2 FreeRTOS V9.0.1 - Copyright (C) 2017 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 #if( configUSE_MUTEXES == 1 )
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260 * If a task waiting for a mutex causes the mutex holder to inherit a
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261 * priority, but the waiting task times out, then the holder should
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262 * disinherit the priority - but only down to the highest priority of any
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263 * other tasks that are waiting for the same mutex. This function returns
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266 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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268 /*-----------------------------------------------------------*/
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271 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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272 * accessing the queue event lists.
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274 #define prvLockQueue( pxQueue ) \
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275 taskENTER_CRITICAL(); \
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277 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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279 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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281 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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283 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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286 taskEXIT_CRITICAL()
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287 /*-----------------------------------------------------------*/
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289 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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291 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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293 configASSERT( pxQueue );
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295 taskENTER_CRITICAL();
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297 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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298 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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299 pxQueue->pcWriteTo = pxQueue->pcHead;
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300 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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301 pxQueue->cRxLock = queueUNLOCKED;
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302 pxQueue->cTxLock = queueUNLOCKED;
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304 if( xNewQueue == pdFALSE )
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306 /* If there are tasks blocked waiting to read from the queue, then
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307 the tasks will remain blocked as after this function exits the queue
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308 will still be empty. If there are tasks blocked waiting to write to
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309 the queue, then one should be unblocked as after this function exits
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310 it will be possible to write to it. */
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311 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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313 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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315 queueYIELD_IF_USING_PREEMPTION();
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319 mtCOVERAGE_TEST_MARKER();
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324 mtCOVERAGE_TEST_MARKER();
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329 /* Ensure the event queues start in the correct state. */
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330 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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331 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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334 taskEXIT_CRITICAL();
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336 /* A value is returned for calling semantic consistency with previous
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340 /*-----------------------------------------------------------*/
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342 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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344 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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346 Queue_t *pxNewQueue;
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348 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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350 /* The StaticQueue_t structure and the queue storage area must be
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352 configASSERT( pxStaticQueue != NULL );
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354 /* A queue storage area should be provided if the item size is not 0, and
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355 should not be provided if the item size is 0. */
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356 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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357 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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359 #if( configASSERT_DEFINED == 1 )
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361 /* Sanity check that the size of the structure used to declare a
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362 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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363 the real queue and semaphore structures. */
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364 volatile size_t xSize = sizeof( StaticQueue_t );
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365 configASSERT( xSize == sizeof( Queue_t ) );
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367 #endif /* configASSERT_DEFINED */
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369 /* The address of a statically allocated queue was passed in, use it.
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370 The address of a statically allocated storage area was also passed in
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371 but is already set. */
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372 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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374 if( pxNewQueue != NULL )
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376 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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378 /* Queues can be allocated wither statically or dynamically, so
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379 note this queue was allocated statically in case the queue is
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381 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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383 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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385 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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391 #endif /* configSUPPORT_STATIC_ALLOCATION */
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392 /*-----------------------------------------------------------*/
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394 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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396 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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398 Queue_t *pxNewQueue;
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399 size_t xQueueSizeInBytes;
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400 uint8_t *pucQueueStorage;
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402 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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404 if( uxItemSize == ( UBaseType_t ) 0 )
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406 /* There is not going to be a queue storage area. */
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407 xQueueSizeInBytes = ( size_t ) 0;
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411 /* Allocate enough space to hold the maximum number of items that
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412 can be in the queue at any time. */
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413 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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416 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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418 if( pxNewQueue != NULL )
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420 /* Jump past the queue structure to find the location of the queue
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422 pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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424 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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426 /* Queues can be created either statically or dynamically, so
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427 note this task was created dynamically in case it is later
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429 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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431 #endif /* configSUPPORT_STATIC_ALLOCATION */
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433 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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439 #endif /* configSUPPORT_STATIC_ALLOCATION */
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440 /*-----------------------------------------------------------*/
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442 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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444 /* Remove compiler warnings about unused parameters should
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445 configUSE_TRACE_FACILITY not be set to 1. */
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446 ( void ) ucQueueType;
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448 if( uxItemSize == ( UBaseType_t ) 0 )
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450 /* No RAM was allocated for the queue storage area, but PC head cannot
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451 be set to NULL because NULL is used as a key to say the queue is used as
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452 a mutex. Therefore just set pcHead to point to the queue as a benign
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453 value that is known to be within the memory map. */
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454 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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458 /* Set the head to the start of the queue storage area. */
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459 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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462 /* Initialise the queue members as described where the queue type is
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464 pxNewQueue->uxLength = uxQueueLength;
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465 pxNewQueue->uxItemSize = uxItemSize;
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466 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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468 #if ( configUSE_TRACE_FACILITY == 1 )
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470 pxNewQueue->ucQueueType = ucQueueType;
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472 #endif /* configUSE_TRACE_FACILITY */
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474 #if( configUSE_QUEUE_SETS == 1 )
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476 pxNewQueue->pxQueueSetContainer = NULL;
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478 #endif /* configUSE_QUEUE_SETS */
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480 traceQUEUE_CREATE( pxNewQueue );
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482 /*-----------------------------------------------------------*/
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484 #if( configUSE_MUTEXES == 1 )
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486 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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488 if( pxNewQueue != NULL )
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490 /* The queue create function will set all the queue structure members
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491 correctly for a generic queue, but this function is creating a
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492 mutex. Overwrite those members that need to be set differently -
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493 in particular the information required for priority inheritance. */
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494 pxNewQueue->pxMutexHolder = NULL;
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495 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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497 /* In case this is a recursive mutex. */
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498 pxNewQueue->u.uxRecursiveCallCount = 0;
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500 traceCREATE_MUTEX( pxNewQueue );
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502 /* Start with the semaphore in the expected state. */
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503 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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507 traceCREATE_MUTEX_FAILED();
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511 #endif /* configUSE_MUTEXES */
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512 /*-----------------------------------------------------------*/
