2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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82 #if ( configUSE_CO_ROUTINES == 1 )
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83 #include "croutine.h"
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86 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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87 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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88 header files above, but not in this file, in order to generate the correct
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89 privileged Vs unprivileged linkage and placement. */
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90 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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93 /* Constants used with the cRxLock and cTxLock structure members. */
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94 #define queueUNLOCKED ( ( int8_t ) -1 )
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95 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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97 /* When the Queue_t structure is used to represent a base queue its pcHead and
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98 pcTail members are used as pointers into the queue storage area. When the
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99 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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100 not necessary, and the pcHead pointer is set to NULL to indicate that the
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101 pcTail pointer actually points to the mutex holder (if any). Map alternative
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102 names to the pcHead and pcTail structure members to ensure the readability of
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103 the code is maintained despite this dual use of two structure members. An
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104 alternative implementation would be to use a union, but use of a union is
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105 against the coding standard (although an exception to the standard has been
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106 permitted where the dual use also significantly changes the type of the
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107 structure member). */
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108 #define pxMutexHolder pcTail
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109 #define uxQueueType pcHead
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110 #define queueQUEUE_IS_MUTEX NULL
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112 /* Semaphores do not actually store or copy data, so have an item size of
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114 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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115 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define queueYIELD_IF_USING_PREEMPTION()
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122 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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126 * Definition of the queue used by the scheduler.
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127 * Items are queued by copy, not reference. See the following link for the
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128 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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130 typedef struct QueueDefinition
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132 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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133 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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134 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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136 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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138 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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139 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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142 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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143 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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145 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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146 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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147 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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149 volatile int8_t cRxLock; /*< 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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150 volatile int8_t cTxLock; /*< 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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152 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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153 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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156 #if ( configUSE_QUEUE_SETS == 1 )
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157 struct QueueDefinition *pxQueueSetContainer;
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160 #if ( configUSE_TRACE_FACILITY == 1 )
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161 UBaseType_t uxQueueNumber;
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162 uint8_t ucQueueType;
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167 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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168 name below to enable the use of older kernel aware debuggers. */
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169 typedef xQUEUE Queue_t;
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171 /*-----------------------------------------------------------*/
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174 * The queue registry is just a means for kernel aware debuggers to locate
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175 * queue structures. It has no other purpose so is an optional component.
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177 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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179 /* The type stored within the queue registry array. This allows a name
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180 to be assigned to each queue making kernel aware debugging a little
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181 more user friendly. */
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182 typedef struct QUEUE_REGISTRY_ITEM
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184 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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185 QueueHandle_t xHandle;
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186 } xQueueRegistryItem;
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188 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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189 new xQueueRegistryItem name below to enable the use of older kernel aware
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191 typedef xQueueRegistryItem QueueRegistryItem_t;
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193 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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194 The pcQueueName member of a structure being NULL is indicative of the
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195 array position being vacant. */
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196 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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198 #endif /* configQUEUE_REGISTRY_SIZE */
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201 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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202 * prevent an ISR from adding or removing items to the queue, but does prevent
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203 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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204 * queue is locked it will instead increment the appropriate queue lock count
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205 * to indicate that a task may require unblocking. When the queue in unlocked
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206 * these lock counts are inspected, and the appropriate action taken.
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208 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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211 * Uses a critical section to determine if there is any data in a queue.
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213 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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215 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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218 * Uses a critical section to determine if there is any space in a queue.
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220 * @return pdTRUE if there is no space, otherwise pdFALSE;
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222 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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225 * Copies an item into the queue, either at the front of the queue or the
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226 * back of the queue.
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228 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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231 * Copies an item out of a queue.
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233 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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235 #if ( configUSE_QUEUE_SETS == 1 )
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237 * Checks to see if a queue is a member of a queue set, and if so, notifies
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238 * the queue set that the queue contains data.
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240 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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244 * Called after a Queue_t structure has been allocated either statically or
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245 * dynamically to fill in the structure's members.
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247 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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250 * Mutexes are a special type of queue. When a mutex is created, first the
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251 * queue is created, then prvInitialiseMutex() is called to configure the queue
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254 #if( configUSE_MUTEXES == 1 )
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255 static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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258 /*-----------------------------------------------------------*/
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261 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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262 * accessing the queue event lists.
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264 #define prvLockQueue( pxQueue ) \
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265 taskENTER_CRITICAL(); \
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267 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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269 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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271 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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273 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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276 taskEXIT_CRITICAL()
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277 /*-----------------------------------------------------------*/
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279 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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281 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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283 configASSERT( pxQueue );
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285 taskENTER_CRITICAL();
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287 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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288 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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289 pxQueue->pcWriteTo = pxQueue->pcHead;
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290 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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291 pxQueue->cRxLock = queueUNLOCKED;
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292 pxQueue->cTxLock = queueUNLOCKED;
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294 if( xNewQueue == pdFALSE )
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296 /* If there are tasks blocked waiting to read from the queue, then
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297 the tasks will remain blocked as after this function exits the queue
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298 will still be empty. If there are tasks blocked waiting to write to
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299 the queue, then one should be unblocked as after this function exits
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300 it will be possible to write to it. */
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301 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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303 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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305 queueYIELD_IF_USING_PREEMPTION();
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309 mtCOVERAGE_TEST_MARKER();
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314 mtCOVERAGE_TEST_MARKER();
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319 /* Ensure the event queues start in the correct state. */
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320 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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321 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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324 taskEXIT_CRITICAL();
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326 /* A value is returned for calling semantic consistency with previous
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330 /*-----------------------------------------------------------*/
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332 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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334 QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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336 Queue_t *pxNewQueue;
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338 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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340 /* The StaticQueue_t structure and the queue storage area must be
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342 configASSERT( pxStaticQueue != NULL );
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344 /* A queue storage area should be provided if the item size is not 0, and
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345 should not be provided if the item size is 0. */
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346 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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347 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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349 #if( configASSERT_DEFINED == 1 )
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351 /* Sanity check that the size of the structure used to declare a
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352 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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353 the real queue and semaphore structures. */
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354 volatile size_t xSize = sizeof( StaticQueue_t );
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355 configASSERT( xSize == sizeof( Queue_t ) );
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357 #endif /* configASSERT_DEFINED */
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359 /* The address of a statically allocated queue was passed in, use it.
