2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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82 #if ( configUSE_CO_ROUTINES == 1 )
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83 #include "croutine.h"
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86 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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87 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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88 header files above, but not in this file, in order to generate the correct
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89 privileged Vs unprivileged linkage and placement. */
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90 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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93 /* Constants used with the cRxLock and cTxLock structure members. */
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94 #define queueUNLOCKED ( ( int8_t ) -1 )
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95 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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97 /* When the Queue_t structure is used to represent a base queue its pcHead and
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98 pcTail members are used as pointers into the queue storage area. When the
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99 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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100 not necessary, and the pcHead pointer is set to NULL to indicate that the
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101 pcTail pointer actually points to the mutex holder (if any). Map alternative
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102 names to the pcHead and pcTail structure members to ensure the readability of
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103 the code is maintained despite this dual use of two structure members. An
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104 alternative implementation would be to use a union, but use of a union is
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105 against the coding standard (although an exception to the standard has been
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106 permitted where the dual use also significantly changes the type of the
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107 structure member). */
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108 #define pxMutexHolder pcTail
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109 #define uxQueueType pcHead
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110 #define queueQUEUE_IS_MUTEX NULL
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112 /* Semaphores do not actually store or copy data, so have an item size of
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114 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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115 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define queueYIELD_IF_USING_PREEMPTION()
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122 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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126 * Definition of the queue used by the scheduler.
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127 * Items are queued by copy, not reference. See the following link for the
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128 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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130 typedef struct QueueDefinition
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132 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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133 int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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134 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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136 union /* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */
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138 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
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139 UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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142 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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143 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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145 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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146 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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147 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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149 volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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150 volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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152 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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153 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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156 #if ( configUSE_QUEUE_SETS == 1 )
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157 struct QueueDefinition *pxQueueSetContainer;
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160 #if ( configUSE_TRACE_FACILITY == 1 )
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161 UBaseType_t uxQueueNumber;
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162 uint8_t ucQueueType;
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167 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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168 name below to enable the use of older kernel aware debuggers. */
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169 typedef xQUEUE Queue_t;
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171 /*-----------------------------------------------------------*/
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174 * The queue registry is just a means for kernel aware debuggers to locate
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175 * queue structures. It has no other purpose so is an optional component.
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177 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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179 /* The type stored within the queue registry array. This allows a name
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180 to be assigned to each queue making kernel aware debugging a little
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181 more user friendly. */
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182 typedef struct QUEUE_REGISTRY_ITEM
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184 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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185 QueueHandle_t xHandle;
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186 } xQueueRegistryItem;
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188 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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189 new xQueueRegistryItem name below to enable the use of older kernel aware
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191 typedef xQueueRegistryItem QueueRegistryItem_t;
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193 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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194 The pcQueueName member of a structure being NULL is indicative of the
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195 array position being vacant. */
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196 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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198 #endif /* configQUEUE_REGISTRY_SIZE */
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201 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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202 * prevent an ISR from adding or removing items to the queue, but does prevent
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203 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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204 * queue is locked it will instead increment the appropriate queue lock count
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205 * to indicate that a task may require unblocking. When the queue in unlocked
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206 * these lock counts are inspected, and the appropriate action taken.
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208 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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211 * Uses a critical section to determine if there is any data in a queue.
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213 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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215 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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218 * Uses a critical section to determine if there is any space in a queue.
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220 * @return pdTRUE if there is no space, otherwise pdFALSE;
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222 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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225 * Copies an item into the queue, either at the front of the queue or the
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226 * back of the queue.
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228 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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231 * Copies an item out of a queue.
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233 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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235 #if ( configUSE_QUEUE_SETS == 1 )
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237 * Checks to see if a queue is a member of a queue set, and if so, notifies
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238 * the queue set that the queue contains data.
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240 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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244 * Called after a Queue_t structure has been allocated either statically or
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245 * dynamically to fill in the structure's members.