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514 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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516 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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518 Queue_t *pxNewQueue;
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519 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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521 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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522 prvInitialiseMutex( pxNewQueue );
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527 #endif /* configUSE_MUTEXES */
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528 /*-----------------------------------------------------------*/
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530 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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532 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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534 Queue_t *pxNewQueue;
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535 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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537 /* Prevent compiler warnings about unused parameters if
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538 configUSE_TRACE_FACILITY does not equal 1. */
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539 ( void ) ucQueueType;
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541 pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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542 prvInitialiseMutex( pxNewQueue );
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547 #endif /* configUSE_MUTEXES */
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548 /*-----------------------------------------------------------*/
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550 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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552 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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556 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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557 be called directly. Note: This is a good way of determining if the
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558 calling task is the mutex holder, but not a good way of determining the
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559 identity of the mutex holder, as the holder may change between the
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560 following critical section exiting and the function returning. */
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561 taskENTER_CRITICAL();
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563 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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565 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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572 taskEXIT_CRITICAL();
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575 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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578 /*-----------------------------------------------------------*/
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580 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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582 void* xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
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586 configASSERT( xSemaphore );
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588 /* Mutexes cannot be used in interrupt service routines, so the mutex
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589 holder should not change in an ISR, and therefore a critical section is
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590 not required here. */
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591 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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593 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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601 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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604 /*-----------------------------------------------------------*/
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606 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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608 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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610 BaseType_t xReturn;
\r
611 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
613 configASSERT( pxMutex );
\r
615 /* If this is the task that holds the mutex then pxMutexHolder will not
\r
616 change outside of this task. If this task does not hold the mutex then
\r
617 pxMutexHolder can never coincidentally equal the tasks handle, and as
\r
618 this is the only condition we are interested in it does not matter if
\r
619 pxMutexHolder is accessed simultaneously by another task. Therefore no
\r
620 mutual exclusion is required to test the pxMutexHolder variable. */
\r
621 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
\r
623 traceGIVE_MUTEX_RECURSIVE( pxMutex );
\r
625 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
\r
626 the task handle, therefore no underflow check is required. Also,
\r
627 uxRecursiveCallCount is only modified by the mutex holder, and as
\r
628 there can only be one, no mutual exclusion is required to modify the
\r
629 uxRecursiveCallCount member. */
\r
630 ( pxMutex->u.uxRecursiveCallCount )--;
\r
632 /* Has the recursive call count unwound to 0? */
\r
633 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
\r
635 /* Return the mutex. This will automatically unblock any other
\r
636 task that might be waiting to access the mutex. */
\r
637 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
641 mtCOVERAGE_TEST_MARKER();
\r
648 /* The mutex cannot be given because the calling task is not the
\r
652 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
658 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
659 /*-----------------------------------------------------------*/
\r
661 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
663 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
665 BaseType_t xReturn;
\r
666 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
668 configASSERT( pxMutex );
\r
670 /* Comments regarding mutual exclusion as per those within
\r
671 xQueueGiveMutexRecursive(). */
\r
673 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
675 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
677 ( pxMutex->u.uxRecursiveCallCount )++;
\r
682 xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
\r
684 /* pdPASS will only be returned if the mutex was successfully
\r
685 obtained. The calling task may have entered the Blocked state
\r
686 before reaching here. */
\r
687 if( xReturn != pdFAIL )
\r
689 ( pxMutex->u.uxRecursiveCallCount )++;
\r
693 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
700 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
701 /*-----------------------------------------------------------*/
\r
703 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
705 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
707 QueueHandle_t xHandle;
\r
709 configASSERT( uxMaxCount != 0 );
\r
710 configASSERT( uxInitialCount <= uxMaxCount );
\r
712 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
714 if( xHandle != NULL )
\r
716 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
718 traceCREATE_COUNTING_SEMAPHORE();
\r
722 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
728 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
729 /*-----------------------------------------------------------*/
\r
731 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
733 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
735 QueueHandle_t xHandle;
\r
737 configASSERT( uxMaxCount != 0 );
\r
738 configASSERT( uxInitialCount <= uxMaxCount );
\r
740 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
742 if( xHandle != NULL )
\r
744 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
746 traceCREATE_COUNTING_SEMAPHORE();
\r
750 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
756 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
757 /*-----------------------------------------------------------*/
\r
759 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
761 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
762 TimeOut_t xTimeOut;
\r
763 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
765 configASSERT( pxQueue );
\r
766 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
767 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
768 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
770 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
775 /* This function relaxes the coding standard somewhat to allow return
\r
776 statements within the function itself. This is done in the interest
\r
777 of execution time efficiency. */
\r
780 taskENTER_CRITICAL();
\r
782 /* Is there room on the queue now? The running task must be the
\r
783 highest priority task wanting to access the queue. If the head item
\r
784 in the queue is to be overwritten then it does not matter if the
\r
786 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
788 traceQUEUE_SEND( pxQueue );
\r
789 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
791 #if ( configUSE_QUEUE_SETS == 1 )
\r
793 if( pxQueue->pxQueueSetContainer != NULL )
\r
795 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
797 /* The queue is a member of a queue set, and posting
\r
798 to the queue set caused a higher priority task to
\r
799 unblock. A context switch is required. */
\r
800 queueYIELD_IF_USING_PREEMPTION();
\r
804 mtCOVERAGE_TEST_MARKER();
\r
809 /* If there was a task waiting for data to arrive on the
\r
810 queue then unblock it now. */
\r
811 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
813 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
815 /* The unblocked task has a priority higher than
\r
816 our own so yield immediately. Yes it is ok to
\r
817 do this from within the critical section - the
\r
818 kernel takes care of that. */
\r
819 queueYIELD_IF_USING_PREEMPTION();
\r
823 mtCOVERAGE_TEST_MARKER();
\r
826 else if( xYieldRequired != pdFALSE )
\r
828 /* This path is a special case that will only get
\r
829 executed if the task was holding multiple mutexes
\r
830 and the mutexes were given back in an order that is
\r
831 different to that in which they were taken. */
\r
832 queueYIELD_IF_USING_PREEMPTION();
\r
836 mtCOVERAGE_TEST_MARKER();
\r
840 #else /* configUSE_QUEUE_SETS */
\r
842 /* If there was a task waiting for data to arrive on the
\r
843 queue then unblock it now. */
\r
844 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
846 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
848 /* The unblocked task has a priority higher than
\r
849 our own so yield immediately. Yes it is ok to do
\r
850 this from within the critical section - the kernel
\r
851 takes care of that. */
\r
852 queueYIELD_IF_USING_PREEMPTION();
\r
856 mtCOVERAGE_TEST_MARKER();
\r
859 else if( xYieldRequired != pdFALSE )
\r
861 /* This path is a special case that will only get
\r
862 executed if the task was holding multiple mutexes and
\r
863 the mutexes were given back in an order that is
\r
864 different to that in which they were taken. */
\r
865 queueYIELD_IF_USING_PREEMPTION();
\r
869 mtCOVERAGE_TEST_MARKER();
\r
872 #endif /* configUSE_QUEUE_SETS */
\r
874 taskEXIT_CRITICAL();
\r
879 if( xTicksToWait == ( TickType_t ) 0 )
\r
881 /* The queue was full and no block time is specified (or
\r
882 the block time has expired) so leave now. */
\r
883 taskEXIT_CRITICAL();
\r
885 /* Return to the original privilege level before exiting
\r
887 traceQUEUE_SEND_FAILED( pxQueue );
\r
888 return errQUEUE_FULL;
\r
890 else if( xEntryTimeSet == pdFALSE )
\r
892 /* The queue was full and a block time was specified so
\r
893 configure the timeout structure. */
\r
894 vTaskInternalSetTimeOutState( &xTimeOut );
\r
895 xEntryTimeSet = pdTRUE;
\r
899 /* Entry time was already set. */
\r
900 mtCOVERAGE_TEST_MARKER();
\r
904 taskEXIT_CRITICAL();
\r
906 /* Interrupts and other tasks can send to and receive from the queue
\r
907 now the critical section has been exited. */
\r
910 prvLockQueue( pxQueue );
\r
912 /* Update the timeout state to see if it has expired yet. */
\r
913 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
915 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
917 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
918 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
920 /* Unlocking the queue means queue events can effect the
\r
921 event list. It is possible that interrupts occurring now
\r
922 remove this task from the event list again - but as the
\r
923 scheduler is suspended the task will go onto the pending
\r
924 ready last instead of the actual ready list. */
\r
925 prvUnlockQueue( pxQueue );
\r
927 /* Resuming the scheduler will move tasks from the pending
\r
928 ready list into the ready list - so it is feasible that this
\r
929 task is already in a ready list before it yields - in which
\r
930 case the yield will not cause a context switch unless there
\r
931 is also a higher priority task in the pending ready list. */
\r
932 if( xTaskResumeAll() == pdFALSE )
\r
934 portYIELD_WITHIN_API();
\r
940 prvUnlockQueue( pxQueue );
\r
941 ( void ) xTaskResumeAll();
\r
946 /* The timeout has expired. */
\r
947 prvUnlockQueue( pxQueue );
\r
948 ( void ) xTaskResumeAll();
\r
950 traceQUEUE_SEND_FAILED( pxQueue );
\r
951 return errQUEUE_FULL;
\r
955 /*-----------------------------------------------------------*/
\r
957 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
959 BaseType_t xReturn;
\r
960 UBaseType_t uxSavedInterruptStatus;
\r
961 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
963 configASSERT( pxQueue );
\r
964 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
965 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
967 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
968 system call (or maximum API call) interrupt priority. Interrupts that are
\r
969 above the maximum system call priority are kept permanently enabled, even
\r
970 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
971 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
972 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
973 failure if a FreeRTOS API function is called from an interrupt that has been
\r
974 assigned a priority above the configured maximum system call priority.