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360 The address of a statically allocated storage area was also passed in
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361 but is already set. */
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362 pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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364 if( pxNewQueue != NULL )
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366 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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368 /* Queues can be allocated wither statically or dynamically, so
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369 note this queue was allocated statically in case the queue is
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371 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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373 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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375 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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381 #endif /* configSUPPORT_STATIC_ALLOCATION */
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382 /*-----------------------------------------------------------*/
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384 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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386 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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388 Queue_t *pxNewQueue;
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389 size_t xQueueSizeInBytes;
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390 uint8_t *pucQueueStorage;
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392 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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394 if( uxItemSize == ( UBaseType_t ) 0 )
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396 /* There is not going to be a queue storage area. */
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397 xQueueSizeInBytes = ( size_t ) 0;
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401 /* Allocate enough space to hold the maximum number of items that
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402 can be in the queue at any time. */
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403 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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406 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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408 if( pxNewQueue != NULL )
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410 /* Jump past the queue structure to find the location of the queue
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412 pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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414 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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416 /* Queues can be created either statically or dynamically, so
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417 note this task was created dynamically in case it is later
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419 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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421 #endif /* configSUPPORT_STATIC_ALLOCATION */
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423 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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429 #endif /* configSUPPORT_STATIC_ALLOCATION */
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430 /*-----------------------------------------------------------*/
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432 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
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434 /* Remove compiler warnings about unused parameters should
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435 configUSE_TRACE_FACILITY not be set to 1. */
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436 ( void ) ucQueueType;
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438 if( uxItemSize == ( UBaseType_t ) 0 )
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440 /* No RAM was allocated for the queue storage area, but PC head cannot
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441 be set to NULL because NULL is used as a key to say the queue is used as
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442 a mutex. Therefore just set pcHead to point to the queue as a benign
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443 value that is known to be within the memory map. */
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444 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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448 /* Set the head to the start of the queue storage area. */
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449 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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452 /* Initialise the queue members as described where the queue type is
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454 pxNewQueue->uxLength = uxQueueLength;
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455 pxNewQueue->uxItemSize = uxItemSize;
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456 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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458 #if ( configUSE_TRACE_FACILITY == 1 )
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460 pxNewQueue->ucQueueType = ucQueueType;
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462 #endif /* configUSE_TRACE_FACILITY */
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464 #if( configUSE_QUEUE_SETS == 1 )
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466 pxNewQueue->pxQueueSetContainer = NULL;
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468 #endif /* configUSE_QUEUE_SETS */
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470 traceQUEUE_CREATE( pxNewQueue );
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472 /*-----------------------------------------------------------*/
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474 #if( configUSE_MUTEXES == 1 )
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476 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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478 if( pxNewQueue != NULL )
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480 /* The queue create function will set all the queue structure members
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481 correctly for a generic queue, but this function is creating a
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482 mutex. Overwrite those members that need to be set differently -
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483 in particular the information required for priority inheritance. */
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484 pxNewQueue->pxMutexHolder = NULL;
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485 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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487 /* In case this is a recursive mutex. */
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488 pxNewQueue->u.uxRecursiveCallCount = 0;
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490 traceCREATE_MUTEX( pxNewQueue );
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492 /* Start with the semaphore in the expected state. */
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493 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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497 traceCREATE_MUTEX_FAILED();
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501 #endif /* configUSE_MUTEXES */
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502 /*-----------------------------------------------------------*/
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504 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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506 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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508 Queue_t *pxNewQueue;
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509 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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511 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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512 prvInitialiseMutex( pxNewQueue );
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517 #endif /* configUSE_MUTEXES */
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518 /*-----------------------------------------------------------*/
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520 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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522 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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524 Queue_t *pxNewQueue;
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525 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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527 /* Prevent compiler warnings about unused parameters if
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528 configUSE_TRACE_FACILITY does not equal 1. */
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529 ( void ) ucQueueType;
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531 pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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532 prvInitialiseMutex( pxNewQueue );
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537 #endif /* configUSE_MUTEXES */
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538 /*-----------------------------------------------------------*/
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540 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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542 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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546 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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547 be called directly. Note: This is a good way of determining if the
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548 calling task is the mutex holder, but not a good way of determining the
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549 identity of the mutex holder, as the holder may change between the
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550 following critical section exiting and the function returning. */
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551 taskENTER_CRITICAL();
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553 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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555 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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562 taskEXIT_CRITICAL();