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247 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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250 * Mutexes are a special type of queue. When a mutex is created, first the
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251 * queue is created, then prvInitialiseMutex() is called to configure the queue
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254 #if( configUSE_MUTEXES == 1 )
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255 static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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258 #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 vTaskSetTimeOutState( &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 vTaskSetTimeOutState( &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 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1507 /* The semaphore count was 0 and no block time is specified
\r
1508 (or the block time has expired) so exit now. */
\r
1509 taskEXIT_CRITICAL();
\r
1510 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1511 return errQUEUE_EMPTY;
\r
1513 else if( xEntryTimeSet == pdFALSE )
\r
1515 /* The semaphore count was 0 and a block time was specified
\r
1516 so configure the timeout structure ready to block. */
\r
1517 vTaskSetTimeOutState( &xTimeOut );
\r
1518 xEntryTimeSet = pdTRUE;
\r
1522 /* Entry time was already set. */
\r
1523 mtCOVERAGE_TEST_MARKER();
\r
1527 taskEXIT_CRITICAL();
\r
1529 /* Interrupts and other tasks can give to and take from the semaphore
\r
1530 now the critical section has been exited. */
\r
1532 vTaskSuspendAll();
\r
1533 prvLockQueue( pxQueue );
\r
1535 /* Update the timeout state to see if it has expired yet. */
\r
1536 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1538 /* A block time is specified and not expired. If the semaphore
\r
1539 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1540 become available. As semaphores are implemented with queues the
\r
1541 queue being empty is equivalent to the semaphore count being 0. */
\r
1542 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1544 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1546 #if ( configUSE_MUTEXES == 1 )
\r
1548 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1550 taskENTER_CRITICAL();
\r
1552 xInheritanceOccurred = xTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1554 taskEXIT_CRITICAL();
\r
1558 mtCOVERAGE_TEST_MARKER();
\r
1563 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1564 prvUnlockQueue( pxQueue );
\r
1565 if( xTaskResumeAll() == pdFALSE )
\r
1567 portYIELD_WITHIN_API();
\r
1571 mtCOVERAGE_TEST_MARKER();
\r
1576 /* There was no timeout and the semaphore count was not 0, so
\r
1577 attempt to take the semaphore again. */
\r
1578 prvUnlockQueue( pxQueue );
\r
1579 ( void ) xTaskResumeAll();
\r
1585 prvUnlockQueue( pxQueue );
\r
1586 ( void ) xTaskResumeAll();
\r
1588 /* If the semaphore count is 0 exit now as the timeout has
\r
1589 expired. Otherwise return to attempt to take the semaphore that is
\r
1590 known to be available. As semaphores are implemented by queues the
\r
1591 queue being empty is equivalent to the semaphore count being 0. */
\r
1592 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1594 #if ( configUSE_MUTEXES == 1 )
\r
1596 /* xInheritanceOccurred could only have be set if
\r
1597 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1598 test the mutex type again to check it is actually a mutex. */
\r
1599 if( xInheritanceOccurred != pdFALSE )
\r
1601 taskENTER_CRITICAL();
\r
1603 UBaseType_t uxHighestWaitingPriority;
\r
1605 /* This task blocking on the mutex caused another
\r
1606 task to inherit this task's priority. Now this task
\r
1607 has timed out the priority should be disinherited
\r
1608 again, but only as low as the next highest priority
\r
1609 task that is waiting for the same mutex. */
\r
1610 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1611 vTaskPriorityDisinheritAfterTimeout( ( void * ) pxQueue->pxMutexHolder, uxHighestWaitingPriority );
\r
1613 taskEXIT_CRITICAL();
\r
1616 #endif /* configUSE_MUTEXES */
\r
1618 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1619 return errQUEUE_EMPTY;
\r
1623 mtCOVERAGE_TEST_MARKER();
\r
1628 /*-----------------------------------------------------------*/
\r
1630 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1632 BaseType_t xEntryTimeSet = pdFALSE;
\r
1633 TimeOut_t xTimeOut;
\r
1634 int8_t *pcOriginalReadPosition;
\r
1635 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1637 /* Check the pointer is not NULL. */
\r
1638 configASSERT( ( pxQueue ) );
\r
1640 /* The buffer into which data is received can only be NULL if the data size
\r
1641 is zero (so no data is copied into the buffer. */
\r
1642 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1644 /* Cannot block if the scheduler is suspended. */
\r
1645 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1647 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1652 /* This function relaxes the coding standard somewhat to allow return
\r