\r
975 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
976 that have been assigned a priority at or (logically) below the maximum
\r
977 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
978 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
979 More information (albeit Cortex-M specific) is provided on the following
\r
980 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
981 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
983 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
984 in the queue. Also don't directly wake a task that was blocked on a queue
\r
985 read, instead return a flag to say whether a context switch is required or
\r
986 not (i.e. has a task with a higher priority than us been woken by this
\r
988 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
990 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
992 const int8_t cTxLock = pxQueue->cTxLock;
\r
994 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
996 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
997 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
998 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
999 called here even though the disinherit function does not check if
\r
1000 the scheduler is suspended before accessing the ready lists. */
\r
1001 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1003 /* The event list is not altered if the queue is locked. This will
\r
1004 be done when the queue is unlocked later. */
\r
1005 if( cTxLock == queueUNLOCKED )
\r
1007 #if ( configUSE_QUEUE_SETS == 1 )
\r
1009 if( pxQueue->pxQueueSetContainer != NULL )
\r
1011 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
1013 /* The queue is a member of a queue set, and posting
\r
1014 to the queue set caused a higher priority task to
\r
1015 unblock. A context switch is required. */
\r
1016 if( pxHigherPriorityTaskWoken != NULL )
\r
1018 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1022 mtCOVERAGE_TEST_MARKER();
\r
1027 mtCOVERAGE_TEST_MARKER();
\r
1032 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1034 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1036 /* The task waiting has a higher priority so
\r
1037 record that a context switch is required. */
\r
1038 if( pxHigherPriorityTaskWoken != NULL )
\r
1040 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1044 mtCOVERAGE_TEST_MARKER();
\r
1049 mtCOVERAGE_TEST_MARKER();
\r
1054 mtCOVERAGE_TEST_MARKER();
\r
1058 #else /* configUSE_QUEUE_SETS */
\r
1060 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1062 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1064 /* The task waiting has a higher priority so record that a
\r
1065 context switch is required. */
\r
1066 if( pxHigherPriorityTaskWoken != NULL )
\r
1068 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1072 mtCOVERAGE_TEST_MARKER();
\r
1077 mtCOVERAGE_TEST_MARKER();
\r
1082 mtCOVERAGE_TEST_MARKER();
\r
1085 #endif /* configUSE_QUEUE_SETS */
\r
1089 /* Increment the lock count so the task that unlocks the queue
\r
1090 knows that data was posted while it was locked. */
\r
1091 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1098 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1099 xReturn = errQUEUE_FULL;
\r
1102 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1106 /*-----------------------------------------------------------*/
\r
1108 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1110 BaseType_t xReturn;
\r
1111 UBaseType_t uxSavedInterruptStatus;
\r
1112 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1114 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1115 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1116 read, instead return a flag to say whether a context switch is required or
\r
1117 not (i.e. has a task with a higher priority than us been woken by this
\r
1120 configASSERT( pxQueue );
\r
1122 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1123 if the item size is not 0. */
\r
1124 configASSERT( pxQueue->uxItemSize == 0 );
\r
1126 /* Normally a mutex would not be given from an interrupt, especially if
\r
1127 there is a mutex holder, as priority inheritance makes no sense for an
\r
1128 interrupts, only tasks. */
\r
1129 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1131 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1132 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1133 above the maximum system call priority are kept permanently enabled, even
\r
1134 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1135 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1136 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1137 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1138 assigned a priority above the configured maximum system call priority.