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565 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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568 /*-----------------------------------------------------------*/
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570 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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572 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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574 BaseType_t xReturn;
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575 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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577 configASSERT( pxMutex );
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579 /* If this is the task that holds the mutex then pxMutexHolder will not
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580 change outside of this task. If this task does not hold the mutex then
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581 pxMutexHolder can never coincidentally equal the tasks handle, and as
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582 this is the only condition we are interested in it does not matter if
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583 pxMutexHolder is accessed simultaneously by another task. Therefore no
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584 mutual exclusion is required to test the pxMutexHolder variable. */
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585 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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587 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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589 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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590 the task handle, therefore no underflow check is required. Also,
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591 uxRecursiveCallCount is only modified by the mutex holder, and as
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592 there can only be one, no mutual exclusion is required to modify the
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593 uxRecursiveCallCount member. */
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594 ( pxMutex->u.uxRecursiveCallCount )--;
\r
596 /* Has the recursive call count unwound to 0? */
\r
597 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
\r
599 /* Return the mutex. This will automatically unblock any other
\r
600 task that might be waiting to access the mutex. */
\r
601 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
605 mtCOVERAGE_TEST_MARKER();
\r
612 /* The mutex cannot be given because the calling task is not the
\r
616 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
622 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
623 /*-----------------------------------------------------------*/
\r
625 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
627 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
629 BaseType_t xReturn;
\r
630 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
632 configASSERT( pxMutex );
\r
634 /* Comments regarding mutual exclusion as per those within
\r
635 xQueueGiveMutexRecursive(). */
\r
637 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
639 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
641 ( pxMutex->u.uxRecursiveCallCount )++;
\r
646 xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
\r
648 /* pdPASS will only be returned if the mutex was successfully
\r
649 obtained. The calling task may have entered the Blocked state
\r
650 before reaching here. */
\r
651 if( xReturn != pdFAIL )
\r
653 ( pxMutex->u.uxRecursiveCallCount )++;
\r
657 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
664 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
665 /*-----------------------------------------------------------*/
\r
667 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
669 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
671 QueueHandle_t xHandle;
\r
673 configASSERT( uxMaxCount != 0 );
\r
674 configASSERT( uxInitialCount <= uxMaxCount );
\r
676 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
678 if( xHandle != NULL )
\r
680 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
682 traceCREATE_COUNTING_SEMAPHORE();
\r
686 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
692 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
693 /*-----------------------------------------------------------*/
\r
695 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
697 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
699 QueueHandle_t xHandle;
\r
701 configASSERT( uxMaxCount != 0 );
\r
702 configASSERT( uxInitialCount <= uxMaxCount );
\r
704 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
706 if( xHandle != NULL )
\r
708 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
710 traceCREATE_COUNTING_SEMAPHORE();
\r
714 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
720 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
721 /*-----------------------------------------------------------*/
\r
723 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
725 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
726 TimeOut_t xTimeOut;
\r
727 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
729 configASSERT( pxQueue );
\r
730 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
731 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
732 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
734 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
739 /* This function relaxes the coding standard somewhat to allow return
\r
740 statements within the function itself. This is done in the interest
\r
741 of execution time efficiency. */
\r
744 taskENTER_CRITICAL();
\r
746 /* Is there room on the queue now? The running task must be the
\r
747 highest priority task wanting to access the queue. If the head item
\r
748 in the queue is to be overwritten then it does not matter if the
\r
750 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
752 traceQUEUE_SEND( pxQueue );
\r
753 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
755 #if ( configUSE_QUEUE_SETS == 1 )
\r
757 if( pxQueue->pxQueueSetContainer != NULL )
\r
759 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
761 /* The queue is a member of a queue set, and posting
\r
762 to the queue set caused a higher priority task to
\r
763 unblock. A context switch is required. */
\r
764 queueYIELD_IF_USING_PREEMPTION();
\r
768 mtCOVERAGE_TEST_MARKER();
\r
773 /* If there was a task waiting for data to arrive on the
\r
774 queue then unblock it now. */
\r
775 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
777 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
779 /* The unblocked task has a priority higher than
\r
780 our own so yield immediately. Yes it is ok to
\r
781 do this from within the critical section - the
\r
782 kernel takes care of that. */
\r
783 queueYIELD_IF_USING_PREEMPTION();
\r
787 mtCOVERAGE_TEST_MARKER();
\r
790 else if( xYieldRequired != pdFALSE )
\r
792 /* This path is a special case that will only get
\r
793 executed if the task was holding multiple mutexes
\r
794 and the mutexes were given back in an order that is
\r
795 different to that in which they were taken. */
\r
796 queueYIELD_IF_USING_PREEMPTION();
\r
800 mtCOVERAGE_TEST_MARKER();
\r
804 #else /* configUSE_QUEUE_SETS */
\r
806 /* If there was a task waiting for data to arrive on the
\r
807 queue then unblock it now. */
\r
808 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
810 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
812 /* The unblocked task has a priority higher than
\r
813 our own so yield immediately. Yes it is ok to do
\r
814 this from within the critical section - the kernel
\r
815 takes care of that. */
\r
816 queueYIELD_IF_USING_PREEMPTION();
\r
820 mtCOVERAGE_TEST_MARKER();
\r
823 else if( xYieldRequired != pdFALSE )
\r
825 /* This path is a special case that will only get
\r
826 executed if the task was holding multiple mutexes and
\r
827 the mutexes were given back in an order that is
\r
828 different to that in which they were taken. */
\r
829 queueYIELD_IF_USING_PREEMPTION();
\r
833 mtCOVERAGE_TEST_MARKER();
\r
836 #endif /* configUSE_QUEUE_SETS */
\r
838 taskEXIT_CRITICAL();
\r
843 if( xTicksToWait == ( TickType_t ) 0 )
\r
845 /* The queue was full and no block time is specified (or
\r
846 the block time has expired) so leave now. */
\r
847 taskEXIT_CRITICAL();
\r
849 /* Return to the original privilege level before exiting
\r
851 traceQUEUE_SEND_FAILED( pxQueue );
\r
852 return errQUEUE_FULL;
\r
854 else if( xEntryTimeSet == pdFALSE )
\r
856 /* The queue was full and a block time was specified so
\r
857 configure the timeout structure. */
\r
858 vTaskSetTimeOutState( &xTimeOut );
\r
859 xEntryTimeSet = pdTRUE;
\r
863 /* Entry time was already set. */
\r
864 mtCOVERAGE_TEST_MARKER();
\r
868 taskEXIT_CRITICAL();
\r
870 /* Interrupts and other tasks can send to and receive from the queue
\r
871 now the critical section has been exited. */
\r
874 prvLockQueue( pxQueue );
\r
876 /* Update the timeout state to see if it has expired yet. */
\r
877 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
879 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
881 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
882 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
884 /* Unlocking the queue means queue events can effect the
\r
885 event list. It is possible that interrupts occurring now
\r
886 remove this task from the event list again - but as the
\r
887 scheduler is suspended the task will go onto the pending
\r
888 ready last instead of the actual ready list. */
\r
889 prvUnlockQueue( pxQueue );
\r
891 /* Resuming the scheduler will move tasks from the pending
\r
892 ready list into the ready list - so it is feasible that this
\r
893 task is already in a ready list before it yields - in which
\r
894 case the yield will not cause a context switch unless there
\r
895 is also a higher priority task in the pending ready list. */
\r
896 if( xTaskResumeAll() == pdFALSE )
\r
898 portYIELD_WITHIN_API();
\r
904 prvUnlockQueue( pxQueue );
\r
905 ( void ) xTaskResumeAll();
\r
910 /* The timeout has expired. */
\r
911 prvUnlockQueue( pxQueue );
\r
912 ( void ) xTaskResumeAll();
\r
914 traceQUEUE_SEND_FAILED( pxQueue );
\r
915 return errQUEUE_FULL;
\r
919 /*-----------------------------------------------------------*/
\r
921 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
923 BaseType_t xReturn;
\r
924 UBaseType_t uxSavedInterruptStatus;
\r
925 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
927 configASSERT( pxQueue );
\r
928 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
929 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
931 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
932 system call (or maximum API call) interrupt priority. Interrupts that are
\r
933 above the maximum system call priority are kept permanently enabled, even
\r
934 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
935 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
936 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
937 failure if a FreeRTOS API function is called from an interrupt that has been
\r
938 assigned a priority above the configured maximum system call priority.
\r
939 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
940 that have been assigned a priority at or (logically) below the maximum
\r
941 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
942 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
943 More information (albeit Cortex-M specific) is provided on the following
\r
944 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
945 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
947 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
948 in the queue. Also don't directly wake a task that was blocked on a queue
\r
949 read, instead return a flag to say whether a context switch is required or
\r
950 not (i.e. has a task with a higher priority than us been woken by this
\r
952 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
954 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
956 const int8_t cTxLock = pxQueue->cTxLock;
\r
958 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
960 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
961 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
962 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
963 called here even though the disinherit function does not check if
\r
964 the scheduler is suspended before accessing the ready lists. */
\r
965 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
967 /* The event list is not altered if the queue is locked. This will
\r
968 be done when the queue is unlocked later. */
\r
969 if( cTxLock == queueUNLOCKED )
\r
971 #if ( configUSE_QUEUE_SETS == 1 )
\r
973 if( pxQueue->pxQueueSetContainer != NULL )
\r
975 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
977 /* The queue is a member of a queue set, and posting
\r
978 to the queue set caused a higher priority task to
\r
979 unblock. A context switch is required. */
\r
980 if( pxHigherPriorityTaskWoken != NULL )
\r
982 *pxHigherPriorityTaskWoken = pdTRUE;
\r
986 mtCOVERAGE_TEST_MARKER();
\r
991 mtCOVERAGE_TEST_MARKER();
\r
996 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
998 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1000 /* The task waiting has a higher priority so
\r
1001 record that a context switch is required. */
\r
1002 if( pxHigherPriorityTaskWoken != NULL )
\r
1004 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1008 mtCOVERAGE_TEST_MARKER();
\r
1013 mtCOVERAGE_TEST_MARKER();
\r
1018 mtCOVERAGE_TEST_MARKER();
\r
1022 #else /* configUSE_QUEUE_SETS */
\r
1024 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1026 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1028 /* The task waiting has a higher priority so record that a
\r
1029 context switch is required. */
\r
1030 if( pxHigherPriorityTaskWoken != NULL )
\r
1032 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1036 mtCOVERAGE_TEST_MARKER();
\r
1041 mtCOVERAGE_TEST_MARKER();
\r
1046 mtCOVERAGE_TEST_MARKER();
\r
1049 #endif /* configUSE_QUEUE_SETS */
\r
1053 /* Increment the lock count so the task that unlocks the queue
\r
1054 knows that data was posted while it was locked. */
\r
1055 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1062 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1063 xReturn = errQUEUE_FULL;
\r
1066 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1070 /*-----------------------------------------------------------*/
\r
1072 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1074 BaseType_t xReturn;
\r
1075 UBaseType_t uxSavedInterruptStatus;
\r
1076 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1078 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1079 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1080 read, instead return a flag to say whether a context switch is required or
\r
1081 not (i.e. has a task with a higher priority than us been woken by this
\r
1084 configASSERT( pxQueue );
\r
1086 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1087 if the item size is not 0. */
\r
1088 configASSERT( pxQueue->uxItemSize == 0 );
\r
1090 /* Normally a mutex would not be given from an interrupt, especially if
\r
1091 there is a mutex holder, as priority inheritance makes no sense for an
\r
1092 interrupts, only tasks. */
\r
1093 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1095 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1096 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1097 above the maximum system call priority are kept permanently enabled, even
\r
1098 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1099 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1100 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1101 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1102 assigned a priority above the configured maximum system call priority.
\r
1103 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1104 that have been assigned a priority at or (logically) below the maximum
\r
1105 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1106 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1107 More information (albeit Cortex-M specific) is provided on the following
\r
1108 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1109 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1111 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1113 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1115 /* When the queue is used to implement a semaphore no data is ever
\r
1116 moved through the queue but it is still valid to see if the queue 'has
\r
1118 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1120 const int8_t cTxLock = pxQueue->cTxLock;
\r
1122 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1124 /* A task can only have an inherited priority if it is a mutex
\r
1125 holder - and if there is a mutex holder then the mutex cannot be
\r
1126 given from an ISR. As this is the ISR version of the function it
\r
1127 can be assumed there is no mutex holder and no need to determine if
\r
1128 priority disinheritance is needed. Simply increase the count of
\r
1129 messages (semaphores) available. */
\r
1130 pxQueue->uxMessagesWaiting = uxMessagesWaiting + 1;
\r
1132 /* The event list is not altered if the queue is locked. This will
\r
1133 be done when the queue is unlocked later. */
\r
1134 if( cTxLock == queueUNLOCKED )
\r
1136 #if ( configUSE_QUEUE_SETS == 1 )
\r
1138 if( pxQueue->pxQueueSetContainer != NULL )
\r
1140 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1142 /* The semaphore is a member of a queue set, and
\r
1143 posting to the queue set caused a higher priority
\r
1144 task to unblock. A context switch is required. */
\r
1145 if( pxHigherPriorityTaskWoken != NULL )
\r
1147 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1151 mtCOVERAGE_TEST_MARKER();
\r
1156 mtCOVERAGE_TEST_MARKER();
\r
1161 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1163 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1165 /* The task waiting has a higher priority so
\r
1166 record that a context switch is required. */
\r
1167 if( pxHigherPriorityTaskWoken != NULL )
\r
1169 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1173 mtCOVERAGE_TEST_MARKER();
\r
1178 mtCOVERAGE_TEST_MARKER();
\r
1183 mtCOVERAGE_TEST_MARKER();
\r
1187 #else /* configUSE_QUEUE_SETS */
\r
1189 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1191 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1193 /* The task waiting has a higher priority so record that a
\r
1194 context switch is required. */
\r
1195 if( pxHigherPriorityTaskWoken != NULL )
\r
1197 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1201 mtCOVERAGE_TEST_MARKER();
\r
1206 mtCOVERAGE_TEST_MARKER();
\r
1211 mtCOVERAGE_TEST_MARKER();
\r
1214 #endif /* configUSE_QUEUE_SETS */
\r
1218 /* Increment the lock count so the task that unlocks the queue
\r
1219 knows that data was posted while it was locked. */
\r
1220 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1227 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1228 xReturn = errQUEUE_FULL;
\r
1231 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1235 /*-----------------------------------------------------------*/
\r
1237 BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking )
\r
1239 BaseType_t xEntryTimeSet = pdFALSE;
\r
1240 TimeOut_t xTimeOut;
\r
1241 int8_t *pcOriginalReadPosition;
\r
1242 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1244 configASSERT( pxQueue );
\r
1245 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1246 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1248 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1252 /* This function relaxes the coding standard somewhat to allow return
\r
1253 statements within the function itself. This is done in the interest
\r
1254 of execution time efficiency. */
\r
1258 taskENTER_CRITICAL();
\r
1260 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1262 /* Is there data in the queue now? To be running the calling task
\r
1263 must be the highest priority task wanting to access the queue. */
\r
1264 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1266 /* Remember the read position in case the queue is only being
\r
1268 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1270 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1272 if( xJustPeeking == pdFALSE )
\r
1274 traceQUEUE_RECEIVE( pxQueue );
\r
1276 /* Actually removing data, not just peeking. */
\r
1277 pxQueue->uxMessagesWaiting = uxMessagesWaiting - 1;
\r
1279 #if ( configUSE_MUTEXES == 1 )
\r
1281 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1283 /* Record the information required to implement
\r
1284 priority inheritance should it become necessary. */
\r
1285 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1289 mtCOVERAGE_TEST_MARKER();
\r
1292 #endif /* configUSE_MUTEXES */
\r
1294 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1296 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1298 queueYIELD_IF_USING_PREEMPTION();
\r
1302 mtCOVERAGE_TEST_MARKER();
\r
1307 mtCOVERAGE_TEST_MARKER();
\r
1312 traceQUEUE_PEEK( pxQueue );
\r
1314 /* The data is not being removed, so reset the read
\r
1316 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1318 /* The data is being left in the queue, so see if there are
\r
1319 any other tasks waiting for the data. */
\r
1320 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1322 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1324 /* The task waiting has a higher priority than this task. */
\r
1325 queueYIELD_IF_USING_PREEMPTION();
\r
1329 mtCOVERAGE_TEST_MARKER();
\r
1334 mtCOVERAGE_TEST_MARKER();
\r
1338 taskEXIT_CRITICAL();
\r
1343 if( xTicksToWait == ( TickType_t ) 0 )
\r
1345 /* The queue was empty and no block time is specified (or
\r
1346 the block time has expired) so leave now. */
\r
1347 taskEXIT_CRITICAL();
\r
1348 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1349 return errQUEUE_EMPTY;
\r
1351 else if( xEntryTimeSet == pdFALSE )
\r
1353 /* The queue was empty and a block time was specified so
\r
1354 configure the timeout structure. */
\r
1355 vTaskSetTimeOutState( &xTimeOut );
\r
1356 xEntryTimeSet = pdTRUE;
\r
1360 /* Entry time was already set. */
\r
1361 mtCOVERAGE_TEST_MARKER();
\r
1365 taskEXIT_CRITICAL();
\r
1367 /* Interrupts and other tasks can send to and receive from the queue
\r
1368 now the critical section has been exited. */
\r
1370 vTaskSuspendAll();
\r
1371 prvLockQueue( pxQueue );
\r
1373 /* Update the timeout state to see if it has expired yet. */
\r
1374 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1376 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1378 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1380 #if ( configUSE_MUTEXES == 1 )
\r
1382 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1384 taskENTER_CRITICAL();
\r
1386 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1388 taskEXIT_CRITICAL();
\r
1392 mtCOVERAGE_TEST_MARKER();
\r
1397 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1398 prvUnlockQueue( pxQueue );
\r
1399 if( xTaskResumeAll() == pdFALSE )
\r
1401 portYIELD_WITHIN_API();
\r
1405 mtCOVERAGE_TEST_MARKER();
\r
1411 prvUnlockQueue( pxQueue );
\r
1412 ( void ) xTaskResumeAll();
\r
1417 prvUnlockQueue( pxQueue );
\r
1418 ( void ) xTaskResumeAll();
\r
1420 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1422 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1423 return errQUEUE_EMPTY;
\r
1427 mtCOVERAGE_TEST_MARKER();
\r
1432 /*-----------------------------------------------------------*/
\r
1434 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1436 BaseType_t xReturn;
\r
1437 UBaseType_t uxSavedInterruptStatus;
\r
1438 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1440 configASSERT( pxQueue );
\r
1441 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1443 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1444 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1445 above the maximum system call priority are kept permanently enabled, even
\r
1446 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1447 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1448 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1449 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1450 assigned a priority above the configured maximum system call priority.
\r
1451 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1452 that have been assigned a priority at or (logically) below the maximum
\r
1453 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1454 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1455 More information (albeit Cortex-M specific) is provided on the following
\r
1456 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1457 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1459 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1461 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1463 /* Cannot block in an ISR, so check there is data available. */
\r
1464 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1466 const int8_t cRxLock = pxQueue->cRxLock;
\r
1468 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1470 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1471 pxQueue->uxMessagesWaiting = uxMessagesWaiting - 1;
\r
1473 /* If the queue is locked the event list will not be modified.
\r
1474 Instead update the lock count so the task that unlocks the queue
\r
1475 will know that an ISR has removed data while the queue was
\r
1477 if( cRxLock == queueUNLOCKED )
\r
1479 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1481 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1483 /* The task waiting has a higher priority than us so
\r
1484 force a context switch. */
\r
1485 if( pxHigherPriorityTaskWoken != NULL )
\r
1487 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1491 mtCOVERAGE_TEST_MARKER();
\r
1496 mtCOVERAGE_TEST_MARKER();
\r
1501 mtCOVERAGE_TEST_MARKER();
\r
1506 /* Increment the lock count so the task that unlocks the queue
\r
1507 knows that data was removed while it was locked. */
\r
1508 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1516 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1519 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1523 /*-----------------------------------------------------------*/
\r
1525 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1527 BaseType_t xReturn;
\r
1528 UBaseType_t uxSavedInterruptStatus;
\r
1529 int8_t *pcOriginalReadPosition;
\r
1530 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1532 configASSERT( pxQueue );
\r
1533 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1534 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1536 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1537 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1538 above the maximum system call priority are kept permanently enabled, even
\r
1539 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1540 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1541 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1542 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1543 assigned a priority above the configured maximum system call priority.
\r
1544 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1545 that have been assigned a priority at or (logically) below the maximum
\r
1546 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1547 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1548 More information (albeit Cortex-M specific) is provided on the following
\r
1549 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1550 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1552 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1554 /* Cannot block in an ISR, so check there is data available. */
\r
1555 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1557 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1559 /* Remember the read position so it can be reset as nothing is
\r
1560 actually being removed from the queue. */
\r
1561 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1562 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1563 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1570 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1573 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1577 /*-----------------------------------------------------------*/
\r
1579 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1581 UBaseType_t uxReturn;
\r
1583 configASSERT( xQueue );
\r
1585 taskENTER_CRITICAL();
\r
1587 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1589 taskEXIT_CRITICAL();
\r
1592 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1593 /*-----------------------------------------------------------*/
\r
1595 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1597 UBaseType_t uxReturn;
\r
1600 pxQueue = ( Queue_t * ) xQueue;
\r
1601 configASSERT( pxQueue );
\r
1603 taskENTER_CRITICAL();
\r
1605 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1607 taskEXIT_CRITICAL();
\r
1610 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1611 /*-----------------------------------------------------------*/
\r
1613 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1615 UBaseType_t uxReturn;
\r
1617 configASSERT( xQueue );
\r
1619 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1622 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1623 /*-----------------------------------------------------------*/
\r
1625 void vQueueDelete( QueueHandle_t xQueue )
\r
1627 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1629 configASSERT( pxQueue );
\r
1630 traceQUEUE_DELETE( pxQueue );
\r
1632 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1634 vQueueUnregisterQueue( pxQueue );
\r
1638 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1640 /* The queue can only have been allocated dynamically - free it
\r
1642 vPortFree( pxQueue );
\r
1644 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1646 /* The queue could have been allocated statically or dynamically, so
\r
1647 check before attempting to free the memory. */
\r
1648 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
1650 vPortFree( pxQueue );
\r
1654 mtCOVERAGE_TEST_MARKER();
\r
1659 /* The queue must have been statically allocated, so is not going to be
\r
1660 deleted. Avoid compiler warnings about the unused parameter. */
\r
1663 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
1665 /*-----------------------------------------------------------*/
\r
1667 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1669 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1671 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1674 #endif /* configUSE_TRACE_FACILITY */
\r
1675 /*-----------------------------------------------------------*/
\r
1677 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1679 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1681 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
1684 #endif /* configUSE_TRACE_FACILITY */
\r
1685 /*-----------------------------------------------------------*/
\r
1687 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1689 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
1691 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
1694 #endif /* configUSE_TRACE_FACILITY */
\r
1695 /*-----------------------------------------------------------*/
\r
1697 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
1699 BaseType_t xReturn = pdFALSE;
\r
1700 UBaseType_t uxMessagesWaiting;
\r
1702 /* This function is called from a critical section. */
\r
1704 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1706 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
1708 #if ( configUSE_MUTEXES == 1 )
\r
1710 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1712 /* The mutex is no longer being held. */
\r
1713 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1714 pxQueue->pxMutexHolder = NULL;
\r
1718 mtCOVERAGE_TEST_MARKER();
\r
1721 #endif /* configUSE_MUTEXES */
\r
1723 else if( xPosition == queueSEND_TO_BACK )
\r
1725 ( 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
1726 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1727 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1729 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1733 mtCOVERAGE_TEST_MARKER();
\r
1738 ( 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
1739 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1740 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1742 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1746 mtCOVERAGE_TEST_MARKER();
\r
1749 if( xPosition == queueOVERWRITE )
\r
1751 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1753 /* An item is not being added but overwritten, so subtract
\r
1754 one from the recorded number of items in the queue so when
\r
1755 one is added again below the number of recorded items remains
\r
1757 --uxMessagesWaiting;
\r
1761 mtCOVERAGE_TEST_MARKER();
\r
1766 mtCOVERAGE_TEST_MARKER();
\r
1770 pxQueue->uxMessagesWaiting = uxMessagesWaiting + 1;
\r
1774 /*-----------------------------------------------------------*/
\r
1776 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
1778 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
1780 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1781 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1783 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1787 mtCOVERAGE_TEST_MARKER();
\r
1789 ( 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
1792 /*-----------------------------------------------------------*/
\r
1794 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
1796 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1798 /* The lock counts contains the number of extra data items placed or
\r
1799 removed from the queue while the queue was locked. When a queue is
\r
1800 locked items can be added or removed, but the event lists cannot be
\r
1802 taskENTER_CRITICAL();
\r
1804 int8_t cTxLock = pxQueue->cTxLock;
\r
1806 /* See if data was added to the queue while it was locked. */
\r
1807 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
1809 /* Data was posted while the queue was locked. Are any tasks
\r
1810 blocked waiting for data to become available? */
\r
1811 #if ( configUSE_QUEUE_SETS == 1 )
\r
1813 if( pxQueue->pxQueueSetContainer != NULL )
\r
1815 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1817 /* The queue is a member of a queue set, and posting to
\r
1818 the queue set caused a higher priority task to unblock.
\r
1819 A context switch is required. */
\r
1820 vTaskMissedYield();
\r
1824 mtCOVERAGE_TEST_MARKER();
\r
1829 /* Tasks that are removed from the event list will get
\r
1830 added to the pending ready list as the scheduler is still
\r
1832 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1834 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1836 /* The task waiting has a higher priority so record that a
\r
1837 context switch is required. */
\r
1838 vTaskMissedYield();
\r
1842 mtCOVERAGE_TEST_MARKER();
\r
1851 #else /* configUSE_QUEUE_SETS */
\r
1853 /* Tasks that are removed from the event list will get added to
\r
1854 the pending ready list as the scheduler is still suspended. */
\r
1855 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1857 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1859 /* The task waiting has a higher priority so record that
\r
1860 a context switch is required. */
\r
1861 vTaskMissedYield();
\r
1865 mtCOVERAGE_TEST_MARKER();
\r
1873 #endif /* configUSE_QUEUE_SETS */
\r
1878 pxQueue->cTxLock = queueUNLOCKED;
\r
1880 taskEXIT_CRITICAL();
\r
1882 /* Do the same for the Rx lock. */
\r
1883 taskENTER_CRITICAL();
\r
1885 int8_t cRxLock = pxQueue->cRxLock;
\r
1887 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
1889 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1891 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1893 vTaskMissedYield();
\r
1897 mtCOVERAGE_TEST_MARKER();
\r
1908 pxQueue->cRxLock = queueUNLOCKED;
\r
1910 taskEXIT_CRITICAL();
\r
1912 /*-----------------------------------------------------------*/
\r
1914 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
1916 BaseType_t xReturn;
\r
1918 taskENTER_CRITICAL();
\r
1920 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1926 xReturn = pdFALSE;
\r
1929 taskEXIT_CRITICAL();
\r
1933 /*-----------------------------------------------------------*/
\r
1935 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
1937 BaseType_t xReturn;
\r
1939 configASSERT( xQueue );
\r
1940 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1946 xReturn = pdFALSE;
\r
1950 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1951 /*-----------------------------------------------------------*/
\r
1953 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
1955 BaseType_t xReturn;
\r
1957 taskENTER_CRITICAL();
\r
1959 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
1965 xReturn = pdFALSE;
\r
1968 taskEXIT_CRITICAL();
\r
1972 /*-----------------------------------------------------------*/
\r
1974 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
1976 BaseType_t xReturn;
\r
1978 configASSERT( xQueue );
\r
1979 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
1985 xReturn = pdFALSE;
\r
1989 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1990 /*-----------------------------------------------------------*/
\r
1992 #if ( configUSE_CO_ROUTINES == 1 )
\r
1994 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
1996 BaseType_t xReturn;
\r
1997 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1999 /* If the queue is already full we may have to block. A critical section
\r
2000 is required to prevent an interrupt removing something from the queue
\r
2001 between the check to see if the queue is full and blocking on the queue. */
\r
2002 portDISABLE_INTERRUPTS();
\r
2004 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2006 /* The queue is full - do we want to block or just leave without
\r
2008 if( xTicksToWait > ( TickType_t ) 0 )
\r
2010 /* As this is called from a coroutine we cannot block directly, but
\r
2011 return indicating that we need to block. */
\r
2012 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2013 portENABLE_INTERRUPTS();
\r
2014 return errQUEUE_BLOCKED;
\r
2018 portENABLE_INTERRUPTS();
\r
2019 return errQUEUE_FULL;
\r
2023 portENABLE_INTERRUPTS();
\r
2025 portDISABLE_INTERRUPTS();
\r
2027 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2029 /* There is room in the queue, copy the data into the queue. */
\r
2030 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2033 /* Were any co-routines waiting for data to become available? */
\r
2034 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2036 /* In this instance the co-routine could be placed directly
\r
2037 into the ready list as we are within a critical section.
\r
2038 Instead the same pending ready list mechanism is used as if
\r
2039 the event were caused from within an interrupt. */
\r
2040 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2042 /* The co-routine waiting has a higher priority so record
\r
2043 that a yield might be appropriate. */
\r
2044 xReturn = errQUEUE_YIELD;
\r
2048 mtCOVERAGE_TEST_MARKER();
\r
2053 mtCOVERAGE_TEST_MARKER();
\r
2058 xReturn = errQUEUE_FULL;
\r
2061 portENABLE_INTERRUPTS();
\r
2066 #endif /* configUSE_CO_ROUTINES */
\r
2067 /*-----------------------------------------------------------*/
\r
2069 #if ( configUSE_CO_ROUTINES == 1 )
\r
2071 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2073 BaseType_t xReturn;
\r
2074 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2076 /* If the queue is already empty we may have to block. A critical section
\r
2077 is required to prevent an interrupt adding something to the queue
\r
2078 between the check to see if the queue is empty and blocking on the queue. */
\r
2079 portDISABLE_INTERRUPTS();
\r
2081 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2083 /* There are no messages in the queue, do we want to block or just
\r
2084 leave with nothing? */
\r
2085 if( xTicksToWait > ( TickType_t ) 0 )
\r
2087 /* As this is a co-routine we cannot block directly, but return
\r
2088 indicating that we need to block. */
\r
2089 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2090 portENABLE_INTERRUPTS();
\r
2091 return errQUEUE_BLOCKED;
\r
2095 portENABLE_INTERRUPTS();
\r
2096 return errQUEUE_FULL;
\r
2101 mtCOVERAGE_TEST_MARKER();
\r
2104 portENABLE_INTERRUPTS();
\r
2106 portDISABLE_INTERRUPTS();
\r
2108 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2110 /* Data is available from the queue. */
\r
2111 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2112 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2114 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2118 mtCOVERAGE_TEST_MARKER();
\r
2120 --( pxQueue->uxMessagesWaiting );
\r
2121 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2125 /* Were any co-routines waiting for space to become available? */
\r
2126 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2128 /* In this instance the co-routine could be placed directly
\r
2129 into the ready list as we are within a critical section.
\r
2130 Instead the same pending ready list mechanism is used as if
\r
2131 the event were caused from within an interrupt. */
\r
2132 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2134 xReturn = errQUEUE_YIELD;
\r
2138 mtCOVERAGE_TEST_MARKER();
\r
2143 mtCOVERAGE_TEST_MARKER();
\r
2151 portENABLE_INTERRUPTS();
\r
2156 #endif /* configUSE_CO_ROUTINES */
\r
2157 /*-----------------------------------------------------------*/
\r
2159 #if ( configUSE_CO_ROUTINES == 1 )
\r
2161 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2163 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2165 /* Cannot block within an ISR so if there is no space on the queue then
\r
2166 exit without doing anything. */
\r
2167 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2169 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2171 /* We only want to wake one co-routine per ISR, so check that a
\r
2172 co-routine has not already been woken. */
\r
2173 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2175 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2177 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2183 mtCOVERAGE_TEST_MARKER();
\r
2188 mtCOVERAGE_TEST_MARKER();
\r
2193 mtCOVERAGE_TEST_MARKER();
\r
2198 mtCOVERAGE_TEST_MARKER();
\r
2201 return xCoRoutinePreviouslyWoken;
\r
2204 #endif /* configUSE_CO_ROUTINES */
\r
2205 /*-----------------------------------------------------------*/
\r
2207 #if ( configUSE_CO_ROUTINES == 1 )
\r
2209 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2211 BaseType_t xReturn;
\r
2212 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2214 /* We cannot block from an ISR, so check there is data available. If
\r
2215 not then just leave without doing anything. */
\r
2216 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2218 /* Copy the data from the queue. */
\r
2219 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2220 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2222 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2226 mtCOVERAGE_TEST_MARKER();
\r
2228 --( pxQueue->uxMessagesWaiting );
\r
2229 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2231 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2233 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2235 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2237 *pxCoRoutineWoken = pdTRUE;
\r
2241 mtCOVERAGE_TEST_MARKER();
\r
2246 mtCOVERAGE_TEST_MARKER();
\r
2251 mtCOVERAGE_TEST_MARKER();
\r
2264 #endif /* configUSE_CO_ROUTINES */
\r
2265 /*-----------------------------------------------------------*/
\r
2267 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2269 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2273 /* See if there is an empty space in the registry. A NULL name denotes
\r
2275 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2277 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2279 /* Store the information on this queue. */
\r
2280 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2281 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2283 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2288 mtCOVERAGE_TEST_MARKER();
\r
2293 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2294 /*-----------------------------------------------------------*/
\r
2296 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2298 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2301 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2303 /* Note there is nothing here to protect against another task adding or
\r
2304 removing entries from the registry while it is being searched. */
\r
2305 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2307 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2309 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2314 mtCOVERAGE_TEST_MARKER();
\r
2321 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2322 /*-----------------------------------------------------------*/
\r
2324 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2326 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2330 /* See if the handle of the queue being unregistered in actually in the
\r
2332 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2334 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2336 /* Set the name to NULL to show that this slot if free again. */
\r
2337 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2339 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2340 appear in the registry twice if it is added, removed, then
\r
2342 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2347 mtCOVERAGE_TEST_MARKER();
\r
2351 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2353 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2354 /*-----------------------------------------------------------*/
\r
2356 #if ( configUSE_TIMERS == 1 )
\r
2358 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2360 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2362 /* This function should not be called by application code hence the
\r
2363 'Restricted' in its name. It is not part of the public API. It is
\r
2364 designed for use by kernel code, and has special calling requirements.
\r
2365 It can result in vListInsert() being called on a list that can only
\r
2366 possibly ever have one item in it, so the list will be fast, but even
\r
2367 so it should be called with the scheduler locked and not from a critical
\r
2370 /* Only do anything if there are no messages in the queue. This function
\r
2371 will not actually cause the task to block, just place it on a blocked
\r
2372 list. It will not block until the scheduler is unlocked - at which
\r
2373 time a yield will be performed. If an item is added to the queue while
\r
2374 the queue is locked, and the calling task blocks on the queue, then the
\r
2375 calling task will be immediately unblocked when the queue is unlocked. */
\r
2376 prvLockQueue( pxQueue );
\r
2377 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2379 /* There is nothing in the queue, block for the specified period. */
\r
2380 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2384 mtCOVERAGE_TEST_MARKER();
\r
2386 prvUnlockQueue( pxQueue );
\r
2389 #endif /* configUSE_TIMERS */
\r
2390 /*-----------------------------------------------------------*/
\r
2392 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2394 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2396 QueueSetHandle_t pxQueue;
\r
2398 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2403 #endif /* configUSE_QUEUE_SETS */
\r
2404 /*-----------------------------------------------------------*/
\r
2406 #if ( configUSE_QUEUE_SETS == 1 )
\r
2408 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2410 BaseType_t xReturn;
\r
2412 taskENTER_CRITICAL();
\r
2414 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2416 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2419 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2421 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2422 items in the queue/semaphore. */
\r
2427 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2431 taskEXIT_CRITICAL();
\r
2436 #endif /* configUSE_QUEUE_SETS */
\r
2437 /*-----------------------------------------------------------*/
\r
2439 #if ( configUSE_QUEUE_SETS == 1 )
\r
2441 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2443 BaseType_t xReturn;
\r
2444 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2446 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2448 /* The queue was not a member of the set. */
\r
2451 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2453 /* It is dangerous to remove a queue from a set when the queue is
\r
2454 not empty because the queue set will still hold pending events for
\r
2460 taskENTER_CRITICAL();
\r
2462 /* The queue is no longer contained in the set. */
\r
2463 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2465 taskEXIT_CRITICAL();
\r
2470 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2472 #endif /* configUSE_QUEUE_SETS */
\r
2473 /*-----------------------------------------------------------*/
\r
2475 #if ( configUSE_QUEUE_SETS == 1 )
\r
2477 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2479 QueueSetMemberHandle_t xReturn = NULL;
\r
2481 ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2485 #endif /* configUSE_QUEUE_SETS */
\r
2486 /*-----------------------------------------------------------*/
\r
2488 #if ( configUSE_QUEUE_SETS == 1 )
\r
2490 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2492 QueueSetMemberHandle_t xReturn = NULL;
\r
2494 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2498 #endif /* configUSE_QUEUE_SETS */
\r
2499 /*-----------------------------------------------------------*/
\r
2501 #if ( configUSE_QUEUE_SETS == 1 )
\r
2503 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2505 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2506 BaseType_t xReturn = pdFALSE;
\r
2508 /* This function must be called form a critical section. */
\r
2510 configASSERT( pxQueueSetContainer );
\r
2511 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2513 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2515 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2517 traceQUEUE_SEND( pxQueueSetContainer );
\r
2519 /* The data copied is the handle of the queue that contains data. */
\r
2520 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2522 if( cTxLock == queueUNLOCKED )
\r
2524 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2526 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2528 /* The task waiting has a higher priority. */
\r
2533 mtCOVERAGE_TEST_MARKER();
\r
2538 mtCOVERAGE_TEST_MARKER();
\r
2543 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2548 mtCOVERAGE_TEST_MARKER();
\r
2554 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob