return errQUEUE_EMPTY;
\r
978 else if( xEntryTimeSet == pdFALSE )
\r
980 vTaskSetTimeOutState( &xTimeOut );
\r
981 xEntryTimeSet = pdTRUE;
\r
985 taskEXIT_CRITICAL();
\r
987 taskENTER_CRITICAL();
\r
989 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
991 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
993 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
995 #if ( configUSE_MUTEXES == 1 )
\r
997 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
999 taskENTER_CRITICAL();
\r
1001 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1003 taskEXIT_CRITICAL();
\r
1007 mtCOVERAGE_TEST_MARKER();
\r
1012 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1013 portYIELD_WITHIN_API();
\r
1017 mtCOVERAGE_TEST_MARKER();
\r
1022 taskEXIT_CRITICAL();
\r
1023 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1024 return errQUEUE_EMPTY;
\r
1027 taskEXIT_CRITICAL();
\r
1032 #endif /* configUSE_ALTERNATIVE_API */
\r
1033 /*-----------------------------------------------------------*/
\r
1035 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
1037 BaseType_t xReturn;
\r
1038 UBaseType_t uxSavedInterruptStatus;
\r
1039 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1041 configASSERT( pxQueue );
\r
1042 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1043 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
1045 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1046 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1047 above the maximum system call priority are kept permanently enabled, even
\r
1048 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1049 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1050 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1051 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1052 assigned a priority above the configured maximum system call priority.
\r
1053 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1054 that have been assigned a priority at or (logically) below the maximum
\r
1055 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1056 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1057 More information (albeit Cortex-M specific) is provided on the following
\r
1058 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1059 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1061 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
1062 in the queue. Also don't directly wake a task that was blocked on a queue
\r
1063 read, instead return a flag to say whether a context switch is required or
\r
1064 not (i.e. has a task with a higher priority than us been woken by this
\r
1066 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1068 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
1070 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1072 if( prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ) != pdFALSE )
\r
1074 /* This is a special case that can only be executed if a task
\r
1075 holds multiple mutexes and then gives the mutexes back in an
\r
1076 order that is different to that in which they were taken. */
\r
1077 if( pxHigherPriorityTaskWoken != NULL )
\r
1079 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1083 mtCOVERAGE_TEST_MARKER();
\r
1087 /* The event list is not altered if the queue is locked. This will
\r
1088 be done when the queue is unlocked later. */
\r
1089 if( pxQueue->xTxLock == queueUNLOCKED )
\r
1091 #if ( configUSE_QUEUE_SETS == 1 )
\r
1093 if( pxQueue->pxQueueSetContainer != NULL )
\r
1095 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
\r
1097 /* The queue is a member of a queue set, and posting
\r
1098 to the queue set caused a higher priority task to
\r
1099 unblock. A context switch is required. */
\r
1100 if( pxHigherPriorityTaskWoken != NULL )
\r
1102 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1106 mtCOVERAGE_TEST_MARKER();
\r
1111 mtCOVERAGE_TEST_MARKER();
\r
1116 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1118 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1120 /* The task waiting has a higher priority so record that a
\r
1121 context switch is required. */
\r
1122 if( pxHigherPriorityTaskWoken != NULL )
\r
1124 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1128 mtCOVERAGE_TEST_MARKER();
\r
1133 mtCOVERAGE_TEST_MARKER();
\r
1138 mtCOVERAGE_TEST_MARKER();
\r
1142 #else /* configUSE_QUEUE_SETS */
\r
1144 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1146 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1148 /* The task waiting has a higher priority so record that a
\r
1149 context switch is required. */
\r
1150 if( pxHigherPriorityTaskWoken != NULL )
\r
1152 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1156 mtCOVERAGE_TEST_MARKER();
\r
1161 mtCOVERAGE_TEST_MARKER();
\r
1166 mtCOVERAGE_TEST_MARKER();
\r
1169 #endif /* configUSE_QUEUE_SETS */
\r
1173 /* Increment the lock count so the task that unlocks the queue
\r
1174 knows that data was posted while it was locked. */
\r
1175 ++( pxQueue->xTxLock );
\r
1182 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1183 xReturn = errQUEUE_FULL;
\r
1186 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1190 /*-----------------------------------------------------------*/
\r
1192 BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking )
\r
1194 BaseType_t xEntryTimeSet = pdFALSE;
\r
1195 TimeOut_t xTimeOut;
\r
1196 int8_t *pcOriginalReadPosition;
\r
1197 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1199 configASSERT( pxQueue );
\r
1200 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1201 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1203 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1207 /* This function relaxes the coding standard somewhat to allow return
\r
1208 statements within the function itself. This is done in the interest
\r
1209 of execution time efficiency. */
\r
1213 taskENTER_CRITICAL();
\r
1215 /* Is there data in the queue now? To be running we must be
\r
1216 the highest priority task wanting to access the queue. */
\r
1217 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1219 /* Remember the read position in case the queue is only being
\r
1221 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1223 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1225 if( xJustPeeking == pdFALSE )
\r
1227 traceQUEUE_RECEIVE( pxQueue );
\r
1229 /* Actually removing data, not just peeking. */
\r
1230 --( pxQueue->uxMessagesWaiting );
\r
1232 #if ( configUSE_MUTEXES == 1 )
\r
1234 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1236 /* Record the information required to implement
\r
1237 priority inheritance should it become necessary. */
\r
1238 pxQueue->pxMutexHolder = ( int8_t * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1247 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1249 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
1251 queueYIELD_IF_USING_PREEMPTION();
\r
1255 mtCOVERAGE_TEST_MARKER();
\r
1260 mtCOVERAGE_TEST_MARKER();
\r
1265 traceQUEUE_PEEK( pxQueue );
\r
1267 /* The data is not being removed, so reset the read
\r
1269 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1271 /* The data is being left in the queue, so see if there are
\r
1272 any other tasks waiting for the data. */
\r
1273 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1275 /* Tasks that are removed from the event list will get added to
\r
1276 the pending ready list as the scheduler is still suspended. */
\r
1277 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1279 /* The task waiting has a higher priority than this task. */
\r
1280 queueYIELD_IF_USING_PREEMPTION();
\r
1284 mtCOVERAGE_TEST_MARKER();
\r
1289 mtCOVERAGE_TEST_MARKER();
\r
1293 taskEXIT_CRITICAL();
\r
1298 if( xTicksToWait == ( TickType_t ) 0 )
\r
1300 /* The queue was empty and no block time is specified (or
\r
1301 the block time has expired) so leave now. */
\r
1302 taskEXIT_CRITICAL();
\r
1303 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1304 return errQUEUE_EMPTY;
\r
1306 else if( xEntryTimeSet == pdFALSE )
\r
1308 /* The queue was empty and a block time was specified so
\r
1309 configure the timeout structure. */
\r
1310 vTaskSetTimeOutState( &xTimeOut );
\r
1311 xEntryTimeSet = pdTRUE;
\r
1315 /* Entry time was already set. */
\r
1316 mtCOVERAGE_TEST_MARKER();
\r
1320 taskEXIT_CRITICAL();
\r
1322 /* Interrupts and other tasks can send to and receive from the queue
\r
1323 now the critical section has been exited. */
\r
1325 vTaskSuspendAll();
\r
1326 prvLockQueue( pxQueue );
\r
1328 /* Update the timeout state to see if it has expired yet. */
\r
1329 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1331 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1333 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1335 #if ( configUSE_MUTEXES == 1 )
\r
1337 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1339 taskENTER_CRITICAL();
\r
1341 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1343 taskEXIT_CRITICAL();
\r
1347 mtCOVERAGE_TEST_MARKER();
\r
1352 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1353 prvUnlockQueue( pxQueue );
\r
1354 if( xTaskResumeAll() == pdFALSE )
\r
1356 portYIELD_WITHIN_API();
\r
1360 mtCOVERAGE_TEST_MARKER();
\r
1366 prvUnlockQueue( pxQueue );
\r
1367 ( void ) xTaskResumeAll();
\r
1372 prvUnlockQueue( pxQueue );
\r
1373 ( void ) xTaskResumeAll();
\r
1374 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1375 return errQUEUE_EMPTY;
\r
1379 /*-----------------------------------------------------------*/
\r
1381 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1383 BaseType_t xReturn;
\r
1384 UBaseType_t uxSavedInterruptStatus;
\r
1385 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1387 configASSERT( pxQueue );
\r
1388 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1390 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1391 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1392 above the maximum system call priority are kept permanently enabled, even
\r
1393 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1394 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1395 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1396 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1397 assigned a priority above the configured maximum system call priority.
\r
1398 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1399 that have been assigned a priority at or (logically) below the maximum
\r
1400 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1401 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1402 More information (albeit Cortex-M specific) is provided on the following
\r
1403 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1404 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1406 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1408 /* Cannot block in an ISR, so check there is data available. */
\r
1409 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1411 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1413 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1414 --( pxQueue->uxMessagesWaiting );
\r
1416 /* If the queue is locked the event list will not be modified.
\r
1417 Instead update the lock count so the task that unlocks the queue
\r
1418 will know that an ISR has removed data while the queue was
\r
1420 if( pxQueue->xRxLock == queueUNLOCKED )
\r
1422 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1424 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1426 /* The task waiting has a higher priority than us so
\r
1427 force a context switch. */
\r
1428 if( pxHigherPriorityTaskWoken != NULL )
\r
1430 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1434 mtCOVERAGE_TEST_MARKER();
\r
1439 mtCOVERAGE_TEST_MARKER();
\r
1444 mtCOVERAGE_TEST_MARKER();
\r
1449 /* Increment the lock count so the task that unlocks the queue
\r
1450 knows that data was removed while it was locked. */
\r
1451 ++( pxQueue->xRxLock );
\r
1459 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1462 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1466 /*-----------------------------------------------------------*/
\r
1468 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1470 BaseType_t xReturn;
\r
1471 UBaseType_t uxSavedInterruptStatus;
\r
1472 int8_t *pcOriginalReadPosition;
\r
1473 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1475 configASSERT( pxQueue );
\r
1476 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1478 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1479 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1480 above the maximum system call priority are kept permanently enabled, even
\r
1481 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1482 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1483 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1484 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1485 assigned a priority above the configured maximum system call priority.
\r
1486 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1487 that have been assigned a priority at or (logically) below the maximum
\r
1488 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1489 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1490 More information (albeit Cortex-M specific) is provided on the following
\r
1491 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1492 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1494 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1496 /* Cannot block in an ISR, so check there is data available. */
\r
1497 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1499 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1501 /* Remember the read position so it can be reset as nothing is
\r
1502 actually being removed from the queue. */
\r
1503 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1504 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1505 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1512 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1515 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1519 /*-----------------------------------------------------------*/
\r
1521 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1523 UBaseType_t uxReturn;
\r
1525 configASSERT( xQueue );
\r
1527 taskENTER_CRITICAL();
\r
1529 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1531 taskEXIT_CRITICAL();
\r
1534 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1535 /*-----------------------------------------------------------*/
\r
1537 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1539 UBaseType_t uxReturn;
\r
1542 pxQueue = ( Queue_t * ) xQueue;
\r
1543 configASSERT( pxQueue );
\r
1545 taskENTER_CRITICAL();
\r
1547 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1549 taskEXIT_CRITICAL();
\r
1552 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1553 /*-----------------------------------------------------------*/
\r
1555 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1557 UBaseType_t uxReturn;
\r
1559 configASSERT( xQueue );
\r
1561 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1564 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1565 /*-----------------------------------------------------------*/
\r
1567 void vQueueDelete( QueueHandle_t xQueue )
\r
1569 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1571 configASSERT( pxQueue );
\r
1573 traceQUEUE_DELETE( pxQueue );
\r
1574 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1576 vQueueUnregisterQueue( pxQueue );
\r
1579 if( pxQueue->pcHead != NULL )
\r
1581 vPortFree( pxQueue->pcHead );
\r
1583 vPortFree( pxQueue );
\r
1585 /*-----------------------------------------------------------*/
\r
1587 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1589 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1591 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1594 #endif /* configUSE_TRACE_FACILITY */
\r
1595 /*-----------------------------------------------------------*/
\r
1597 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1599 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1601 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
1604 #endif /* configUSE_TRACE_FACILITY */
\r
1605 /*-----------------------------------------------------------*/
\r
1607 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1609 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
1611 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
1614 #endif /* configUSE_TRACE_FACILITY */
\r
1615 /*-----------------------------------------------------------*/
\r
1617 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
1619 BaseType_t xReturn = pdFALSE;
\r
1621 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
1623 #if ( configUSE_MUTEXES == 1 )
\r
1625 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1627 /* The mutex is no longer being held. */
\r
1628 vTaskDecrementMutexHeldCount();
\r
1629 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1630 pxQueue->pxMutexHolder = NULL;
\r
1634 mtCOVERAGE_TEST_MARKER();
\r
1637 #endif /* configUSE_MUTEXES */
\r
1639 else if( xPosition == queueSEND_TO_BACK )
\r
1641 ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. */
\r
1642 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1643 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1645 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1649 mtCOVERAGE_TEST_MARKER();
\r
1654 ( void ) memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1655 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1656 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1658 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1662 mtCOVERAGE_TEST_MARKER();
\r
1665 if( xPosition == queueOVERWRITE )
\r
1667 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1669 /* An item is not being added but overwritten, so subtract
\r
1670 one from the recorded number of items in the queue so when
\r
1671 one is added again below the number of recorded items remains
\r
1673 --( pxQueue->uxMessagesWaiting );
\r
1677 mtCOVERAGE_TEST_MARKER();
\r
1682 mtCOVERAGE_TEST_MARKER();
\r
1686 ++( pxQueue->uxMessagesWaiting );
\r
1690 /*-----------------------------------------------------------*/
\r
1692 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
1694 if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
\r
1696 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1697 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1699 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1703 mtCOVERAGE_TEST_MARKER();
\r
1705 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */
\r
1709 /* A mutex was taken. */
\r
1710 vTaskIncrementMutexHeldCount();
\r
1713 /*-----------------------------------------------------------*/
\r
1715 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
1717 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1719 /* The lock counts contains the number of extra data items placed or
\r
1720 removed from the queue while the queue was locked. When a queue is
\r
1721 locked items can be added or removed, but the event lists cannot be
\r
1723 taskENTER_CRITICAL();
\r
1725 /* See if data was added to the queue while it was locked. */
\r
1726 while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )
\r
1728 /* Data was posted while the queue was locked. Are any tasks
\r
1729 blocked waiting for data to become available? */
\r
1730 #if ( configUSE_QUEUE_SETS == 1 )
\r
1732 if( pxQueue->pxQueueSetContainer != NULL )
\r
1734 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
\r
1736 /* The queue is a member of a queue set, and posting to
\r
1737 the queue set caused a higher priority task to unblock.
\r
1738 A context switch is required. */
\r
1739 vTaskMissedYield();
\r
1743 mtCOVERAGE_TEST_MARKER();
\r
1748 /* Tasks that are removed from the event list will get added to
\r
1749 the pending ready list as the scheduler is still suspended. */
\r
1750 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1752 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1754 /* The task waiting has a higher priority so record that a
\r
1755 context switch is required. */
\r
1756 vTaskMissedYield();
\r
1760 mtCOVERAGE_TEST_MARKER();
\r
1769 #else /* configUSE_QUEUE_SETS */
\r
1771 /* Tasks that are removed from the event list will get added to
\r
1772 the pending ready list as the scheduler is still suspended. */
\r
1773 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1775 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1777 /* The task waiting has a higher priority so record that a
\r
1778 context switch is required. */
\r
1779 vTaskMissedYield();
\r
1783 mtCOVERAGE_TEST_MARKER();
\r
1791 #endif /* configUSE_QUEUE_SETS */
\r
1793 --( pxQueue->xTxLock );
\r
1796 pxQueue->xTxLock = queueUNLOCKED;
\r
1798 taskEXIT_CRITICAL();
\r
1800 /* Do the same for the Rx lock. */
\r
1801 taskENTER_CRITICAL();
\r
1803 while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
\r
1805 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1807 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1809 vTaskMissedYield();
\r
1813 mtCOVERAGE_TEST_MARKER();
\r
1816 --( pxQueue->xRxLock );
\r
1824 pxQueue->xRxLock = queueUNLOCKED;
\r
1826 taskEXIT_CRITICAL();
\r
1828 /*-----------------------------------------------------------*/
\r
1830 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
1832 BaseType_t xReturn;
\r
1834 taskENTER_CRITICAL();
\r
1836 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1842 xReturn = pdFALSE;
\r
1845 taskEXIT_CRITICAL();
\r
1849 /*-----------------------------------------------------------*/
\r
1851 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
1853 BaseType_t xReturn;
\r
1855 configASSERT( xQueue );
\r
1856 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1862 xReturn = pdFALSE;
\r
1866 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1867 /*-----------------------------------------------------------*/
\r
1869 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
1871 BaseType_t xReturn;
\r
1873 taskENTER_CRITICAL();
\r
1875 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
1881 xReturn = pdFALSE;
\r
1884 taskEXIT_CRITICAL();
\r
1888 /*-----------------------------------------------------------*/
\r
1890 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
1892 BaseType_t xReturn;
\r
1894 configASSERT( xQueue );
\r
1895 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
1901 xReturn = pdFALSE;
\r
1905 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1906 /*-----------------------------------------------------------*/
\r
1908 #if ( configUSE_CO_ROUTINES == 1 )
\r
1910 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
1912 BaseType_t xReturn;
\r
1913 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1915 /* If the queue is already full we may have to block. A critical section
\r
1916 is required to prevent an interrupt removing something from the queue
\r
1917 between the check to see if the queue is full and blocking on the queue. */
\r
1918 portDISABLE_INTERRUPTS();
\r
1920 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
1922 /* The queue is full - do we want to block or just leave without
\r
1924 if( xTicksToWait > ( TickType_t ) 0 )
\r
1926 /* As this is called from a coroutine we cannot block directly, but
\r
1927 return indicating that we need to block. */
\r
1928 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
1929 portENABLE_INTERRUPTS();
\r
1930 return errQUEUE_BLOCKED;
\r
1934 portENABLE_INTERRUPTS();
\r
1935 return errQUEUE_FULL;
\r
1939 portENABLE_INTERRUPTS();
\r
1941 portDISABLE_INTERRUPTS();
\r
1943 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1945 /* There is room in the queue, copy the data into the queue. */
\r
1946 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
1949 /* Were any co-routines waiting for data to become available? */
\r
1950 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1952 /* In this instance the co-routine could be placed directly
\r
1953 into the ready list as we are within a critical section.
\r
1954 Instead the same pending ready list mechanism is used as if
\r
1955 the event were caused from within an interrupt. */
\r
1956 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1958 /* The co-routine waiting has a higher priority so record
\r
1959 that a yield might be appropriate. */
\r
1960 xReturn = errQUEUE_YIELD;
\r
1964 mtCOVERAGE_TEST_MARKER();
\r
1969 mtCOVERAGE_TEST_MARKER();
\r
1974 xReturn = errQUEUE_FULL;
\r
1977 portENABLE_INTERRUPTS();
\r
1982 #endif /* configUSE_CO_ROUTINES */
\r
1983 /*-----------------------------------------------------------*/
\r
1985 #if ( configUSE_CO_ROUTINES == 1 )
\r
1987 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
1989 BaseType_t xReturn;
\r
1990 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1992 /* If the queue is already empty we may have to block. A critical section
\r
1993 is required to prevent an interrupt adding something to the queue
\r
1994 between the check to see if the queue is empty and blocking on the queue. */
\r
1995 portDISABLE_INTERRUPTS();
\r
1997 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1999 /* There are no messages in the queue, do we want to block or just
\r
2000 leave with nothing? */
\r
2001 if( xTicksToWait > ( TickType_t ) 0 )
\r
2003 /* As this is a co-routine we cannot block directly, but return
\r
2004 indicating that we need to block. */
\r
2005 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2006 portENABLE_INTERRUPTS();
\r
2007 return errQUEUE_BLOCKED;
\r
2011 portENABLE_INTERRUPTS();
\r
2012 return errQUEUE_FULL;
\r
2017 mtCOVERAGE_TEST_MARKER();
\r
2020 portENABLE_INTERRUPTS();
\r
2022 portDISABLE_INTERRUPTS();
\r
2024 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2026 /* Data is available from the queue. */
\r
2027 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2028 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2030 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2034 mtCOVERAGE_TEST_MARKER();
\r
2036 --( pxQueue->uxMessagesWaiting );
\r
2037 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2041 /* Were any co-routines waiting for space to become available? */
\r
2042 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2044 /* In this instance the co-routine could be placed directly
\r
2045 into the ready list as we are within a critical section.
\r
2046 Instead the same pending ready list mechanism is used as if
\r
2047 the event were caused from within an interrupt. */
\r
2048 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2050 xReturn = errQUEUE_YIELD;
\r
2054 mtCOVERAGE_TEST_MARKER();
\r
2059 mtCOVERAGE_TEST_MARKER();
\r
2067 portENABLE_INTERRUPTS();
\r
2072 #endif /* configUSE_CO_ROUTINES */
\r
2073 /*-----------------------------------------------------------*/
\r
2075 #if ( configUSE_CO_ROUTINES == 1 )
\r
2077 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2079 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2081 /* Cannot block within an ISR so if there is no space on the queue then
\r
2082 exit without doing anything. */
\r
2083 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2085 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2087 /* We only want to wake one co-routine per ISR, so check that a
\r
2088 co-routine has not already been woken. */
\r
2089 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2091 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2093 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2099 mtCOVERAGE_TEST_MARKER();
\r
2104 mtCOVERAGE_TEST_MARKER();
\r
2109 mtCOVERAGE_TEST_MARKER();
\r
2114 mtCOVERAGE_TEST_MARKER();
\r
2117 return xCoRoutinePreviouslyWoken;
\r
2120 #endif /* configUSE_CO_ROUTINES */
\r
2121 /*-----------------------------------------------------------*/
\r
2123 #if ( configUSE_CO_ROUTINES == 1 )
\r
2125 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2127 BaseType_t xReturn;
\r
2128 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2130 /* We cannot block from an ISR, so check there is data available. If
\r
2131 not then just leave without doing anything. */
\r
2132 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2134 /* Copy the data from the queue. */
\r
2135 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2136 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2138 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2142 mtCOVERAGE_TEST_MARKER();
\r
2144 --( pxQueue->uxMessagesWaiting );
\r
2145 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2147 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2149 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2151 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2153 *pxCoRoutineWoken = pdTRUE;
\r
2157 mtCOVERAGE_TEST_MARKER();
\r
2162 mtCOVERAGE_TEST_MARKER();
\r
2167 mtCOVERAGE_TEST_MARKER();
\r
2180 #endif /* configUSE_CO_ROUTINES */
\r
2181 /*-----------------------------------------------------------*/
\r
2183 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2185 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2189 /* See if there is an empty space in the registry. A NULL name denotes
\r
2191 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2193 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2195 /* Store the information on this queue. */
\r
2196 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2197 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2199 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2204 mtCOVERAGE_TEST_MARKER();
\r
2209 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2210 /*-----------------------------------------------------------*/
\r
2212 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2214 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2218 /* See if the handle of the queue being unregistered in actually in the
\r
2220 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2222 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2224 /* Set the name to NULL to show that this slot if free again. */
\r
2225 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2230 mtCOVERAGE_TEST_MARKER();
\r
2234 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2236 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2237 /*-----------------------------------------------------------*/
\r
2239 #if ( configUSE_TIMERS == 1 )
\r
2241 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
2243 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2245 /* This function should not be called by application code hence the
\r
2246 'Restricted' in its name. It is not part of the public API. It is
\r
2247 designed for use by kernel code, and has special calling requirements.
\r
2248 It can result in vListInsert() being called on a list that can only
\r
2249 possibly ever have one item in it, so the list will be fast, but even
\r
2250 so it should be called with the scheduler locked and not from a critical
\r
2253 /* Only do anything if there are no messages in the queue. This function
\r
2254 will not actually cause the task to block, just place it on a blocked
\r
2255 list. It will not block until the scheduler is unlocked - at which
\r
2256 time a yield will be performed. If an item is added to the queue while
\r
2257 the queue is locked, and the calling task blocks on the queue, then the
\r
2258 calling task will be immediately unblocked when the queue is unlocked. */
\r
2259 prvLockQueue( pxQueue );
\r
2260 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2262 /* There is nothing in the queue, block for the specified period. */
\r
2263 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
2267 mtCOVERAGE_TEST_MARKER();
\r
2269 prvUnlockQueue( pxQueue );
\r
2272 #endif /* configUSE_TIMERS */
\r
2273 /*-----------------------------------------------------------*/
\r
2275 #if ( configUSE_QUEUE_SETS == 1 )
\r
2277 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2279 QueueSetHandle_t pxQueue;
\r
2281 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2286 #endif /* configUSE_QUEUE_SETS */
\r
2287 /*-----------------------------------------------------------*/
\r
2289 #if ( configUSE_QUEUE_SETS == 1 )
\r
2291 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2293 BaseType_t xReturn;
\r
2295 taskENTER_CRITICAL();
\r
2297 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2299 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2302 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2304 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2305 items in the queue/semaphore. */
\r
2310 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2314 taskEXIT_CRITICAL();
\r
2319 #endif /* configUSE_QUEUE_SETS */
\r
2320 /*-----------------------------------------------------------*/
\r
2322 #if ( configUSE_QUEUE_SETS == 1 )
\r
2324 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2326 BaseType_t xReturn;
\r
2327 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2329 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2331 /* The queue was not a member of the set. */
\r
2334 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2336 /* It is dangerous to remove a queue from a set when the queue is
\r
2337 not empty because the queue set will still hold pending events for
\r
2343 taskENTER_CRITICAL();
\r
2345 /* The queue is no longer contained in the set. */
\r
2346 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2348 taskEXIT_CRITICAL();
\r
2353 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2355 #endif /* configUSE_QUEUE_SETS */
\r
2356 /*-----------------------------------------------------------*/
\r
2358 #if ( configUSE_QUEUE_SETS == 1 )
\r
2360 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2362 QueueSetMemberHandle_t xReturn = NULL;
\r
2364 ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2368 #endif /* configUSE_QUEUE_SETS */
\r
2369 /*-----------------------------------------------------------*/
\r
2371 #if ( configUSE_QUEUE_SETS == 1 )
\r
2373 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2375 QueueSetMemberHandle_t xReturn = NULL;
\r
2377 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2381 #endif /* configUSE_QUEUE_SETS */
\r
2382 /*-----------------------------------------------------------*/
\r
2384 #if ( configUSE_QUEUE_SETS == 1 )
\r
2386 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2388 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2389 BaseType_t xReturn = pdFALSE;
\r
2391 /* This function must be called form a critical section. */
\r
2393 configASSERT( pxQueueSetContainer );
\r
2394 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2396 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2398 traceQUEUE_SEND( pxQueueSetContainer );
\r
2399 /* The data copied is the handle of the queue that contains data. */
\r
2400 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2402 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2404 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2406 /* The task waiting has a higher priority */
\r
2411 mtCOVERAGE_TEST_MARKER();
\r
2416 mtCOVERAGE_TEST_MARKER();
\r
2421 mtCOVERAGE_TEST_MARKER();
\r
2427 #endif /* configUSE_QUEUE_SETS */
\r