\r
1139 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1140 that have been assigned a priority at or (logically) below the maximum
\r
1141 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1142 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1143 More information (albeit Cortex-M specific) is provided on the following
\r
1144 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1145 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1147 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1149 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1151 /* When the queue is used to implement a semaphore no data is ever
\r
1152 moved through the queue but it is still valid to see if the queue 'has
\r
1154 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1156 const int8_t cTxLock = pxQueue->cTxLock;
\r
1158 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1160 /* A task can only have an inherited priority if it is a mutex
\r
1161 holder - and if there is a mutex holder then the mutex cannot be
\r
1162 given from an ISR. As this is the ISR version of the function it
\r
1163 can be assumed there is no mutex holder and no need to determine if
\r
1164 priority disinheritance is needed. Simply increase the count of
\r
1165 messages (semaphores) available. */
\r
1166 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1168 /* The event list is not altered if the queue is locked. This will
\r
1169 be done when the queue is unlocked later. */
\r
1170 if( cTxLock == queueUNLOCKED )
\r
1172 #if ( configUSE_QUEUE_SETS == 1 )
\r
1174 if( pxQueue->pxQueueSetContainer != NULL )
\r
1176 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1178 /* The semaphore is a member of a queue set, and
\r
1179 posting to the queue set caused a higher priority
\r
1180 task to unblock. A context switch is required. */
\r
1181 if( pxHigherPriorityTaskWoken != NULL )
\r
1183 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1187 mtCOVERAGE_TEST_MARKER();
\r
1192 mtCOVERAGE_TEST_MARKER();
\r
1197 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1199 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1201 /* The task waiting has a higher priority so
\r
1202 record that a context switch is required. */
\r
1203 if( pxHigherPriorityTaskWoken != NULL )
\r
1205 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1209 mtCOVERAGE_TEST_MARKER();
\r
1214 mtCOVERAGE_TEST_MARKER();
\r
1219 mtCOVERAGE_TEST_MARKER();
\r
1223 #else /* configUSE_QUEUE_SETS */
\r
1225 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1227 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1229 /* The task waiting has a higher priority so record that a
\r
1230 context switch is required. */
\r
1231 if( pxHigherPriorityTaskWoken != NULL )
\r
1233 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1237 mtCOVERAGE_TEST_MARKER();
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1247 mtCOVERAGE_TEST_MARKER();
\r
1250 #endif /* configUSE_QUEUE_SETS */
\r
1254 /* Increment the lock count so the task that unlocks the queue
\r
1255 knows that data was posted while it was locked. */
\r
1256 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1263 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1264 xReturn = errQUEUE_FULL;
\r
1267 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1271 /*-----------------------------------------------------------*/
\r
1273 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1275 BaseType_t xEntryTimeSet = pdFALSE;
\r
1276 TimeOut_t xTimeOut;
\r
1277 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1279 /* Check the pointer is not NULL. */
\r
1280 configASSERT( ( pxQueue ) );
\r
1282 /* The buffer into which data is received can only be NULL if the data size
\r
1283 is zero (so no data is copied into the buffer. */
\r
1284 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1286 /* Cannot block if the scheduler is suspended. */
\r
1287 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1289 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1294 /* This function relaxes the coding standard somewhat to allow return
\r
1295 statements within the function itself. This is done in the interest
\r
1296 of execution time efficiency. */
\r
1300 taskENTER_CRITICAL();
\r
1302 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1304 /* Is there data in the queue now? To be running the calling task
\r
1305 must be the highest priority task wanting to access the queue. */
\r
1306 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1308 /* Data available, remove one item. */
\r
1309 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1310 traceQUEUE_RECEIVE( pxQueue );
\r
1311 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1313 /* There is now space in the queue, were any tasks waiting to
\r
1314 post to the queue? If so, unblock the highest priority waiting
\r
1316 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1318 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1320 queueYIELD_IF_USING_PREEMPTION();
\r
1324 mtCOVERAGE_TEST_MARKER();
\r
1329 mtCOVERAGE_TEST_MARKER();
\r
1332 taskEXIT_CRITICAL();
\r
1337 if( xTicksToWait == ( TickType_t ) 0 )
\r
1339 /* The queue was empty and no block time is specified (or
\r
1340 the block time has expired) so leave now. */
\r
1341 taskEXIT_CRITICAL();
\r
1342 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1343 return errQUEUE_EMPTY;
\r
1345 else if( xEntryTimeSet == pdFALSE )
\r
1347 /* The queue was empty and a block time was specified so
\r
1348 configure the timeout structure. */
\r
1349 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1350 xEntryTimeSet = pdTRUE;
\r
1354 /* Entry time was already set. */
\r
1355 mtCOVERAGE_TEST_MARKER();
\r
1359 taskEXIT_CRITICAL();
\r
1361 /* Interrupts and other tasks can send to and receive from the queue
\r
1362 now the critical section has been exited. */
\r
1364 vTaskSuspendAll();
\r
1365 prvLockQueue( pxQueue );
\r
1367 /* Update the timeout state to see if it has expired yet. */
\r
1368 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1370 /* The timeout has not expired. If the queue is still empty place
\r
1371 the task on the list of tasks waiting to receive from the queue. */
\r
1372 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1374 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1375 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1376 prvUnlockQueue( pxQueue );
\r
1377 if( xTaskResumeAll() == pdFALSE )
\r
1379 portYIELD_WITHIN_API();
\r
1383 mtCOVERAGE_TEST_MARKER();
\r
1388 /* The queue contains data again. Loop back to try and read the
\r
1390 prvUnlockQueue( pxQueue );
\r
1391 ( void ) xTaskResumeAll();
\r
1396 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1397 back and attempt to read the data. */
\r
1398 prvUnlockQueue( pxQueue );
\r
1399 ( void ) xTaskResumeAll();
\r
1401 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1403 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1404 return errQUEUE_EMPTY;
\r
1408 mtCOVERAGE_TEST_MARKER();
\r
1413 /*-----------------------------------------------------------*/
\r
1415 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1417 BaseType_t xEntryTimeSet = pdFALSE;
\r
1418 TimeOut_t xTimeOut;
\r
1419 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1421 #if( configUSE_MUTEXES == 1 )
\r
1422 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1425 /* Check the queue pointer is not NULL. */
\r
1426 configASSERT( ( pxQueue ) );
\r
1428 /* Check this really is a semaphore, in which case the item size will be
\r
1430 configASSERT( pxQueue->uxItemSize == 0 );
\r
1432 /* Cannot block if the scheduler is suspended. */
\r
1433 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1435 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1440 /* This function relaxes the coding standard somewhat to allow return
\r
1441 statements within the function itself. This is done in the interest
\r
1442 of execution time efficiency. */
\r
1446 taskENTER_CRITICAL();
\r
1448 /* Semaphores are queues with an item size of 0, and where the
\r
1449 number of messages in the queue is the semaphore's count value. */
\r
1450 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1452 /* Is there data in the queue now? To be running the calling task
\r
1453 must be the highest priority task wanting to access the queue. */
\r
1454 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1456 traceQUEUE_RECEIVE( pxQueue );
\r
1458 /* Semaphores are queues with a data size of zero and where the
\r
1459 messages waiting is the semaphore's count. Reduce the count. */
\r
1460 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1462 #if ( configUSE_MUTEXES == 1 )
\r
1464 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1466 /* Record the information required to implement
\r
1467 priority inheritance should it become necessary. */
\r
1468 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1472 mtCOVERAGE_TEST_MARKER();
\r
1475 #endif /* configUSE_MUTEXES */
\r
1477 /* Check to see if other tasks are blocked waiting to give the
\r