1653 statements within the function itself. This is done in the interest
\r
1654 of execution time efficiency. */
\r
1658 taskENTER_CRITICAL();
\r
1660 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1662 /* Is there data in the queue now? To be running the calling task
\r
1663 must be the highest priority task wanting to access the queue. */
\r
1664 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1666 /* Remember the read position so it can be reset after the data
\r
1667 is read from the queue as this function is only peeking the
\r
1668 data, not removing it. */
\r
1669 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1671 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1672 traceQUEUE_PEEK( pxQueue );
\r
1674 /* The data is not being removed, so reset the read pointer. */
\r
1675 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1677 /* The data is being left in the queue, so see if there are
\r
1678 any other tasks waiting for the data. */
\r
1679 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1681 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1683 /* The task waiting has a higher priority than this task. */
\r
1684 queueYIELD_IF_USING_PREEMPTION();
\r
1688 mtCOVERAGE_TEST_MARKER();
\r
1693 mtCOVERAGE_TEST_MARKER();
\r
1696 taskEXIT_CRITICAL();
\r
1701 if( xTicksToWait == ( TickType_t ) 0 )
\r
1703 /* The queue was empty and no block time is specified (or
\r
1704 the block time has expired) so leave now. */
\r
1705 taskEXIT_CRITICAL();
\r
1706 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1707 return errQUEUE_EMPTY;
\r
1709 else if( xEntryTimeSet == pdFALSE )
\r
1711 /* The queue was empty and a block time was specified so
\r
1712 configure the timeout structure ready to enter the blocked
\r
1714 vTaskSetTimeOutState( &xTimeOut );
\r
1715 xEntryTimeSet = pdTRUE;
\r
1719 /* Entry time was already set. */
\r
1720 mtCOVERAGE_TEST_MARKER();
\r
1724 taskEXIT_CRITICAL();
\r
1726 /* Interrupts and other tasks can send to and receive from the queue
\r
1727 now the critical section has been exited. */
\r
1729 vTaskSuspendAll();
\r
1730 prvLockQueue( pxQueue );
\r
1732 /* Update the timeout state to see if it has expired yet. */
\r
1733 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1735 /* Timeout has not expired yet, check to see if there is data in the
\r
1736 queue now, and if not enter the Blocked state to wait for data. */
\r
1737 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1739 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1740 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1741 prvUnlockQueue( pxQueue );
\r
1742 if( xTaskResumeAll() == pdFALSE )
\r
1744 portYIELD_WITHIN_API();
\r
1748 mtCOVERAGE_TEST_MARKER();
\r
1753 /* There is data in the queue now, so don't enter the blocked
\r
1754 state, instead return to try and obtain the data. */
\r
1755 prvUnlockQueue( pxQueue );
\r
1756 ( void ) xTaskResumeAll();
\r
1761 /* The timeout has expired. If there is still no data in the queue
\r
1762 exit, otherwise go back and try to read the data again. */
\r
1763 prvUnlockQueue( pxQueue );
\r
1764 ( void ) xTaskResumeAll();
\r
1766 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1768 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1769 return errQUEUE_EMPTY;
\r
1773 mtCOVERAGE_TEST_MARKER();
\r
1778 /*-----------------------------------------------------------*/
\r
1780 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1782 BaseType_t xReturn;
\r
1783 UBaseType_t uxSavedInterruptStatus;
\r
1784 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1786 configASSERT( pxQueue );
\r
1787 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1789 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1790 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1791 above the maximum system call priority are kept permanently enabled, even
\r
1792 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1793 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1794 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1795 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1796 assigned a priority above the configured maximum system call priority.
\r
1797 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1798 that have been assigned a priority at or (logically) below the maximum
\r
1799 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1800 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1801 More information (albeit Cortex-M specific) is provided on the following
\r
1802 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1803 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1805 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1807 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1809 /* Cannot block in an ISR, so check there is data available. */
\r
1810 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1812 const int8_t cRxLock = pxQueue->cRxLock;
\r
1814 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1816 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1817 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1819 /* If the queue is locked the event list will not be modified.
\r
1820 Instead update the lock count so the task that unlocks the queue
\r
1821 will know that an ISR has removed data while the queue was
\r
1823 if( cRxLock == queueUNLOCKED )
\r
1825 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1827 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1829 /* The task waiting has a higher priority than us so
\r
1830 force a context switch. */
\r
1831 if( pxHigherPriorityTaskWoken != NULL )
\r
1833 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1837 mtCOVERAGE_TEST_MARKER();
\r
1842 mtCOVERAGE_TEST_MARKER();
\r
1847 mtCOVERAGE_TEST_MARKER();
\r
1852 /* Increment the lock count so the task that unlocks the queue
\r
1853 knows that data was removed while it was locked. */
\r
1854 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1862 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1865 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1869 /*-----------------------------------------------------------*/
\r
1871 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1873 BaseType_t xReturn;
\r
1874 UBaseType_t uxSavedInterruptStatus;
\r
1875 int8_t *pcOriginalReadPosition;
\r
1876 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1878 configASSERT( pxQueue );
\r
1879 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1880 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1882 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1883 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1884 above the maximum system call priority are kept permanently enabled, even
\r
1885 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1886 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1887 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1888 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1889 assigned a priority above the configured maximum system call priority.
\r
1890 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1891 that have been assigned a priority at or (logically) below the maximum
\r
1892 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1893 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1894 More information (albeit Cortex-M specific) is provided on the following
\r
1895 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1896 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1898 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1900 /* Cannot block in an ISR, so check there is data available. */
\r
1901 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1903 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1905 /* Remember the read position so it can be reset as nothing is
\r
1906 actually being removed from the queue. */
\r
1907 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1908 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1909 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1916 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1919 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1923 /*-----------------------------------------------------------*/
\r
1925 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1927 UBaseType_t uxReturn;
\r
1929 configASSERT( xQueue );
\r
1931 taskENTER_CRITICAL();
\r
1933 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1935 taskEXIT_CRITICAL();
\r
1938 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1939 /*-----------------------------------------------------------*/
\r
1941 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1943 UBaseType_t uxReturn;
\r
1946 pxQueue = ( Queue_t * ) xQueue;
\r
1947 configASSERT( pxQueue );
\r
1949 taskENTER_CRITICAL();
\r
1951 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1953 taskEXIT_CRITICAL();
\r
1956 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1957 /*-----------------------------------------------------------*/
\r
1959 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1961 UBaseType_t uxReturn;
\r
1963 configASSERT( xQueue );
\r
1965 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1968 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1969 /*-----------------------------------------------------------*/
\r
1971 void vQueueDelete( QueueHandle_t xQueue )
\r
1973 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1975 configASSERT( pxQueue );
\r
1976 traceQUEUE_DELETE( pxQueue );
\r
1978 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1980 vQueueUnregisterQueue( pxQueue );
\r
1984 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1986 /* The queue can only have been allocated dynamically - free it
\r
1988 vPortFree( pxQueue );
\r
1990 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1992 /* The queue could have been allocated statically or dynamically, so
\r
1993 check before attempting to free the memory. */
\r
1994 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
1996 vPortFree( pxQueue );
\r
2000 mtCOVERAGE_TEST_MARKER();
\r
2005 /* The queue must have been statically allocated, so is not going to be
\r
2006 deleted. Avoid compiler warnings about the unused parameter. */
\r