1478 semaphore, and if so, unblock the highest priority such task. */
\r
1479 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1481 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1483 queueYIELD_IF_USING_PREEMPTION();
\r
1487 mtCOVERAGE_TEST_MARKER();
\r
1492 mtCOVERAGE_TEST_MARKER();
\r
1495 taskEXIT_CRITICAL();
\r
1500 if( xTicksToWait == ( TickType_t ) 0 )
\r
1502 /* For inheritance to have occurred there must have been an
\r
1503 initial timeout, and an adjusted timeout cannot become 0, as
\r
1504 if it were 0 the function would have exited. */
\r
1505 #if( configUSE_MUTEXES == 1 )
\r
1507 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1509 #endif /* configUSE_MUTEXES */
\r
1511 /* The semaphore count was 0 and no block time is specified
\r
1512 (or the block time has expired) so exit now. */
\r
1513 taskEXIT_CRITICAL();
\r
1514 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1515 return errQUEUE_EMPTY;
\r
1517 else if( xEntryTimeSet == pdFALSE )
\r
1519 /* The semaphore count was 0 and a block time was specified
\r
1520 so configure the timeout structure ready to block. */
\r
1521 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1522 xEntryTimeSet = pdTRUE;
\r
1526 /* Entry time was already set. */
\r
1527 mtCOVERAGE_TEST_MARKER();
\r
1531 taskEXIT_CRITICAL();
\r
1533 /* Interrupts and other tasks can give to and take from the semaphore
\r
1534 now the critical section has been exited. */
\r
1536 vTaskSuspendAll();
\r
1537 prvLockQueue( pxQueue );
\r
1539 /* Update the timeout state to see if it has expired yet. */
\r
1540 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1542 /* A block time is specified and not expired. If the semaphore
\r
1543 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1544 become available. As semaphores are implemented with queues the
\r
1545 queue being empty is equivalent to the semaphore count being 0. */
\r
1546 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1548 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1550 #if ( configUSE_MUTEXES == 1 )
\r
1552 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1554 taskENTER_CRITICAL();
\r
1556 xInheritanceOccurred = xTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1558 taskEXIT_CRITICAL();
\r
1562 mtCOVERAGE_TEST_MARKER();
\r
1567 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1568 prvUnlockQueue( pxQueue );
\r
1569 if( xTaskResumeAll() == pdFALSE )
\r
1571 portYIELD_WITHIN_API();
\r
1575 mtCOVERAGE_TEST_MARKER();
\r
1580 /* There was no timeout and the semaphore count was not 0, so
\r
1581 attempt to take the semaphore again. */
\r
1582 prvUnlockQueue( pxQueue );
\r
1583 ( void ) xTaskResumeAll();
\r
1589 prvUnlockQueue( pxQueue );
\r
1590 ( void ) xTaskResumeAll();
\r
1592 /* If the semaphore count is 0 exit now as the timeout has
\r
1593 expired. Otherwise return to attempt to take the semaphore that is
\r
1594 known to be available. As semaphores are implemented by queues the
\r
1595 queue being empty is equivalent to the semaphore count being 0. */
\r
1596 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1598 #if ( configUSE_MUTEXES == 1 )
\r
1600 /* xInheritanceOccurred could only have be set if
\r
1601 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1602 test the mutex type again to check it is actually a mutex. */
\r
1603 if( xInheritanceOccurred != pdFALSE )
\r
1605 taskENTER_CRITICAL();
\r
1607 UBaseType_t uxHighestWaitingPriority;
\r
1609 /* This task blocking on the mutex caused another
\r
1610 task to inherit this task's priority. Now this task
\r
1611 has timed out the priority should be disinherited
\r
1612 again, but only as low as the next highest priority
\r
1613 task that is waiting for the same mutex. */
\r
1614 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1615 vTaskPriorityDisinheritAfterTimeout( ( void * ) pxQueue->pxMutexHolder, uxHighestWaitingPriority );
\r
1617 taskEXIT_CRITICAL();
\r
1620 #endif /* configUSE_MUTEXES */
\r
1622 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1623 return errQUEUE_EMPTY;
\r
1627 mtCOVERAGE_TEST_MARKER();
\r
1632 /*-----------------------------------------------------------*/
\r
1634 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1636 BaseType_t xEntryTimeSet = pdFALSE;
\r
1637 TimeOut_t xTimeOut;
\r
1638 int8_t *pcOriginalReadPosition;
\r
1639 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1641 /* Check the pointer is not NULL. */
\r
1642 configASSERT( ( pxQueue ) );
\r
1644 /* The buffer into which data is received can only be NULL if the data size
\r
1645 is zero (so no data is copied into the buffer. */
\r
1646 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1648 /* Cannot block if the scheduler is suspended. */
\r
1649 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1651 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1656 /* This function relaxes the coding standard somewhat to allow return
\r
1657 statements within the function itself. This is done in the interest
\r
1658 of execution time efficiency. */
\r
1662 taskENTER_CRITICAL();
\r
1664 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1666 /* Is there data in the queue now? To be running the calling task
\r
1667 must be the highest priority task wanting to access the queue. */
\r
1668 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1670 /* Remember the read position so it can be reset after the data
\r
1671 is read from the queue as this function is only peeking the
\r
1672 data, not removing it. */
\r
1673 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1675 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1676 traceQUEUE_PEEK( pxQueue );
\r
1678 /* The data is not being removed, so reset the read pointer. */
\r
1679 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1681 /* The data is being left in the queue, so see if there are
\r
1682 any other tasks waiting for the data. */
\r
1683 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1685 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1687 /* The task waiting has a higher priority than this task. */
\r
1688 queueYIELD_IF_USING_PREEMPTION();
\r
1692 mtCOVERAGE_TEST_MARKER();
\r
1697 mtCOVERAGE_TEST_MARKER();
\r
1700 taskEXIT_CRITICAL();
\r
1705 if( xTicksToWait == ( TickType_t ) 0 )
\r
1707 /* The queue was empty and no block time is specified (or
\r
1708 the block time has expired) so leave now. */
\r
1709 taskEXIT_CRITICAL();
\r
1710 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1711 return errQUEUE_EMPTY;
\r
1713 else if( xEntryTimeSet == pdFALSE )
\r
1715 /* The queue was empty and a block time was specified so
\r
1716 configure the timeout structure ready to enter the blocked
\r
1718 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1719 xEntryTimeSet = pdTRUE;
\r
1723 /* Entry time was already set. */
\r
1724 mtCOVERAGE_TEST_MARKER();
\r
1728 taskEXIT_CRITICAL();
\r
1730 /* Interrupts and other tasks can send to and receive from the queue
\r
1731 now the critical section has been exited. */
\r
1733 vTaskSuspendAll();
\r
1734 prvLockQueue( pxQueue );
\r
1736 /* Update the timeout state to see if it has expired yet. */
\r
1737 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1739 /* Timeout has not expired yet, check to see if there is data in the
\r
1740 queue now, and if not enter the Blocked state to wait for data. */
\r
1741 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1743 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1744 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1745 prvUnlockQueue( pxQueue );
\r
1746 if( xTaskResumeAll() == pdFALSE )
\r
1748 portYIELD_WITHIN_API();
\r
1752 mtCOVERAGE_TEST_MARKER();
\r
1757 /* There is data in the queue now, so don't enter the blocked
\r
1758 state, instead return to try and obtain the data. */
\r
1759 prvUnlockQueue( pxQueue );
\r
1760 ( void ) xTaskResumeAll();
\r
1765 /* The timeout has expired. If there is still no data in the queue
\r
1766 exit, otherwise go back and try to read the data again. */
\r
1767 prvUnlockQueue( pxQueue );
\r
1768 ( void ) xTaskResumeAll();
\r
1770 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1772 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1773 return errQUEUE_EMPTY;
\r
1777 mtCOVERAGE_TEST_MARKER();
\r
1782 /*-----------------------------------------------------------*/
\r
1784 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1786 BaseType_t xReturn;
\r
1787 UBaseType_t uxSavedInterruptStatus;
\r
1788 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1790 configASSERT( pxQueue );
\r
1791 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1793 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1794 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1795 above the maximum system call priority are kept permanently enabled, even
\r
1796 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1797 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1798 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1799 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1800 assigned a priority above the configured maximum system call priority.
\r
1801 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1802 that have been assigned a priority at or (logically) below the maximum
\r
1803 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1804 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1805 More information (albeit Cortex-M specific) is provided on the following
\r
1806 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1807 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1809 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1811 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1813 /* Cannot block in an ISR, so check there is data available. */
\r
1814 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1816 const int8_t cRxLock = pxQueue->cRxLock;
\r
1818 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1820 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1821 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1823 /* If the queue is locked the event list will not be modified.
\r
1824 Instead update the lock count so the task that unlocks the queue
\r
1825 will know that an ISR has removed data while the queue was
\r
1827 if( cRxLock == queueUNLOCKED )
\r
1829 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1831 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1833 /* The task waiting has a higher priority than us so
\r
1834 force a context switch. */
\r
1835 if( pxHigherPriorityTaskWoken != NULL )
\r
1837 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1841 mtCOVERAGE_TEST_MARKER();
\r
1846 mtCOVERAGE_TEST_MARKER();
\r
1851 mtCOVERAGE_TEST_MARKER();
\r
1856 /* Increment the lock count so the task that unlocks the queue
\r
1857 knows that data was removed while it was locked. */
\r
1858 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1866 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1869 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1873 /*-----------------------------------------------------------*/
\r
1875 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1877 BaseType_t xReturn;
\r
1878 UBaseType_t uxSavedInterruptStatus;
\r
1879 int8_t *pcOriginalReadPosition;
\r
1880 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1882 configASSERT( pxQueue );
\r
1883 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1884 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1886 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1887 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1888 above the maximum system call priority are kept permanently enabled, even
\r
1889 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1890 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1891 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1892 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1893 assigned a priority above the configured maximum system call priority.
\r
1894 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1895 that have been assigned a priority at or (logically) below the maximum
\r
1896 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1897 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1898 More information (albeit Cortex-M specific) is provided on the following
\r
1899 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1900 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1902 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1904 /* Cannot block in an ISR, so check there is data available. */
\r
1905 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1907 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1909 /* Remember the read position so it can be reset as nothing is
\r
1910 actually being removed from the queue. */
\r
1911 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1912 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1913 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1920 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1923 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1927 /*-----------------------------------------------------------*/
\r
1929 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1931 UBaseType_t uxReturn;
\r
1933 configASSERT( xQueue );
\r
1935 taskENTER_CRITICAL();
\r
1937 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1939 taskEXIT_CRITICAL();
\r
1942 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1943 /*-----------------------------------------------------------*/
\r
1945 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1947 UBaseType_t uxReturn;
\r
1950 pxQueue = ( Queue_t * ) xQueue;
\r
1951 configASSERT( pxQueue );
\r
1953 taskENTER_CRITICAL();
\r
1955 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1957 taskEXIT_CRITICAL();
\r
1960 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1961 /*-----------------------------------------------------------*/
\r
1963 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1965 UBaseType_t uxReturn;
\r
1967 configASSERT( xQueue );
\r
1969 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1972 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1973 /*-----------------------------------------------------------*/
\r
1975 void vQueueDelete( QueueHandle_t xQueue )
\r
1977 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1979 configASSERT( pxQueue );
\r
1980 traceQUEUE_DELETE( pxQueue );
\r
1982 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1984 vQueueUnregisterQueue( pxQueue );
\r
1988 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1990 /* The queue can only have been allocated dynamically - free it
\r
1992 vPortFree( pxQueue );
\r
1994 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1996 /* The queue could have been allocated statically or dynamically, so
\r
1997 check before attempting to free the memory. */
\r
1998 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
2000 vPortFree( pxQueue );
\r
2004 mtCOVERAGE_TEST_MARKER();
\r
2009 /* The queue must have been statically allocated, so is not going to be
\r
2010 deleted. Avoid compiler warnings about the unused parameter. */
\r
2013 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2015 /*-----------------------------------------------------------*/
\r
2017 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2019 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2021 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2024 #endif /* configUSE_TRACE_FACILITY */
\r
2025 /*-----------------------------------------------------------*/
\r
2027 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2029 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2031 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2034 #endif /* configUSE_TRACE_FACILITY */
\r
2035 /*-----------------------------------------------------------*/
\r
2037 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2039 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2041 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2044 #endif /* configUSE_TRACE_FACILITY */
\r
2045 /*-----------------------------------------------------------*/
\r
2047 #if( configUSE_MUTEXES == 1 )
\r
2049 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2051 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2053 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2054 priority, but the waiting task times out, then the holder should
\r
2055 disinherit the priority - but only down to the highest priority of any
\r
2056 other tasks that are waiting for the same mutex. For this purpose,
\r
2057 return the priority of the highest priority task that is waiting for the
\r
2059 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0 )
\r
2061 uxHighestPriorityOfWaitingTasks = configMAX_PRIORITIES - listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2065 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2068 return uxHighestPriorityOfWaitingTasks;
\r
2071 #endif /* configUSE_MUTEXES */
\r
2072 /*-----------------------------------------------------------*/
\r
2074 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2076 BaseType_t xReturn = pdFALSE;
\r
2077 UBaseType_t uxMessagesWaiting;
\r
2079 /* This function is called from a critical section. */
\r
2081 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2083 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2085 #if ( configUSE_MUTEXES == 1 )
\r
2087 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2089 /* The mutex is no longer being held. */
\r
2090 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
2091 pxQueue->pxMutexHolder = NULL;
\r
2095 mtCOVERAGE_TEST_MARKER();
\r
2098 #endif /* configUSE_MUTEXES */
\r
2100 else if( xPosition == queueSEND_TO_BACK )
\r
2102 ( 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
2103 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
2104 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2106 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2110 mtCOVERAGE_TEST_MARKER();
\r
2115 ( 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
2116 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
2117 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2119 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
2123 mtCOVERAGE_TEST_MARKER();
\r
2126 if( xPosition == queueOVERWRITE )
\r
2128 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2130 /* An item is not being added but overwritten, so subtract
\r
2131 one from the recorded number of items in the queue so when
\r
2132 one is added again below the number of recorded items remains
\r
2134 --uxMessagesWaiting;
\r
2138 mtCOVERAGE_TEST_MARKER();
\r
2143 mtCOVERAGE_TEST_MARKER();
\r
2147 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2151 /*-----------------------------------------------------------*/
\r
2153 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2155 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2157 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2158 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
2160 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2164 mtCOVERAGE_TEST_MARKER();
\r
2166 ( 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
2169 /*-----------------------------------------------------------*/
\r
2171 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2173 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2175 /* The lock counts contains the number of extra data items placed or
\r
2176 removed from the queue while the queue was locked. When a queue is
\r
2177 locked items can be added or removed, but the event lists cannot be
\r
2179 taskENTER_CRITICAL();
\r
2181 int8_t cTxLock = pxQueue->cTxLock;
\r
2183 /* See if data was added to the queue while it was locked. */
\r
2184 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2186 /* Data was posted while the queue was locked. Are any tasks
\r
2187 blocked waiting for data to become available? */
\r
2188 #if ( configUSE_QUEUE_SETS == 1 )
\r
2190 if( pxQueue->pxQueueSetContainer != NULL )
\r
2192 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
2194 /* The queue is a member of a queue set, and posting to
\r
2195 the queue set caused a higher priority task to unblock.
\r
2196 A context switch is required. */
\r
2197 vTaskMissedYield();
\r
2201 mtCOVERAGE_TEST_MARKER();
\r
2206 /* Tasks that are removed from the event list will get
\r
2207 added to the pending ready list as the scheduler is still
\r
2209 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2211 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2213 /* The task waiting has a higher priority so record that a
\r
2214 context switch is required. */
\r
2215 vTaskMissedYield();
\r
2219 mtCOVERAGE_TEST_MARKER();
\r
2228 #else /* configUSE_QUEUE_SETS */
\r
2230 /* Tasks that are removed from the event list will get added to
\r
2231 the pending ready list as the scheduler is still suspended. */
\r
2232 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2234 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2236 /* The task waiting has a higher priority so record that
\r
2237 a context switch is required. */
\r
2238 vTaskMissedYield();
\r
2242 mtCOVERAGE_TEST_MARKER();
\r
2250 #endif /* configUSE_QUEUE_SETS */
\r
2255 pxQueue->cTxLock = queueUNLOCKED;
\r
2257 taskEXIT_CRITICAL();
\r
2259 /* Do the same for the Rx lock. */
\r
2260 taskENTER_CRITICAL();
\r
2262 int8_t cRxLock = pxQueue->cRxLock;
\r
2264 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2266 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2268 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2270 vTaskMissedYield();
\r
2274 mtCOVERAGE_TEST_MARKER();
\r
2285 pxQueue->cRxLock = queueUNLOCKED;
\r
2287 taskEXIT_CRITICAL();
\r
2289 /*-----------------------------------------------------------*/
\r
2291 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2293 BaseType_t xReturn;
\r
2295 taskENTER_CRITICAL();
\r
2297 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2303 xReturn = pdFALSE;
\r
2306 taskEXIT_CRITICAL();
\r
2310 /*-----------------------------------------------------------*/
\r
2312 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2314 BaseType_t xReturn;
\r
2316 configASSERT( xQueue );
\r
2317 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2323 xReturn = pdFALSE;
\r
2327 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2328 /*-----------------------------------------------------------*/
\r
2330 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2332 BaseType_t xReturn;
\r
2334 taskENTER_CRITICAL();
\r
2336 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2342 xReturn = pdFALSE;
\r
2345 taskEXIT_CRITICAL();
\r
2349 /*-----------------------------------------------------------*/
\r
2351 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2353 BaseType_t xReturn;
\r
2355 configASSERT( xQueue );
\r
2356 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
2362 xReturn = pdFALSE;
\r
2366 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2367 /*-----------------------------------------------------------*/
\r
2369 #if ( configUSE_CO_ROUTINES == 1 )
\r
2371 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2373 BaseType_t xReturn;
\r
2374 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2376 /* If the queue is already full we may have to block. A critical section
\r
2377 is required to prevent an interrupt removing something from the queue
\r
2378 between the check to see if the queue is full and blocking on the queue. */
\r
2379 portDISABLE_INTERRUPTS();
\r
2381 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2383 /* The queue is full - do we want to block or just leave without
\r
2385 if( xTicksToWait > ( TickType_t ) 0 )
\r
2387 /* As this is called from a coroutine we cannot block directly, but
\r
2388 return indicating that we need to block. */
\r
2389 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2390 portENABLE_INTERRUPTS();
\r
2391 return errQUEUE_BLOCKED;
\r
2395 portENABLE_INTERRUPTS();
\r
2396 return errQUEUE_FULL;
\r
2400 portENABLE_INTERRUPTS();
\r
2402 portDISABLE_INTERRUPTS();
\r
2404 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2406 /* There is room in the queue, copy the data into the queue. */
\r
2407 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2410 /* Were any co-routines waiting for data to become available? */
\r
2411 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2413 /* In this instance the co-routine could be placed directly
\r
2414 into the ready list as we are within a critical section.
\r
2415 Instead the same pending ready list mechanism is used as if
\r
2416 the event were caused from within an interrupt. */
\r
2417 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2419 /* The co-routine waiting has a higher priority so record
\r
2420 that a yield might be appropriate. */
\r
2421 xReturn = errQUEUE_YIELD;
\r
2425 mtCOVERAGE_TEST_MARKER();
\r
2430 mtCOVERAGE_TEST_MARKER();
\r
2435 xReturn = errQUEUE_FULL;
\r
2438 portENABLE_INTERRUPTS();
\r
2443 #endif /* configUSE_CO_ROUTINES */
\r
2444 /*-----------------------------------------------------------*/
\r
2446 #if ( configUSE_CO_ROUTINES == 1 )
\r
2448 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2450 BaseType_t xReturn;
\r
2451 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2453 /* If the queue is already empty we may have to block. A critical section
\r
2454 is required to prevent an interrupt adding something to the queue
\r
2455 between the check to see if the queue is empty and blocking on the queue. */
\r
2456 portDISABLE_INTERRUPTS();
\r
2458 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2460 /* There are no messages in the queue, do we want to block or just
\r
2461 leave with nothing? */
\r
2462 if( xTicksToWait > ( TickType_t ) 0 )
\r
2464 /* As this is a co-routine we cannot block directly, but return
\r
2465 indicating that we need to block. */
\r
2466 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2467 portENABLE_INTERRUPTS();
\r
2468 return errQUEUE_BLOCKED;
\r
2472 portENABLE_INTERRUPTS();
\r
2473 return errQUEUE_FULL;
\r
2478 mtCOVERAGE_TEST_MARKER();
\r
2481 portENABLE_INTERRUPTS();
\r
2483 portDISABLE_INTERRUPTS();
\r
2485 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2487 /* Data is available from the queue. */
\r
2488 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2489 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2491 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2495 mtCOVERAGE_TEST_MARKER();
\r
2497 --( pxQueue->uxMessagesWaiting );
\r
2498 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2502 /* Were any co-routines waiting for space to become available? */
\r
2503 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2505 /* In this instance the co-routine could be placed directly
\r
2506 into the ready list as we are within a critical section.
\r
2507 Instead the same pending ready list mechanism is used as if
\r
2508 the event were caused from within an interrupt. */
\r
2509 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2511 xReturn = errQUEUE_YIELD;
\r
2515 mtCOVERAGE_TEST_MARKER();
\r
2520 mtCOVERAGE_TEST_MARKER();
\r
2528 portENABLE_INTERRUPTS();
\r
2533 #endif /* configUSE_CO_ROUTINES */
\r
2534 /*-----------------------------------------------------------*/
\r
2536 #if ( configUSE_CO_ROUTINES == 1 )
\r
2538 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2540 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2542 /* Cannot block within an ISR so if there is no space on the queue then
\r
2543 exit without doing anything. */
\r
2544 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2546 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2548 /* We only want to wake one co-routine per ISR, so check that a
\r
2549 co-routine has not already been woken. */
\r
2550 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2552 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2554 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2560 mtCOVERAGE_TEST_MARKER();
\r
2565 mtCOVERAGE_TEST_MARKER();
\r
2570 mtCOVERAGE_TEST_MARKER();
\r
2575 mtCOVERAGE_TEST_MARKER();
\r
2578 return xCoRoutinePreviouslyWoken;
\r
2581 #endif /* configUSE_CO_ROUTINES */
\r
2582 /*-----------------------------------------------------------*/
\r
2584 #if ( configUSE_CO_ROUTINES == 1 )
\r
2586 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2588 BaseType_t xReturn;
\r
2589 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2591 /* We cannot block from an ISR, so check there is data available. If
\r
2592 not then just leave without doing anything. */
\r
2593 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2595 /* Copy the data from the queue. */
\r
2596 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2597 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2599 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2603 mtCOVERAGE_TEST_MARKER();
\r
2605 --( pxQueue->uxMessagesWaiting );
\r
2606 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2608 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2610 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2612 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2614 *pxCoRoutineWoken = pdTRUE;
\r
2618 mtCOVERAGE_TEST_MARKER();
\r
2623 mtCOVERAGE_TEST_MARKER();
\r
2628 mtCOVERAGE_TEST_MARKER();
\r
2641 #endif /* configUSE_CO_ROUTINES */
\r
2642 /*-----------------------------------------------------------*/
\r
2644 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2646 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2650 /* See if there is an empty space in the registry. A NULL name denotes
\r
2652 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2654 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2656 /* Store the information on this queue. */
\r
2657 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2658 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2660 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2665 mtCOVERAGE_TEST_MARKER();
\r
2670 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2671 /*-----------------------------------------------------------*/
\r
2673 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2675 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2678 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2680 /* Note there is nothing here to protect against another task adding or
\r
2681 removing entries from the registry while it is being searched. */
\r
2682 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2684 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2686 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2691 mtCOVERAGE_TEST_MARKER();
\r
2696 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2698 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2699 /*-----------------------------------------------------------*/
\r
2701 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2703 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2707 /* See if the handle of the queue being unregistered in actually in the
\r
2709 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2711 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2713 /* Set the name to NULL to show that this slot if free again. */
\r
2714 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2716 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2717 appear in the registry twice if it is added, removed, then
\r
2719 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2724 mtCOVERAGE_TEST_MARKER();
\r
2728 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2730 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2731 /*-----------------------------------------------------------*/
\r
2733 #if ( configUSE_TIMERS == 1 )
\r
2735 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2737 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2739 /* This function should not be called by application code hence the
\r
2740 'Restricted' in its name. It is not part of the public API. It is
\r
2741 designed for use by kernel code, and has special calling requirements.
\r
2742 It can result in vListInsert() being called on a list that can only
\r
2743 possibly ever have one item in it, so the list will be fast, but even
\r
2744 so it should be called with the scheduler locked and not from a critical
\r
2747 /* Only do anything if there are no messages in the queue. This function
\r
2748 will not actually cause the task to block, just place it on a blocked
\r
2749 list. It will not block until the scheduler is unlocked - at which
\r
2750 time a yield will be performed. If an item is added to the queue while
\r
2751 the queue is locked, and the calling task blocks on the queue, then the
\r
2752 calling task will be immediately unblocked when the queue is unlocked. */
\r
2753 prvLockQueue( pxQueue );
\r
2754 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2756 /* There is nothing in the queue, block for the specified period. */
\r
2757 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2761 mtCOVERAGE_TEST_MARKER();
\r
2763 prvUnlockQueue( pxQueue );
\r
2766 #endif /* configUSE_TIMERS */
\r
2767 /*-----------------------------------------------------------*/
\r
2769 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2771 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2773 QueueSetHandle_t pxQueue;
\r
2775 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2780 #endif /* configUSE_QUEUE_SETS */
\r
2781 /*-----------------------------------------------------------*/
\r
2783 #if ( configUSE_QUEUE_SETS == 1 )
\r
2785 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2787 BaseType_t xReturn;
\r
2789 taskENTER_CRITICAL();
\r
2791 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2793 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2796 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2798 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2799 items in the queue/semaphore. */
\r
2804 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2808 taskEXIT_CRITICAL();
\r
2813 #endif /* configUSE_QUEUE_SETS */
\r
2814 /*-----------------------------------------------------------*/
\r
2816 #if ( configUSE_QUEUE_SETS == 1 )
\r
2818 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2820 BaseType_t xReturn;
\r
2821 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2823 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2825 /* The queue was not a member of the set. */
\r
2828 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2830 /* It is dangerous to remove a queue from a set when the queue is
\r
2831 not empty because the queue set will still hold pending events for
\r
2837 taskENTER_CRITICAL();
\r
2839 /* The queue is no longer contained in the set. */
\r
2840 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2842 taskEXIT_CRITICAL();
\r
2847 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2849 #endif /* configUSE_QUEUE_SETS */
\r
2850 /*-----------------------------------------------------------*/
\r
2852 #if ( configUSE_QUEUE_SETS == 1 )
\r
2854 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2856 QueueSetMemberHandle_t xReturn = NULL;
\r
2858 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2862 #endif /* configUSE_QUEUE_SETS */
\r
2863 /*-----------------------------------------------------------*/
\r
2865 #if ( configUSE_QUEUE_SETS == 1 )
\r
2867 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2869 QueueSetMemberHandle_t xReturn = NULL;
\r
2871 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2875 #endif /* configUSE_QUEUE_SETS */
\r
2876 /*-----------------------------------------------------------*/
\r
2878 #if ( configUSE_QUEUE_SETS == 1 )
\r
2880 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2882 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2883 BaseType_t xReturn = pdFALSE;
\r
2885 /* This function must be called form a critical section. */
\r
2887 configASSERT( pxQueueSetContainer );
\r
2888 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2890 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2892 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2894 traceQUEUE_SEND( pxQueueSetContainer );
\r
2896 /* The data copied is the handle of the queue that contains data. */
\r
2897 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2899 if( cTxLock == queueUNLOCKED )
\r
2901 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2903 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2905 /* The task waiting has a higher priority. */
\r
2910 mtCOVERAGE_TEST_MARKER();
\r
2915 mtCOVERAGE_TEST_MARKER();
\r
2920 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2925 mtCOVERAGE_TEST_MARKER();
\r
2931 #endif /* configUSE_QUEUE_SETS */
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projects / freertos / blob