2009 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2011 /*-----------------------------------------------------------*/
\r
2013 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2015 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2017 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2020 #endif /* configUSE_TRACE_FACILITY */
\r
2021 /*-----------------------------------------------------------*/
\r
2023 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2025 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2027 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2030 #endif /* configUSE_TRACE_FACILITY */
\r
2031 /*-----------------------------------------------------------*/
\r
2033 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2035 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2037 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2040 #endif /* configUSE_TRACE_FACILITY */
\r
2041 /*-----------------------------------------------------------*/
\r
2043 #if( configUSE_MUTEXES == 1 )
\r
2045 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2047 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2049 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2050 priority, but the waiting task times out, then the holder should
\r
2051 disinherit the priority - but only down to the highest priority of any
\r
2052 other tasks that are waiting for the same mutex. For this purpose,
\r
2053 return the priority of the highest priority task that is waiting for the
\r
2055 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0 )
\r
2057 uxHighestPriorityOfWaitingTasks = configMAX_PRIORITIES - listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2061 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2064 return uxHighestPriorityOfWaitingTasks;
\r
2067 #endif /* configUSE_MUTEXES */
\r
2068 /*-----------------------------------------------------------*/
\r
2070 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2072 BaseType_t xReturn = pdFALSE;
\r
2073 UBaseType_t uxMessagesWaiting;
\r
2075 /* This function is called from a critical section. */
\r
2077 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2079 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2081 #if ( configUSE_MUTEXES == 1 )
\r
2083 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2085 /* The mutex is no longer being held. */
\r
2086 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
2087 pxQueue->pxMutexHolder = NULL;
\r
2091 mtCOVERAGE_TEST_MARKER();
\r
2094 #endif /* configUSE_MUTEXES */
\r
2096 else if( xPosition == queueSEND_TO_BACK )
\r
2098 ( 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
2099 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
2100 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2102 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2106 mtCOVERAGE_TEST_MARKER();
\r
2111 ( 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
2112 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
2113 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2115 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
2119 mtCOVERAGE_TEST_MARKER();
\r
2122 if( xPosition == queueOVERWRITE )
\r
2124 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2126 /* An item is not being added but overwritten, so subtract
\r
2127 one from the recorded number of items in the queue so when
\r
2128 one is added again below the number of recorded items remains
\r
2130 --uxMessagesWaiting;
\r
2134 mtCOVERAGE_TEST_MARKER();
\r
2139 mtCOVERAGE_TEST_MARKER();
\r
2143 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2147 /*-----------------------------------------------------------*/
\r
2149 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2151 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2153 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2154 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
2156 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2160 mtCOVERAGE_TEST_MARKER();
\r
2162 ( 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
2165 /*-----------------------------------------------------------*/
\r
2167 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2169 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2171 /* The lock counts contains the number of extra data items placed or
\r
2172 removed from the queue while the queue was locked. When a queue is
\r
2173 locked items can be added or removed, but the event lists cannot be
\r
2175 taskENTER_CRITICAL();
\r
2177 int8_t cTxLock = pxQueue->cTxLock;
\r
2179 /* See if data was added to the queue while it was locked. */
\r
2180 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2182 /* Data was posted while the queue was locked. Are any tasks
\r
2183 blocked waiting for data to become available? */
\r
2184 #if ( configUSE_QUEUE_SETS == 1 )
\r
2186 if( pxQueue->pxQueueSetContainer != NULL )
\r
2188 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
2190 /* The queue is a member of a queue set, and posting to
\r
2191 the queue set caused a higher priority task to unblock.
\r
2192 A context switch is required. */
\r
2193 vTaskMissedYield();
\r
2197 mtCOVERAGE_TEST_MARKER();
\r
2202 /* Tasks that are removed from the event list will get
\r
2203 added to the pending ready list as the scheduler is still
\r
2205 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2207 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2209 /* The task waiting has a higher priority so record that a
\r
2210 context switch is required. */
\r
2211 vTaskMissedYield();
\r
2215 mtCOVERAGE_TEST_MARKER();
\r
2224 #else /* configUSE_QUEUE_SETS */
\r
2226 /* Tasks that are removed from the event list will get added to
\r
2227 the pending ready list as the scheduler is still suspended. */
\r
2228 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2230 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2232 /* The task waiting has a higher priority so record that
\r
2233 a context switch is required. */
\r
2234 vTaskMissedYield();
\r
2238 mtCOVERAGE_TEST_MARKER();
\r
2246 #endif /* configUSE_QUEUE_SETS */
\r
2251 pxQueue->cTxLock = queueUNLOCKED;
\r
2253 taskEXIT_CRITICAL();
\r
2255 /* Do the same for the Rx lock. */
\r
2256 taskENTER_CRITICAL();
\r
2258 int8_t cRxLock = pxQueue->cRxLock;
\r
2260 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2262 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2264 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2266 vTaskMissedYield();
\r
2270 mtCOVERAGE_TEST_MARKER();
\r
2281 pxQueue->cRxLock = queueUNLOCKED;
\r
2283 taskEXIT_CRITICAL();
\r
2285 /*-----------------------------------------------------------*/
\r
2287 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2289 BaseType_t xReturn;
\r
2291 taskENTER_CRITICAL();
\r
2293 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2299 xReturn = pdFALSE;
\r
2302 taskEXIT_CRITICAL();
\r
2306 /*-----------------------------------------------------------*/
\r
2308 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2310 BaseType_t xReturn;
\r
2312 configASSERT( xQueue );
\r
2313 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2319 xReturn = pdFALSE;
\r
2323 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2324 /*-----------------------------------------------------------*/
\r
2326 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2328 BaseType_t xReturn;
\r
2330 taskENTER_CRITICAL();
\r
2332 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2338 xReturn = pdFALSE;
\r
2341 taskEXIT_CRITICAL();
\r
2345 /*-----------------------------------------------------------*/
\r
2347 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2349 BaseType_t xReturn;
\r
2351 configASSERT( xQueue );
\r
2352 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
2358 xReturn = pdFALSE;
\r
2362 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2363 /*-----------------------------------------------------------*/
\r
2365 #if ( configUSE_CO_ROUTINES == 1 )
\r
2367 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2369 BaseType_t xReturn;
\r
2370 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2372 /* If the queue is already full we may have to block. A critical section
\r
2373 is required to prevent an interrupt removing something from the queue
\r
2374 between the check to see if the queue is full and blocking on the queue. */
\r
2375 portDISABLE_INTERRUPTS();
\r
2377 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2379 /* The queue is full - do we want to block or just leave without
\r
2381 if( xTicksToWait > ( TickType_t ) 0 )
\r
2383 /* As this is called from a coroutine we cannot block directly, but
\r
2384 return indicating that we need to block. */
\r
2385 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2386 portENABLE_INTERRUPTS();
\r
2387 return errQUEUE_BLOCKED;
\r
2391 portENABLE_INTERRUPTS();
\r
2392 return errQUEUE_FULL;
\r
2396 portENABLE_INTERRUPTS();
\r
2398 portDISABLE_INTERRUPTS();
\r
2400 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2402 /* There is room in the queue, copy the data into the queue. */
\r
2403 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2406 /* Were any co-routines waiting for data to become available? */
\r
2407 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2409 /* In this instance the co-routine could be placed directly
\r
2410 into the ready list as we are within a critical section.
\r
2411 Instead the same pending ready list mechanism is used as if
\r
2412 the event were caused from within an interrupt. */
\r
2413 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2415 /* The co-routine waiting has a higher priority so record
\r
2416 that a yield might be appropriate. */
\r
2417 xReturn = errQUEUE_YIELD;
\r
2421 mtCOVERAGE_TEST_MARKER();
\r
2426 mtCOVERAGE_TEST_MARKER();
\r
2431 xReturn = errQUEUE_FULL;
\r
2434 portENABLE_INTERRUPTS();
\r
2439 #endif /* configUSE_CO_ROUTINES */
\r
2440 /*-----------------------------------------------------------*/
\r
2442 #if ( configUSE_CO_ROUTINES == 1 )
\r
2444 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2446 BaseType_t xReturn;
\r
2447 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2449 /* If the queue is already empty we may have to block. A critical section
\r
2450 is required to prevent an interrupt adding something to the queue
\r
2451 between the check to see if the queue is empty and blocking on the queue. */
\r
2452 portDISABLE_INTERRUPTS();
\r
2454 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2456 /* There are no messages in the queue, do we want to block or just
\r
2457 leave with nothing? */
\r
2458 if( xTicksToWait > ( TickType_t ) 0 )
\r
2460 /* As this is a co-routine we cannot block directly, but return
\r
2461 indicating that we need to block. */
\r
2462 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2463 portENABLE_INTERRUPTS();
\r
2464 return errQUEUE_BLOCKED;
\r
2468 portENABLE_INTERRUPTS();
\r
2469 return errQUEUE_FULL;
\r
2474 mtCOVERAGE_TEST_MARKER();
\r
2477 portENABLE_INTERRUPTS();
\r
2479 portDISABLE_INTERRUPTS();
\r
2481 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2483 /* Data is available from the queue. */
\r
2484 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2485 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2487 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2491 mtCOVERAGE_TEST_MARKER();
\r
2493 --( pxQueue->uxMessagesWaiting );
\r
2494 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2498 /* Were any co-routines waiting for space to become available? */
\r
2499 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2501 /* In this instance the co-routine could be placed directly
\r
2502 into the ready list as we are within a critical section.
\r
2503 Instead the same pending ready list mechanism is used as if
\r
2504 the event were caused from within an interrupt. */
\r
2505 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2507 xReturn = errQUEUE_YIELD;
\r
2511 mtCOVERAGE_TEST_MARKER();
\r
2516 mtCOVERAGE_TEST_MARKER();
\r
2524 portENABLE_INTERRUPTS();
\r
2529 #endif /* configUSE_CO_ROUTINES */
\r
2530 /*-----------------------------------------------------------*/
\r
2532 #if ( configUSE_CO_ROUTINES == 1 )
\r
2534 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2536 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2538 /* Cannot block within an ISR so if there is no space on the queue then
\r
2539 exit without doing anything. */
\r
2540 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2542 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2544 /* We only want to wake one co-routine per ISR, so check that a
\r
2545 co-routine has not already been woken. */
\r
2546 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2548 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2550 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2556 mtCOVERAGE_TEST_MARKER();
\r
2561 mtCOVERAGE_TEST_MARKER();
\r
2566 mtCOVERAGE_TEST_MARKER();
\r
2571 mtCOVERAGE_TEST_MARKER();
\r
2574 return xCoRoutinePreviouslyWoken;
\r
2577 #endif /* configUSE_CO_ROUTINES */
\r
2578 /*-----------------------------------------------------------*/
\r
2580 #if ( configUSE_CO_ROUTINES == 1 )
\r
2582 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2584 BaseType_t xReturn;
\r
2585 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2587 /* We cannot block from an ISR, so check there is data available. If
\r
2588 not then just leave without doing anything. */
\r
2589 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2591 /* Copy the data from the queue. */
\r
2592 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2593 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2595 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2599 mtCOVERAGE_TEST_MARKER();
\r
2601 --( pxQueue->uxMessagesWaiting );
\r
2602 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2604 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2606 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2608 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2610 *pxCoRoutineWoken = pdTRUE;
\r
2614 mtCOVERAGE_TEST_MARKER();
\r
2619 mtCOVERAGE_TEST_MARKER();
\r
2624 mtCOVERAGE_TEST_MARKER();
\r
2637 #endif /* configUSE_CO_ROUTINES */
\r
2638 /*-----------------------------------------------------------*/
\r
2640 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2642 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2646 /* See if there is an empty space in the registry. A NULL name denotes
\r
2648 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2650 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2652 /* Store the information on this queue. */
\r
2653 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2654 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2656 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2661 mtCOVERAGE_TEST_MARKER();
\r
2666 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2667 /*-----------------------------------------------------------*/
\r
2669 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2671 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2674 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2676 /* Note there is nothing here to protect against another task adding or
\r
2677 removing entries from the registry while it is being searched. */
\r
2678 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2680 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2682 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2687 mtCOVERAGE_TEST_MARKER();
\r
2692 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2694 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2695 /*-----------------------------------------------------------*/
\r
2697 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2699 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2703 /* See if the handle of the queue being unregistered in actually in the
\r
2705 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2707 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2709 /* Set the name to NULL to show that this slot if free again. */
\r
2710 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2712 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2713 appear in the registry twice if it is added, removed, then
\r
2715 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2720 mtCOVERAGE_TEST_MARKER();
\r
2724 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2726 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2727 /*-----------------------------------------------------------*/
\r
2729 #if ( configUSE_TIMERS == 1 )
\r
2731 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2733 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2735 /* This function should not be called by application code hence the
\r
2736 'Restricted' in its name. It is not part of the public API. It is
\r
2737 designed for use by kernel code, and has special calling requirements.
\r
2738 It can result in vListInsert() being called on a list that can only
\r
2739 possibly ever have one item in it, so the list will be fast, but even
\r
2740 so it should be called with the scheduler locked and not from a critical
\r
2743 /* Only do anything if there are no messages in the queue. This function
\r
2744 will not actually cause the task to block, just place it on a blocked
\r
2745 list. It will not block until the scheduler is unlocked - at which
\r
2746 time a yield will be performed. If an item is added to the queue while
\r
2747 the queue is locked, and the calling task blocks on the queue, then the
\r
2748 calling task will be immediately unblocked when the queue is unlocked. */
\r
2749 prvLockQueue( pxQueue );
\r
2750 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2752 /* There is nothing in the queue, block for the specified period. */
\r
2753 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2757 mtCOVERAGE_TEST_MARKER();
\r
2759 prvUnlockQueue( pxQueue );
\r
2762 #endif /* configUSE_TIMERS */
\r
2763 /*-----------------------------------------------------------*/
\r
2765 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2767 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2769 QueueSetHandle_t pxQueue;
\r
2771 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2776 #endif /* configUSE_QUEUE_SETS */
\r
2777 /*-----------------------------------------------------------*/
\r
2779 #if ( configUSE_QUEUE_SETS == 1 )
\r
2781 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2783 BaseType_t xReturn;
\r
2785 taskENTER_CRITICAL();
\r
2787 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2789 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2792 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2794 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2795 items in the queue/semaphore. */
\r
2800 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2804 taskEXIT_CRITICAL();
\r
2809 #endif /* configUSE_QUEUE_SETS */
\r
2810 /*-----------------------------------------------------------*/
\r
2812 #if ( configUSE_QUEUE_SETS == 1 )
\r
2814 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2816 BaseType_t xReturn;
\r
2817 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2819 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2821 /* The queue was not a member of the set. */
\r
2824 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2826 /* It is dangerous to remove a queue from a set when the queue is
\r
2827 not empty because the queue set will still hold pending events for
\r
2833 taskENTER_CRITICAL();
\r
2835 /* The queue is no longer contained in the set. */
\r
2836 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2838 taskEXIT_CRITICAL();
\r
2843 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2845 #endif /* configUSE_QUEUE_SETS */
\r
2846 /*-----------------------------------------------------------*/
\r
2848 #if ( configUSE_QUEUE_SETS == 1 )
\r
2850 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2852 QueueSetMemberHandle_t xReturn = NULL;
\r
2854 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2858 #endif /* configUSE_QUEUE_SETS */
\r
2859 /*-----------------------------------------------------------*/
\r
2861 #if ( configUSE_QUEUE_SETS == 1 )
\r
2863 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2865 QueueSetMemberHandle_t xReturn = NULL;
\r
2867 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2871 #endif /* configUSE_QUEUE_SETS */
\r
2872 /*-----------------------------------------------------------*/
\r
2874 #if ( configUSE_QUEUE_SETS == 1 )
\r
2876 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2878 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2879 BaseType_t xReturn = pdFALSE;
\r
2881 /* This function must be called form a critical section. */
\r
2883 configASSERT( pxQueueSetContainer );
\r
2884 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2886 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2888 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2890 traceQUEUE_SEND( pxQueueSetContainer );
\r
2892 /* The data copied is the handle of the queue that contains data. */
\r
2893 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2895 if( cTxLock == queueUNLOCKED )
\r
2897 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2899 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2901 /* The task waiting has a higher priority. */
\r
2906 mtCOVERAGE_TEST_MARKER();
\r
2911 mtCOVERAGE_TEST_MARKER();
\r
2916 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2921 mtCOVERAGE_TEST_MARKER();
\r
2927 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob