2 FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
74 all the API functions to use the MPU wrappers. That should only be done when
\r
75 task.h is included from an application file. */
\r
76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
78 #include "FreeRTOS.h"
\r
82 #if ( configUSE_CO_ROUTINES == 1 )
\r
83 #include "croutine.h"
\r
86 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
\r
87 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
\r
88 header files above, but not in this file, in order to generate the correct
\r
89 privileged Vs unprivileged linkage and placement. */
\r
90 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
\r
93 /* Constants used with the cRxLock and cTxLock structure members. */
\r
94 #define queueUNLOCKED ( ( int8_t ) -1 )
\r
95 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
\r
97 /* When the Queue_t structure is used to represent a base queue its pcHead and
\r
98 pcTail members are used as pointers into the queue storage area. When the
\r
99 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
\r
100 not necessary, and the pcHead pointer is set to NULL to indicate that the
\r
101 pcTail pointer actually points to the mutex holder (if any). Map alternative
\r
102 names to the pcHead and pcTail structure members to ensure the readability of
\r
103 the code is maintained despite this dual use of two structure members. An
\r
104 alternative implementation would be to use a union, but use of a union is
\r
105 against the coding standard (although an exception to the standard has been
\r
106 permitted where the dual use also significantly changes the type of the
\r
107 structure member). */
\r
108 #define pxMutexHolder pcTail
\r
109 #define uxQueueType pcHead
\r
110 #define queueQUEUE_IS_MUTEX NULL
\r
112 /* Semaphores do not actually store or copy data, so have an item size of
\r
114 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
\r
115 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
\r
117 #if( configUSE_PREEMPTION == 0 )
\r
118 /* If the cooperative scheduler is being used then a yield should not be
\r
119 performed just because a higher priority task has been woken. */
\r
120 #define queueYIELD_IF_USING_PREEMPTION()
\r
122 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
\r
126 * Definition of the queue used by the scheduler.
\r
127 * Items are queued by copy, not reference. See the following link for the
\r
128 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
\r
130 typedef struct QueueDefinition
\r
132 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
\r
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. */
\r
134 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
\r
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). */
\r
138 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
\r
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. */
\r
142 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
\r
143 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
\r
145 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
\r
146 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
\r
147 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
\r
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. */
\r
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. */
\r
152 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
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. */
\r
156 #if ( configUSE_QUEUE_SETS == 1 )
\r
157 struct QueueDefinition *pxQueueSetContainer;
\r
160 #if ( configUSE_TRACE_FACILITY == 1 )
\r
161 UBaseType_t uxQueueNumber;
\r
162 uint8_t ucQueueType;
\r
167 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
\r
168 name below to enable the use of older kernel aware debuggers. */
\r
169 typedef xQUEUE Queue_t;
\r
171 /*-----------------------------------------------------------*/
\r
174 * The queue registry is just a means for kernel aware debuggers to locate
\r
175 * queue structures. It has no other purpose so is an optional component.
\r
177 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
179 /* The type stored within the queue registry array. This allows a name
\r
180 to be assigned to each queue making kernel aware debugging a little
\r
181 more user friendly. */
\r
182 typedef struct QUEUE_REGISTRY_ITEM
\r
184 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
185 QueueHandle_t xHandle;
\r
186 } xQueueRegistryItem;
\r
188 /* The old xQueueRegistryItem name is maintained above then typedefed to the
\r
189 new xQueueRegistryItem name below to enable the use of older kernel aware
\r
191 typedef xQueueRegistryItem QueueRegistryItem_t;
\r
193 /* The queue registry is simply an array of QueueRegistryItem_t structures.
\r
194 The pcQueueName member of a structure being NULL is indicative of the
\r
195 array position being vacant. */
\r
196 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
\r
198 #endif /* configQUEUE_REGISTRY_SIZE */
\r
201 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
\r
202 * prevent an ISR from adding or removing items to the queue, but does prevent
\r
203 * an ISR from removing tasks from the queue event lists. If an ISR finds a
\r
204 * queue is locked it will instead increment the appropriate queue lock count
\r
205 * to indicate that a task may require unblocking. When the queue in unlocked
\r
206 * these lock counts are inspected, and the appropriate action taken.
\r
208 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
\r
211 * Uses a critical section to determine if there is any data in a queue.
\r
213 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
\r
215 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
\r
218 * Uses a critical section to determine if there is any space in a queue.
\r
220 * @return pdTRUE if there is no space, otherwise pdFALSE;
\r
222 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
\r
225 * Copies an item into the queue, either at the front of the queue or the
\r
226 * back of the queue.
\r
228 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
\r
231 * Copies an item out of a queue.
\r
233 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
\r
235 #if ( configUSE_QUEUE_SETS == 1 )
\r
237 * Checks to see if a queue is a member of a queue set, and if so, notifies
\r
238 * the queue set that the queue contains data.
\r
240 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
\r
244 * Called after a Queue_t structure has been allocated either statically or
\r
245 * dynamically to fill in the structure's members.
\r
247 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
\r
250 * Mutexes are a special type of queue. When a mutex is created, first the
\r
251 * queue is created, then prvInitialiseMutex() is called to configure the queue
\r
254 #if( configUSE_MUTEXES == 1 )
\r
255 static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
\r
258 #if( configUSE_MUTEXES == 1 )
\r
260 * If a task waiting for a mutex causes the mutex holder to inherit a
\r
261 * priority, but the waiting task times out, then the holder should
\r
262 * disinherit the priority - but only down to the highest priority of any
\r
263 * other tasks that are waiting for the same mutex. This function returns
\r
266 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
\r
268 /*-----------------------------------------------------------*/
\r
271 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
\r
272 * accessing the queue event lists.
\r
274 #define prvLockQueue( pxQueue ) \
\r
275 taskENTER_CRITICAL(); \
\r
277 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
\r
279 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
\r
281 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
\r
283 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
\r
286 taskEXIT_CRITICAL()
\r
287 /*-----------------------------------------------------------*/
\r
289 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
\r
291 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
293 configASSERT( pxQueue );
\r
295 taskENTER_CRITICAL();
\r
297 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
\r
298 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
\r
299 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
300 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
\r
301 pxQueue->cRxLock = queueUNLOCKED;
\r
302 pxQueue->cTxLock = queueUNLOCKED;
\r
304 if( xNewQueue == pdFALSE )
\r
306 /* If there are tasks blocked waiting to read from the queue, then
\r
307 the tasks will remain blocked as after this function exits the queue
\r
308 will still be empty. If there are tasks blocked waiting to write to
\r
309 the queue, then one should be unblocked as after this function exits
\r
310 it will be possible to write to it. */
\r
311 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
313 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
315 queueYIELD_IF_USING_PREEMPTION();
\r
319 mtCOVERAGE_TEST_MARKER();
\r
324 mtCOVERAGE_TEST_MARKER();
\r
329 /* Ensure the event queues start in the correct state. */
\r
330 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
\r
331 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
\r
334 taskEXIT_CRITICAL();
\r
336 /* A value is returned for calling semantic consistency with previous
\r
340 /*-----------------------------------------------------------*/
\r
342 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
344 QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
\r
346 Queue_t *pxNewQueue;
\r
348 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
\r
350 /* The StaticQueue_t structure and the queue storage area must be
\r
352 configASSERT( pxStaticQueue != NULL );
\r
354 /* A queue storage area should be provided if the item size is not 0, and
\r
355 should not be provided if the item size is 0. */
\r
356 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
\r
357 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
\r
359 #if( configASSERT_DEFINED == 1 )
\r
361 /* Sanity check that the size of the structure used to declare a
\r
362 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
\r
363 the real queue and semaphore structures. */
\r
364 volatile size_t xSize = sizeof( StaticQueue_t );
\r
365 configASSERT( xSize == sizeof( Queue_t ) );
\r
367 #endif /* configASSERT_DEFINED */
\r
369 /* The address of a statically allocated queue was passed in, use it.
\r
370 The address of a statically allocated storage area was also passed in
\r
371 but is already set. */
\r
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. */
\r
374 if( pxNewQueue != NULL )
\r
376 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
378 /* Queues can be allocated wither statically or dynamically, so
\r
379 note this queue was allocated statically in case the queue is
\r
381 pxNewQueue->ucStaticallyAllocated = pdTRUE;
\r
383 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
385 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
\r
389 traceQUEUE_CREATE_FAILED( ucQueueType );
\r
395 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
396 /*-----------------------------------------------------------*/
\r
398 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
400 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
\r
402 Queue_t *pxNewQueue;
\r
403 size_t xQueueSizeInBytes;
\r
404 uint8_t *pucQueueStorage;
\r
406 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
\r
408 if( uxItemSize == ( UBaseType_t ) 0 )
\r
410 /* There is not going to be a queue storage area. */
\r
411 xQueueSizeInBytes = ( size_t ) 0;
\r
415 /* Allocate enough space to hold the maximum number of items that
\r
416 can be in the queue at any time. */
\r
417 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
420 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
\r
422 if( pxNewQueue != NULL )
\r
424 /* Jump past the queue structure to find the location of the queue
\r
426 pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
\r
428 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
430 /* Queues can be created either statically or dynamically, so
\r
431 note this task was created dynamically in case it is later
\r
433 pxNewQueue->ucStaticallyAllocated = pdFALSE;
\r
435 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
437 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
\r
441 traceQUEUE_CREATE_FAILED( ucQueueType );
\r
447 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
448 /*-----------------------------------------------------------*/
\r
450 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
\r
452 /* Remove compiler warnings about unused parameters should
\r
453 configUSE_TRACE_FACILITY not be set to 1. */
\r
454 ( void ) ucQueueType;
\r
456 if( uxItemSize == ( UBaseType_t ) 0 )
\r
458 /* No RAM was allocated for the queue storage area, but PC head cannot
\r
459 be set to NULL because NULL is used as a key to say the queue is used as
\r
460 a mutex. Therefore just set pcHead to point to the queue as a benign
\r
461 value that is known to be within the memory map. */
\r
462 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
\r
466 /* Set the head to the start of the queue storage area. */
\r
467 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
\r
470 /* Initialise the queue members as described where the queue type is
\r
472 pxNewQueue->uxLength = uxQueueLength;
\r
473 pxNewQueue->uxItemSize = uxItemSize;
\r
474 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
\r
476 #if ( configUSE_TRACE_FACILITY == 1 )
\r
478 pxNewQueue->ucQueueType = ucQueueType;
\r
480 #endif /* configUSE_TRACE_FACILITY */
\r
482 #if( configUSE_QUEUE_SETS == 1 )
\r
484 pxNewQueue->pxQueueSetContainer = NULL;
\r
486 #endif /* configUSE_QUEUE_SETS */
\r
488 traceQUEUE_CREATE( pxNewQueue );
\r
490 /*-----------------------------------------------------------*/
\r
492 #if( configUSE_MUTEXES == 1 )
\r
494 static void prvInitialiseMutex( Queue_t *pxNewQueue )
\r
496 if( pxNewQueue != NULL )
\r
498 /* The queue create function will set all the queue structure members
\r
499 correctly for a generic queue, but this function is creating a
\r
500 mutex. Overwrite those members that need to be set differently -
\r
501 in particular the information required for priority inheritance. */
\r
502 pxNewQueue->pxMutexHolder = NULL;
\r
503 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
\r
505 /* In case this is a recursive mutex. */
\r
506 pxNewQueue->u.uxRecursiveCallCount = 0;
\r
508 traceCREATE_MUTEX( pxNewQueue );
\r
510 /* Start with the semaphore in the expected state. */
\r
511 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
\r
515 traceCREATE_MUTEX_FAILED();
\r
519 #endif /* configUSE_MUTEXES */
\r
520 /*-----------------------------------------------------------*/
\r
522 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
524 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
\r
526 Queue_t *pxNewQueue;
\r
527 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
\r
529 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
\r
530 prvInitialiseMutex( pxNewQueue );
\r
535 #endif /* configUSE_MUTEXES */
\r
536 /*-----------------------------------------------------------*/
\r
538 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
540 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
\r
542 Queue_t *pxNewQueue;
\r
543 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
\r
545 /* Prevent compiler warnings about unused parameters if
\r
546 configUSE_TRACE_FACILITY does not equal 1. */
\r
547 ( void ) ucQueueType;
\r
549 pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
\r
550 prvInitialiseMutex( pxNewQueue );
\r
555 #endif /* configUSE_MUTEXES */
\r
556 /*-----------------------------------------------------------*/
\r
558 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
\r
560 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
\r
564 /* This function is called by xSemaphoreGetMutexHolder(), and should not
\r
565 be called directly. Note: This is a good way of determining if the
\r
566 calling task is the mutex holder, but not a good way of determining the
\r
567 identity of the mutex holder, as the holder may change between the
\r
568 following critical section exiting and the function returning. */
\r
569 taskENTER_CRITICAL();
\r
571 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
\r
573 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
\r
580 taskEXIT_CRITICAL();
\r
583 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
\r
586 /*-----------------------------------------------------------*/
\r
588 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
\r
590 void* xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
\r
594 configASSERT( xSemaphore );
\r
596 /* Mutexes cannot be used in interrupt service routines, so the mutex
\r
597 holder should not change in an ISR, and therefore a critical section is
\r
598 not required here. */
\r
599 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
\r
601 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
\r
609 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
\r
612 /*-----------------------------------------------------------*/
\r
614 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
616 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
\r
618 BaseType_t xReturn;
\r
619 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
621 configASSERT( pxMutex );
\r
623 /* If this is the task that holds the mutex then pxMutexHolder will not
\r
624 change outside of this task. If this task does not hold the mutex then
\r
625 pxMutexHolder can never coincidentally equal the tasks handle, and as
\r
626 this is the only condition we are interested in it does not matter if
\r
627 pxMutexHolder is accessed simultaneously by another task. Therefore no
\r
628 mutual exclusion is required to test the pxMutexHolder variable. */
\r
629 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
\r
631 traceGIVE_MUTEX_RECURSIVE( pxMutex );
\r
633 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
\r
634 the task handle, therefore no underflow check is required. Also,
\r
635 uxRecursiveCallCount is only modified by the mutex holder, and as
\r
636 there can only be one, no mutual exclusion is required to modify the
\r
637 uxRecursiveCallCount member. */
\r
638 ( pxMutex->u.uxRecursiveCallCount )--;
\r
640 /* Has the recursive call count unwound to 0? */
\r
641 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
\r
643 /* Return the mutex. This will automatically unblock any other
\r
644 task that might be waiting to access the mutex. */
\r
645 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
649 mtCOVERAGE_TEST_MARKER();
\r
656 /* The mutex cannot be given because the calling task is not the
\r
660 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
666 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
667 /*-----------------------------------------------------------*/
\r
669 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
671 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
673 BaseType_t xReturn;
\r
674 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
676 configASSERT( pxMutex );
\r
678 /* Comments regarding mutual exclusion as per those within
\r
679 xQueueGiveMutexRecursive(). */
\r
681 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
683 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
685 ( pxMutex->u.uxRecursiveCallCount )++;
\r
690 xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
\r
692 /* pdPASS will only be returned if the mutex was successfully
\r
693 obtained. The calling task may have entered the Blocked state
\r
694 before reaching here. */
\r
695 if( xReturn != pdFAIL )
\r
697 ( pxMutex->u.uxRecursiveCallCount )++;
\r
701 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
708 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
709 /*-----------------------------------------------------------*/
\r
711 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
713 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
715 QueueHandle_t xHandle;
\r
717 configASSERT( uxMaxCount != 0 );
\r
718 configASSERT( uxInitialCount <= uxMaxCount );
\r
720 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
722 if( xHandle != NULL )
\r
724 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
726 traceCREATE_COUNTING_SEMAPHORE();
\r
730 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
736 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
737 /*-----------------------------------------------------------*/
\r
739 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
741 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
743 QueueHandle_t xHandle;
\r
745 configASSERT( uxMaxCount != 0 );
\r
746 configASSERT( uxInitialCount <= uxMaxCount );
\r
748 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
750 if( xHandle != NULL )
\r
752 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
754 traceCREATE_COUNTING_SEMAPHORE();
\r
758 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
764 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
765 /*-----------------------------------------------------------*/
\r
767 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
769 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
770 TimeOut_t xTimeOut;
\r
771 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
773 configASSERT( pxQueue );
\r
774 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
775 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
776 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
778 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
783 /* This function relaxes the coding standard somewhat to allow return
\r
784 statements within the function itself. This is done in the interest
\r
785 of execution time efficiency. */
\r
788 taskENTER_CRITICAL();
\r
790 /* Is there room on the queue now? The running task must be the
\r
791 highest priority task wanting to access the queue. If the head item
\r
792 in the queue is to be overwritten then it does not matter if the
\r
794 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
796 traceQUEUE_SEND( pxQueue );
\r
797 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
799 #if ( configUSE_QUEUE_SETS == 1 )
\r
801 if( pxQueue->pxQueueSetContainer != NULL )
\r
803 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
805 /* The queue is a member of a queue set, and posting
\r
806 to the queue set caused a higher priority task to
\r
807 unblock. A context switch is required. */
\r
808 queueYIELD_IF_USING_PREEMPTION();
\r
812 mtCOVERAGE_TEST_MARKER();
\r
817 /* If there was a task waiting for data to arrive on the
\r
818 queue then unblock it now. */
\r
819 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
821 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
823 /* The unblocked task has a priority higher than
\r
824 our own so yield immediately. Yes it is ok to
\r
825 do this from within the critical section - the
\r
826 kernel takes care of that. */
\r
827 queueYIELD_IF_USING_PREEMPTION();
\r
831 mtCOVERAGE_TEST_MARKER();
\r
834 else if( xYieldRequired != pdFALSE )
\r
836 /* This path is a special case that will only get
\r
837 executed if the task was holding multiple mutexes
\r
838 and the mutexes were given back in an order that is
\r
839 different to that in which they were taken. */
\r
840 queueYIELD_IF_USING_PREEMPTION();
\r
844 mtCOVERAGE_TEST_MARKER();
\r
848 #else /* configUSE_QUEUE_SETS */
\r
850 /* If there was a task waiting for data to arrive on the
\r
851 queue then unblock it now. */
\r
852 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
854 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
856 /* The unblocked task has a priority higher than
\r
857 our own so yield immediately. Yes it is ok to do
\r
858 this from within the critical section - the kernel
\r
859 takes care of that. */
\r
860 queueYIELD_IF_USING_PREEMPTION();
\r
864 mtCOVERAGE_TEST_MARKER();
\r
867 else if( xYieldRequired != pdFALSE )
\r
869 /* This path is a special case that will only get
\r
870 executed if the task was holding multiple mutexes and
\r
871 the mutexes were given back in an order that is
\r
872 different to that in which they were taken. */
\r
873 queueYIELD_IF_USING_PREEMPTION();
\r
877 mtCOVERAGE_TEST_MARKER();
\r
880 #endif /* configUSE_QUEUE_SETS */
\r
882 taskEXIT_CRITICAL();
\r
887 if( xTicksToWait == ( TickType_t ) 0 )
\r
889 /* The queue was full and no block time is specified (or
\r
890 the block time has expired) so leave now. */
\r
891 taskEXIT_CRITICAL();
\r
893 /* Return to the original privilege level before exiting
\r
895 traceQUEUE_SEND_FAILED( pxQueue );
\r
896 return errQUEUE_FULL;
\r
898 else if( xEntryTimeSet == pdFALSE )
\r
900 /* The queue was full and a block time was specified so
\r
901 configure the timeout structure. */
\r
902 vTaskInternalSetTimeOutState( &xTimeOut );
\r
903 xEntryTimeSet = pdTRUE;
\r
907 /* Entry time was already set. */
\r
908 mtCOVERAGE_TEST_MARKER();
\r
912 taskEXIT_CRITICAL();
\r
914 /* Interrupts and other tasks can send to and receive from the queue
\r
915 now the critical section has been exited. */
\r
918 prvLockQueue( pxQueue );
\r
920 /* Update the timeout state to see if it has expired yet. */
\r
921 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
923 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
925 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
926 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
928 /* Unlocking the queue means queue events can effect the
\r
929 event list. It is possible that interrupts occurring now
\r
930 remove this task from the event list again - but as the
\r
931 scheduler is suspended the task will go onto the pending
\r
932 ready last instead of the actual ready list. */
\r
933 prvUnlockQueue( pxQueue );
\r
935 /* Resuming the scheduler will move tasks from the pending
\r
936 ready list into the ready list - so it is feasible that this
\r
937 task is already in a ready list before it yields - in which
\r
938 case the yield will not cause a context switch unless there
\r
939 is also a higher priority task in the pending ready list. */
\r
940 if( xTaskResumeAll() == pdFALSE )
\r
942 portYIELD_WITHIN_API();
\r
948 prvUnlockQueue( pxQueue );
\r
949 ( void ) xTaskResumeAll();
\r
954 /* The timeout has expired. */
\r
955 prvUnlockQueue( pxQueue );
\r
956 ( void ) xTaskResumeAll();
\r
958 traceQUEUE_SEND_FAILED( pxQueue );
\r
959 return errQUEUE_FULL;
\r
963 /*-----------------------------------------------------------*/
\r
965 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
967 BaseType_t xReturn;
\r
968 UBaseType_t uxSavedInterruptStatus;
\r
969 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
971 configASSERT( pxQueue );
\r
972 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
973 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
975 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
976 system call (or maximum API call) interrupt priority. Interrupts that are
\r
977 above the maximum system call priority are kept permanently enabled, even
\r
978 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
979 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
980 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
981 failure if a FreeRTOS API function is called from an interrupt that has been
\r
982 assigned a priority above the configured maximum system call priority.
\r
983 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
984 that have been assigned a priority at or (logically) below the maximum
\r
985 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
986 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
987 More information (albeit Cortex-M specific) is provided on the following
\r
988 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
989 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
991 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
992 in the queue. Also don't directly wake a task that was blocked on a queue
\r
993 read, instead return a flag to say whether a context switch is required or
\r
994 not (i.e. has a task with a higher priority than us been woken by this
\r
996 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
998 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
1000 const int8_t cTxLock = pxQueue->cTxLock;
\r
1002 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1004 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
1005 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
1006 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
1007 called here even though the disinherit function does not check if
\r
1008 the scheduler is suspended before accessing the ready lists. */
\r
1009 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1011 /* The event list is not altered if the queue is locked. This will
\r
1012 be done when the queue is unlocked later. */
\r
1013 if( cTxLock == queueUNLOCKED )
\r
1015 #if ( configUSE_QUEUE_SETS == 1 )
\r
1017 if( pxQueue->pxQueueSetContainer != NULL )
\r
1019 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
1021 /* The queue is a member of a queue set, and posting
\r
1022 to the queue set caused a higher priority task to
\r
1023 unblock. A context switch is required. */
\r
1024 if( pxHigherPriorityTaskWoken != NULL )
\r
1026 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1030 mtCOVERAGE_TEST_MARKER();
\r
1035 mtCOVERAGE_TEST_MARKER();
\r
1040 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1042 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1044 /* The task waiting has a higher priority so
\r
1045 record that a context switch is required. */
\r
1046 if( pxHigherPriorityTaskWoken != NULL )
\r
1048 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1052 mtCOVERAGE_TEST_MARKER();
\r
1057 mtCOVERAGE_TEST_MARKER();
\r
1062 mtCOVERAGE_TEST_MARKER();
\r
1066 #else /* configUSE_QUEUE_SETS */
\r
1068 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1070 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1072 /* The task waiting has a higher priority so record that a
\r
1073 context switch is required. */
\r
1074 if( pxHigherPriorityTaskWoken != NULL )
\r
1076 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1080 mtCOVERAGE_TEST_MARKER();
\r
1085 mtCOVERAGE_TEST_MARKER();
\r
1090 mtCOVERAGE_TEST_MARKER();
\r
1093 #endif /* configUSE_QUEUE_SETS */
\r
1097 /* Increment the lock count so the task that unlocks the queue
\r
1098 knows that data was posted while it was locked. */
\r
1099 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1106 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1107 xReturn = errQUEUE_FULL;
\r
1110 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1114 /*-----------------------------------------------------------*/
\r
1116 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1118 BaseType_t xReturn;
\r
1119 UBaseType_t uxSavedInterruptStatus;
\r
1120 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1122 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1123 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1124 read, instead return a flag to say whether a context switch is required or
\r
1125 not (i.e. has a task with a higher priority than us been woken by this
\r
1128 configASSERT( pxQueue );
\r
1130 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1131 if the item size is not 0. */
\r
1132 configASSERT( pxQueue->uxItemSize == 0 );
\r
1134 /* Normally a mutex would not be given from an interrupt, especially if
\r
1135 there is a mutex holder, as priority inheritance makes no sense for an
\r
1136 interrupts, only tasks. */
\r
1137 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1139 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1140 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1141 above the maximum system call priority are kept permanently enabled, even
\r
1142 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1143 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1144 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1145 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1146 assigned a priority above the configured maximum system call priority.
\r
1147 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1148 that have been assigned a priority at or (logically) below the maximum
\r
1149 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1150 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1151 More information (albeit Cortex-M specific) is provided on the following
\r
1152 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1153 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1155 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1157 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1159 /* When the queue is used to implement a semaphore no data is ever
\r
1160 moved through the queue but it is still valid to see if the queue 'has
\r
1162 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1164 const int8_t cTxLock = pxQueue->cTxLock;
\r
1166 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1168 /* A task can only have an inherited priority if it is a mutex
\r
1169 holder - and if there is a mutex holder then the mutex cannot be
\r
1170 given from an ISR. As this is the ISR version of the function it
\r
1171 can be assumed there is no mutex holder and no need to determine if
\r
1172 priority disinheritance is needed. Simply increase the count of
\r
1173 messages (semaphores) available. */
\r
1174 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1176 /* The event list is not altered if the queue is locked. This will
\r
1177 be done when the queue is unlocked later. */
\r
1178 if( cTxLock == queueUNLOCKED )
\r
1180 #if ( configUSE_QUEUE_SETS == 1 )
\r
1182 if( pxQueue->pxQueueSetContainer != NULL )
\r
1184 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1186 /* The semaphore is a member of a queue set, and
\r
1187 posting to the queue set caused a higher priority
\r
1188 task to unblock. A context switch is required. */
\r
1189 if( pxHigherPriorityTaskWoken != NULL )
\r
1191 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1195 mtCOVERAGE_TEST_MARKER();
\r
1200 mtCOVERAGE_TEST_MARKER();
\r
1205 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1207 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1209 /* The task waiting has a higher priority so
\r
1210 record that a context switch is required. */
\r
1211 if( pxHigherPriorityTaskWoken != NULL )
\r
1213 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1217 mtCOVERAGE_TEST_MARKER();
\r
1222 mtCOVERAGE_TEST_MARKER();
\r
1227 mtCOVERAGE_TEST_MARKER();
\r
1231 #else /* configUSE_QUEUE_SETS */
\r
1233 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1235 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1237 /* The task waiting has a higher priority so record that a
\r
1238 context switch is required. */
\r
1239 if( pxHigherPriorityTaskWoken != NULL )
\r
1241 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1245 mtCOVERAGE_TEST_MARKER();
\r
1250 mtCOVERAGE_TEST_MARKER();
\r
1255 mtCOVERAGE_TEST_MARKER();
\r
1258 #endif /* configUSE_QUEUE_SETS */
\r
1262 /* Increment the lock count so the task that unlocks the queue
\r
1263 knows that data was posted while it was locked. */
\r
1264 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1271 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1272 xReturn = errQUEUE_FULL;
\r
1275 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1279 /*-----------------------------------------------------------*/
\r
1281 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1283 BaseType_t xEntryTimeSet = pdFALSE;
\r
1284 TimeOut_t xTimeOut;
\r
1285 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1287 /* Check the pointer is not NULL. */
\r
1288 configASSERT( ( pxQueue ) );
\r
1290 /* The buffer into which data is received can only be NULL if the data size
\r
1291 is zero (so no data is copied into the buffer. */
\r
1292 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1294 /* Cannot block if the scheduler is suspended. */
\r
1295 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1297 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1302 /* This function relaxes the coding standard somewhat to allow return
\r
1303 statements within the function itself. This is done in the interest
\r
1304 of execution time efficiency. */
\r
1308 taskENTER_CRITICAL();
\r
1310 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1312 /* Is there data in the queue now? To be running the calling task
\r
1313 must be the highest priority task wanting to access the queue. */
\r
1314 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1316 /* Data available, remove one item. */
\r
1317 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1318 traceQUEUE_RECEIVE( pxQueue );
\r
1319 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1321 /* There is now space in the queue, were any tasks waiting to
\r
1322 post to the queue? If so, unblock the highest priority waiting
\r
1324 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1326 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1328 queueYIELD_IF_USING_PREEMPTION();
\r
1332 mtCOVERAGE_TEST_MARKER();
\r
1337 mtCOVERAGE_TEST_MARKER();
\r
1340 taskEXIT_CRITICAL();
\r
1345 if( xTicksToWait == ( TickType_t ) 0 )
\r
1347 /* The queue was empty and no block time is specified (or
\r
1348 the block time has expired) so leave now. */
\r
1349 taskEXIT_CRITICAL();
\r
1350 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1351 return errQUEUE_EMPTY;
\r
1353 else if( xEntryTimeSet == pdFALSE )
\r
1355 /* The queue was empty and a block time was specified so
\r
1356 configure the timeout structure. */
\r
1357 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1358 xEntryTimeSet = pdTRUE;
\r
1362 /* Entry time was already set. */
\r
1363 mtCOVERAGE_TEST_MARKER();
\r
1367 taskEXIT_CRITICAL();
\r
1369 /* Interrupts and other tasks can send to and receive from the queue
\r
1370 now the critical section has been exited. */
\r
1372 vTaskSuspendAll();
\r
1373 prvLockQueue( pxQueue );
\r
1375 /* Update the timeout state to see if it has expired yet. */
\r
1376 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1378 /* The timeout has not expired. If the queue is still empty place
\r
1379 the task on the list of tasks waiting to receive from the queue. */
\r
1380 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1382 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1383 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1384 prvUnlockQueue( pxQueue );
\r
1385 if( xTaskResumeAll() == pdFALSE )
\r
1387 portYIELD_WITHIN_API();
\r
1391 mtCOVERAGE_TEST_MARKER();
\r
1396 /* The queue contains data again. Loop back to try and read the
\r
1398 prvUnlockQueue( pxQueue );
\r
1399 ( void ) xTaskResumeAll();
\r
1404 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1405 back and attempt to read the data. */
\r
1406 prvUnlockQueue( pxQueue );
\r
1407 ( void ) xTaskResumeAll();
\r
1409 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1411 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1412 return errQUEUE_EMPTY;
\r
1416 mtCOVERAGE_TEST_MARKER();
\r
1421 /*-----------------------------------------------------------*/
\r
1423 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1425 BaseType_t xEntryTimeSet = pdFALSE;
\r
1426 TimeOut_t xTimeOut;
\r
1427 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1429 #if( configUSE_MUTEXES == 1 )
\r
1430 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1433 /* Check the queue pointer is not NULL. */
\r
1434 configASSERT( ( pxQueue ) );
\r
1436 /* Check this really is a semaphore, in which case the item size will be
\r
1438 configASSERT( pxQueue->uxItemSize == 0 );
\r
1440 /* Cannot block if the scheduler is suspended. */
\r
1441 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1443 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1448 /* This function relaxes the coding standard somewhat to allow return
\r
1449 statements within the function itself. This is done in the interest
\r
1450 of execution time efficiency. */
\r
1454 taskENTER_CRITICAL();
\r
1456 /* Semaphores are queues with an item size of 0, and where the
\r
1457 number of messages in the queue is the semaphore's count value. */
\r
1458 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1460 /* Is there data in the queue now? To be running the calling task
\r
1461 must be the highest priority task wanting to access the queue. */
\r
1462 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1464 traceQUEUE_RECEIVE( pxQueue );
\r
1466 /* Semaphores are queues with a data size of zero and where the
\r
1467 messages waiting is the semaphore's count. Reduce the count. */
\r
1468 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1470 #if ( configUSE_MUTEXES == 1 )
\r
1472 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1474 /* Record the information required to implement
\r
1475 priority inheritance should it become necessary. */
\r
1476 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1480 mtCOVERAGE_TEST_MARKER();
\r
1483 #endif /* configUSE_MUTEXES */
\r
1485 /* Check to see if other tasks are blocked waiting to give the
\r
1486 semaphore, and if so, unblock the highest priority such task. */
\r
1487 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1489 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1491 queueYIELD_IF_USING_PREEMPTION();
\r
1495 mtCOVERAGE_TEST_MARKER();
\r
1500 mtCOVERAGE_TEST_MARKER();
\r
1503 taskEXIT_CRITICAL();
\r
1508 if( xTicksToWait == ( TickType_t ) 0 )
\r
1510 /* For inheritance to have occurred there must have been an
\r
1511 initial timeout, and an adjusted timeout cannot become 0, as
\r
1512 if it were 0 the function would have exited. */
\r
1513 #if( configUSE_MUTEXES == 1 )
\r
1515 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1517 #endif /* configUSE_MUTEXES */
\r
1519 /* The semaphore count was 0 and no block time is specified
\r
1520 (or the block time has expired) so exit now. */
\r
1521 taskEXIT_CRITICAL();
\r
1522 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1523 return errQUEUE_EMPTY;
\r
1525 else if( xEntryTimeSet == pdFALSE )
\r
1527 /* The semaphore count was 0 and a block time was specified
\r
1528 so configure the timeout structure ready to block. */
\r
1529 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1530 xEntryTimeSet = pdTRUE;
\r
1534 /* Entry time was already set. */
\r
1535 mtCOVERAGE_TEST_MARKER();
\r
1539 taskEXIT_CRITICAL();
\r
1541 /* Interrupts and other tasks can give to and take from the semaphore
\r
1542 now the critical section has been exited. */
\r
1544 vTaskSuspendAll();
\r
1545 prvLockQueue( pxQueue );
\r
1547 /* Update the timeout state to see if it has expired yet. */
\r
1548 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1550 /* A block time is specified and not expired. If the semaphore
\r
1551 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1552 become available. As semaphores are implemented with queues the
\r
1553 queue being empty is equivalent to the semaphore count being 0. */
\r
1554 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1556 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1558 #if ( configUSE_MUTEXES == 1 )
\r
1560 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1562 taskENTER_CRITICAL();
\r
1564 xInheritanceOccurred = xTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1566 taskEXIT_CRITICAL();
\r
1570 mtCOVERAGE_TEST_MARKER();
\r
1575 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1576 prvUnlockQueue( pxQueue );
\r
1577 if( xTaskResumeAll() == pdFALSE )
\r
1579 portYIELD_WITHIN_API();
\r
1583 mtCOVERAGE_TEST_MARKER();
\r
1588 /* There was no timeout and the semaphore count was not 0, so
\r
1589 attempt to take the semaphore again. */
\r
1590 prvUnlockQueue( pxQueue );
\r
1591 ( void ) xTaskResumeAll();
\r
1597 prvUnlockQueue( pxQueue );
\r
1598 ( void ) xTaskResumeAll();
\r
1600 /* If the semaphore count is 0 exit now as the timeout has
\r
1601 expired. Otherwise return to attempt to take the semaphore that is
\r
1602 known to be available. As semaphores are implemented by queues the
\r
1603 queue being empty is equivalent to the semaphore count being 0. */
\r
1604 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1606 #if ( configUSE_MUTEXES == 1 )
\r
1608 /* xInheritanceOccurred could only have be set if
\r
1609 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1610 test the mutex type again to check it is actually a mutex. */
\r
1611 if( xInheritanceOccurred != pdFALSE )
\r
1613 taskENTER_CRITICAL();
\r
1615 UBaseType_t uxHighestWaitingPriority;
\r
1617 /* This task blocking on the mutex caused another
\r
1618 task to inherit this task's priority. Now this task
\r
1619 has timed out the priority should be disinherited
\r
1620 again, but only as low as the next highest priority
\r
1621 task that is waiting for the same mutex. */
\r
1622 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1623 vTaskPriorityDisinheritAfterTimeout( ( void * ) pxQueue->pxMutexHolder, uxHighestWaitingPriority );
\r
1625 taskEXIT_CRITICAL();
\r
1628 #endif /* configUSE_MUTEXES */
\r
1630 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1631 return errQUEUE_EMPTY;
\r
1635 mtCOVERAGE_TEST_MARKER();
\r
1640 /*-----------------------------------------------------------*/
\r
1642 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1644 BaseType_t xEntryTimeSet = pdFALSE;
\r
1645 TimeOut_t xTimeOut;
\r
1646 int8_t *pcOriginalReadPosition;
\r
1647 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1649 /* Check the pointer is not NULL. */
\r
1650 configASSERT( ( pxQueue ) );
\r
1652 /* The buffer into which data is received can only be NULL if the data size
\r
1653 is zero (so no data is copied into the buffer. */
\r
1654 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1656 /* Cannot block if the scheduler is suspended. */
\r
1657 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1659 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1664 /* This function relaxes the coding standard somewhat to allow return
\r
1665 statements within the function itself. This is done in the interest
\r
1666 of execution time efficiency. */
\r
1670 taskENTER_CRITICAL();
\r
1672 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1674 /* Is there data in the queue now? To be running the calling task
\r
1675 must be the highest priority task wanting to access the queue. */
\r
1676 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1678 /* Remember the read position so it can be reset after the data
\r
1679 is read from the queue as this function is only peeking the
\r
1680 data, not removing it. */
\r
1681 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1683 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1684 traceQUEUE_PEEK( pxQueue );
\r
1686 /* The data is not being removed, so reset the read pointer. */
\r
1687 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1689 /* The data is being left in the queue, so see if there are
\r
1690 any other tasks waiting for the data. */
\r
1691 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1693 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1695 /* The task waiting has a higher priority than this task. */
\r
1696 queueYIELD_IF_USING_PREEMPTION();
\r
1700 mtCOVERAGE_TEST_MARKER();
\r
1705 mtCOVERAGE_TEST_MARKER();
\r
1708 taskEXIT_CRITICAL();
\r
1713 if( xTicksToWait == ( TickType_t ) 0 )
\r
1715 /* The queue was empty and no block time is specified (or
\r
1716 the block time has expired) so leave now. */
\r
1717 taskEXIT_CRITICAL();
\r
1718 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1719 return errQUEUE_EMPTY;
\r
1721 else if( xEntryTimeSet == pdFALSE )
\r
1723 /* The queue was empty and a block time was specified so
\r
1724 configure the timeout structure ready to enter the blocked
\r
1726 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1727 xEntryTimeSet = pdTRUE;
\r
1731 /* Entry time was already set. */
\r
1732 mtCOVERAGE_TEST_MARKER();
\r
1736 taskEXIT_CRITICAL();
\r
1738 /* Interrupts and other tasks can send to and receive from the queue
\r
1739 now the critical section has been exited. */
\r
1741 vTaskSuspendAll();
\r
1742 prvLockQueue( pxQueue );
\r
1744 /* Update the timeout state to see if it has expired yet. */
\r
1745 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1747 /* Timeout has not expired yet, check to see if there is data in the
\r
1748 queue now, and if not enter the Blocked state to wait for data. */
\r
1749 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1751 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1752 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1753 prvUnlockQueue( pxQueue );
\r
1754 if( xTaskResumeAll() == pdFALSE )
\r
1756 portYIELD_WITHIN_API();
\r
1760 mtCOVERAGE_TEST_MARKER();
\r
1765 /* There is data in the queue now, so don't enter the blocked
\r
1766 state, instead return to try and obtain the data. */
\r
1767 prvUnlockQueue( pxQueue );
\r
1768 ( void ) xTaskResumeAll();
\r
1773 /* The timeout has expired. If there is still no data in the queue
\r
1774 exit, otherwise go back and try to read the data again. */
\r
1775 prvUnlockQueue( pxQueue );
\r
1776 ( void ) xTaskResumeAll();
\r
1778 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1780 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1781 return errQUEUE_EMPTY;
\r
1785 mtCOVERAGE_TEST_MARKER();
\r
1790 /*-----------------------------------------------------------*/
\r
1792 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1794 BaseType_t xReturn;
\r
1795 UBaseType_t uxSavedInterruptStatus;
\r
1796 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1798 configASSERT( pxQueue );
\r
1799 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1801 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1802 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1803 above the maximum system call priority are kept permanently enabled, even
\r
1804 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1805 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1806 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1807 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1808 assigned a priority above the configured maximum system call priority.
\r
1809 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1810 that have been assigned a priority at or (logically) below the maximum
\r
1811 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1812 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1813 More information (albeit Cortex-M specific) is provided on the following
\r
1814 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1815 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1817 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1819 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1821 /* Cannot block in an ISR, so check there is data available. */
\r
1822 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1824 const int8_t cRxLock = pxQueue->cRxLock;
\r
1826 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1828 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1829 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1831 /* If the queue is locked the event list will not be modified.
\r
1832 Instead update the lock count so the task that unlocks the queue
\r
1833 will know that an ISR has removed data while the queue was
\r
1835 if( cRxLock == queueUNLOCKED )
\r
1837 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1839 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1841 /* The task waiting has a higher priority than us so
\r
1842 force a context switch. */
\r
1843 if( pxHigherPriorityTaskWoken != NULL )
\r
1845 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1849 mtCOVERAGE_TEST_MARKER();
\r
1854 mtCOVERAGE_TEST_MARKER();
\r
1859 mtCOVERAGE_TEST_MARKER();
\r
1864 /* Increment the lock count so the task that unlocks the queue
\r
1865 knows that data was removed while it was locked. */
\r
1866 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1874 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1877 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1881 /*-----------------------------------------------------------*/
\r
1883 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1885 BaseType_t xReturn;
\r
1886 UBaseType_t uxSavedInterruptStatus;
\r
1887 int8_t *pcOriginalReadPosition;
\r
1888 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1890 configASSERT( pxQueue );
\r
1891 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1892 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1894 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1895 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1896 above the maximum system call priority are kept permanently enabled, even
\r
1897 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1898 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1899 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1900 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1901 assigned a priority above the configured maximum system call priority.
\r
1902 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1903 that have been assigned a priority at or (logically) below the maximum
\r
1904 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1905 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1906 More information (albeit Cortex-M specific) is provided on the following
\r
1907 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1908 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1910 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1912 /* Cannot block in an ISR, so check there is data available. */
\r
1913 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1915 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1917 /* Remember the read position so it can be reset as nothing is
\r
1918 actually being removed from the queue. */
\r
1919 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1920 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1921 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1928 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1931 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1935 /*-----------------------------------------------------------*/
\r
1937 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1939 UBaseType_t uxReturn;
\r
1941 configASSERT( xQueue );
\r
1943 taskENTER_CRITICAL();
\r
1945 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1947 taskEXIT_CRITICAL();
\r
1950 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1951 /*-----------------------------------------------------------*/
\r
1953 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1955 UBaseType_t uxReturn;
\r
1958 pxQueue = ( Queue_t * ) xQueue;
\r
1959 configASSERT( pxQueue );
\r
1961 taskENTER_CRITICAL();
\r
1963 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1965 taskEXIT_CRITICAL();
\r
1968 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1969 /*-----------------------------------------------------------*/
\r
1971 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1973 UBaseType_t uxReturn;
\r
1975 configASSERT( xQueue );
\r
1977 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1980 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1981 /*-----------------------------------------------------------*/
\r
1983 void vQueueDelete( QueueHandle_t xQueue )
\r
1985 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1987 configASSERT( pxQueue );
\r
1988 traceQUEUE_DELETE( pxQueue );
\r
1990 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1992 vQueueUnregisterQueue( pxQueue );
\r
1996 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1998 /* The queue can only have been allocated dynamically - free it
\r
2000 vPortFree( pxQueue );
\r
2002 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
2004 /* The queue could have been allocated statically or dynamically, so
\r
2005 check before attempting to free the memory. */
\r
2006 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
2008 vPortFree( pxQueue );
\r
2012 mtCOVERAGE_TEST_MARKER();
\r
2017 /* The queue must have been statically allocated, so is not going to be
\r
2018 deleted. Avoid compiler warnings about the unused parameter. */
\r
2021 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2023 /*-----------------------------------------------------------*/
\r
2025 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2027 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2029 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2032 #endif /* configUSE_TRACE_FACILITY */
\r
2033 /*-----------------------------------------------------------*/
\r
2035 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2037 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2039 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2042 #endif /* configUSE_TRACE_FACILITY */
\r
2043 /*-----------------------------------------------------------*/
\r
2045 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2047 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2049 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2052 #endif /* configUSE_TRACE_FACILITY */
\r
2053 /*-----------------------------------------------------------*/
\r
2055 #if( configUSE_MUTEXES == 1 )
\r
2057 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2059 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2061 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2062 priority, but the waiting task times out, then the holder should
\r
2063 disinherit the priority - but only down to the highest priority of any
\r
2064 other tasks that are waiting for the same mutex. For this purpose,
\r
2065 return the priority of the highest priority task that is waiting for the
\r
2067 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0 )
\r
2069 uxHighestPriorityOfWaitingTasks = configMAX_PRIORITIES - listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2073 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2076 return uxHighestPriorityOfWaitingTasks;
\r
2079 #endif /* configUSE_MUTEXES */
\r
2080 /*-----------------------------------------------------------*/
\r
2082 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2084 BaseType_t xReturn = pdFALSE;
\r
2085 UBaseType_t uxMessagesWaiting;
\r
2087 /* This function is called from a critical section. */
\r
2089 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2091 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2093 #if ( configUSE_MUTEXES == 1 )
\r
2095 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2097 /* The mutex is no longer being held. */
\r
2098 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
2099 pxQueue->pxMutexHolder = NULL;
\r
2103 mtCOVERAGE_TEST_MARKER();
\r
2106 #endif /* configUSE_MUTEXES */
\r
2108 else if( xPosition == queueSEND_TO_BACK )
\r
2110 ( 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
2111 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
2112 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2114 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2118 mtCOVERAGE_TEST_MARKER();
\r
2123 ( 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
2124 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
2125 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2127 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
2131 mtCOVERAGE_TEST_MARKER();
\r
2134 if( xPosition == queueOVERWRITE )
\r
2136 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2138 /* An item is not being added but overwritten, so subtract
\r
2139 one from the recorded number of items in the queue so when
\r
2140 one is added again below the number of recorded items remains
\r
2142 --uxMessagesWaiting;
\r
2146 mtCOVERAGE_TEST_MARKER();
\r
2151 mtCOVERAGE_TEST_MARKER();
\r
2155 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2159 /*-----------------------------------------------------------*/
\r
2161 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2163 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2165 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2166 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
2168 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2172 mtCOVERAGE_TEST_MARKER();
\r
2174 ( 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
2177 /*-----------------------------------------------------------*/
\r
2179 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2181 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2183 /* The lock counts contains the number of extra data items placed or
\r
2184 removed from the queue while the queue was locked. When a queue is
\r
2185 locked items can be added or removed, but the event lists cannot be
\r
2187 taskENTER_CRITICAL();
\r
2189 int8_t cTxLock = pxQueue->cTxLock;
\r
2191 /* See if data was added to the queue while it was locked. */
\r
2192 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2194 /* Data was posted while the queue was locked. Are any tasks
\r
2195 blocked waiting for data to become available? */
\r
2196 #if ( configUSE_QUEUE_SETS == 1 )
\r
2198 if( pxQueue->pxQueueSetContainer != NULL )
\r
2200 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
2202 /* The queue is a member of a queue set, and posting to
\r
2203 the queue set caused a higher priority task to unblock.
\r
2204 A context switch is required. */
\r
2205 vTaskMissedYield();
\r
2209 mtCOVERAGE_TEST_MARKER();
\r
2214 /* Tasks that are removed from the event list will get
\r
2215 added to the pending ready list as the scheduler is still
\r
2217 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2219 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2221 /* The task waiting has a higher priority so record that a
\r
2222 context switch is required. */
\r
2223 vTaskMissedYield();
\r
2227 mtCOVERAGE_TEST_MARKER();
\r
2236 #else /* configUSE_QUEUE_SETS */
\r
2238 /* Tasks that are removed from the event list will get added to
\r
2239 the pending ready list as the scheduler is still suspended. */
\r
2240 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2242 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2244 /* The task waiting has a higher priority so record that
\r
2245 a context switch is required. */
\r
2246 vTaskMissedYield();
\r
2250 mtCOVERAGE_TEST_MARKER();
\r
2258 #endif /* configUSE_QUEUE_SETS */
\r
2263 pxQueue->cTxLock = queueUNLOCKED;
\r
2265 taskEXIT_CRITICAL();
\r
2267 /* Do the same for the Rx lock. */
\r
2268 taskENTER_CRITICAL();
\r
2270 int8_t cRxLock = pxQueue->cRxLock;
\r
2272 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2274 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2276 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2278 vTaskMissedYield();
\r
2282 mtCOVERAGE_TEST_MARKER();
\r
2293 pxQueue->cRxLock = queueUNLOCKED;
\r
2295 taskEXIT_CRITICAL();
\r
2297 /*-----------------------------------------------------------*/
\r
2299 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2301 BaseType_t xReturn;
\r
2303 taskENTER_CRITICAL();
\r
2305 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2311 xReturn = pdFALSE;
\r
2314 taskEXIT_CRITICAL();
\r
2318 /*-----------------------------------------------------------*/
\r
2320 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2322 BaseType_t xReturn;
\r
2324 configASSERT( xQueue );
\r
2325 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2331 xReturn = pdFALSE;
\r
2335 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2336 /*-----------------------------------------------------------*/
\r
2338 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2340 BaseType_t xReturn;
\r
2342 taskENTER_CRITICAL();
\r
2344 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2350 xReturn = pdFALSE;
\r
2353 taskEXIT_CRITICAL();
\r
2357 /*-----------------------------------------------------------*/
\r
2359 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2361 BaseType_t xReturn;
\r
2363 configASSERT( xQueue );
\r
2364 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
2370 xReturn = pdFALSE;
\r
2374 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2375 /*-----------------------------------------------------------*/
\r
2377 #if ( configUSE_CO_ROUTINES == 1 )
\r
2379 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2381 BaseType_t xReturn;
\r
2382 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2384 /* If the queue is already full we may have to block. A critical section
\r
2385 is required to prevent an interrupt removing something from the queue
\r
2386 between the check to see if the queue is full and blocking on the queue. */
\r
2387 portDISABLE_INTERRUPTS();
\r
2389 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2391 /* The queue is full - do we want to block or just leave without
\r
2393 if( xTicksToWait > ( TickType_t ) 0 )
\r
2395 /* As this is called from a coroutine we cannot block directly, but
\r
2396 return indicating that we need to block. */
\r
2397 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2398 portENABLE_INTERRUPTS();
\r
2399 return errQUEUE_BLOCKED;
\r
2403 portENABLE_INTERRUPTS();
\r
2404 return errQUEUE_FULL;
\r
2408 portENABLE_INTERRUPTS();
\r
2410 portDISABLE_INTERRUPTS();
\r
2412 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2414 /* There is room in the queue, copy the data into the queue. */
\r
2415 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2418 /* Were any co-routines waiting for data to become available? */
\r
2419 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2421 /* In this instance the co-routine could be placed directly
\r
2422 into the ready list as we are within a critical section.
\r
2423 Instead the same pending ready list mechanism is used as if
\r
2424 the event were caused from within an interrupt. */
\r
2425 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2427 /* The co-routine waiting has a higher priority so record
\r
2428 that a yield might be appropriate. */
\r
2429 xReturn = errQUEUE_YIELD;
\r
2433 mtCOVERAGE_TEST_MARKER();
\r
2438 mtCOVERAGE_TEST_MARKER();
\r
2443 xReturn = errQUEUE_FULL;
\r
2446 portENABLE_INTERRUPTS();
\r
2451 #endif /* configUSE_CO_ROUTINES */
\r
2452 /*-----------------------------------------------------------*/
\r
2454 #if ( configUSE_CO_ROUTINES == 1 )
\r
2456 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2458 BaseType_t xReturn;
\r
2459 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2461 /* If the queue is already empty we may have to block. A critical section
\r
2462 is required to prevent an interrupt adding something to the queue
\r
2463 between the check to see if the queue is empty and blocking on the queue. */
\r
2464 portDISABLE_INTERRUPTS();
\r
2466 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2468 /* There are no messages in the queue, do we want to block or just
\r
2469 leave with nothing? */
\r
2470 if( xTicksToWait > ( TickType_t ) 0 )
\r
2472 /* As this is a co-routine we cannot block directly, but return
\r
2473 indicating that we need to block. */
\r
2474 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2475 portENABLE_INTERRUPTS();
\r
2476 return errQUEUE_BLOCKED;
\r
2480 portENABLE_INTERRUPTS();
\r
2481 return errQUEUE_FULL;
\r
2486 mtCOVERAGE_TEST_MARKER();
\r
2489 portENABLE_INTERRUPTS();
\r
2491 portDISABLE_INTERRUPTS();
\r
2493 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2495 /* Data is available from the queue. */
\r
2496 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2497 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2499 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2503 mtCOVERAGE_TEST_MARKER();
\r
2505 --( pxQueue->uxMessagesWaiting );
\r
2506 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2510 /* Were any co-routines waiting for space to become available? */
\r
2511 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2513 /* In this instance the co-routine could be placed directly
\r
2514 into the ready list as we are within a critical section.
\r
2515 Instead the same pending ready list mechanism is used as if
\r
2516 the event were caused from within an interrupt. */
\r
2517 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2519 xReturn = errQUEUE_YIELD;
\r
2523 mtCOVERAGE_TEST_MARKER();
\r
2528 mtCOVERAGE_TEST_MARKER();
\r
2536 portENABLE_INTERRUPTS();
\r
2541 #endif /* configUSE_CO_ROUTINES */
\r
2542 /*-----------------------------------------------------------*/
\r
2544 #if ( configUSE_CO_ROUTINES == 1 )
\r
2546 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2548 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2550 /* Cannot block within an ISR so if there is no space on the queue then
\r
2551 exit without doing anything. */
\r
2552 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2554 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2556 /* We only want to wake one co-routine per ISR, so check that a
\r
2557 co-routine has not already been woken. */
\r
2558 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2560 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2562 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2568 mtCOVERAGE_TEST_MARKER();
\r
2573 mtCOVERAGE_TEST_MARKER();
\r
2578 mtCOVERAGE_TEST_MARKER();
\r
2583 mtCOVERAGE_TEST_MARKER();
\r
2586 return xCoRoutinePreviouslyWoken;
\r
2589 #endif /* configUSE_CO_ROUTINES */
\r
2590 /*-----------------------------------------------------------*/
\r
2592 #if ( configUSE_CO_ROUTINES == 1 )
\r
2594 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2596 BaseType_t xReturn;
\r
2597 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2599 /* We cannot block from an ISR, so check there is data available. If
\r
2600 not then just leave without doing anything. */
\r
2601 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2603 /* Copy the data from the queue. */
\r
2604 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2605 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2607 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2611 mtCOVERAGE_TEST_MARKER();
\r
2613 --( pxQueue->uxMessagesWaiting );
\r
2614 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2616 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2618 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2620 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2622 *pxCoRoutineWoken = pdTRUE;
\r
2626 mtCOVERAGE_TEST_MARKER();
\r
2631 mtCOVERAGE_TEST_MARKER();
\r
2636 mtCOVERAGE_TEST_MARKER();
\r
2649 #endif /* configUSE_CO_ROUTINES */
\r
2650 /*-----------------------------------------------------------*/
\r
2652 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2654 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2658 /* See if there is an empty space in the registry. A NULL name denotes
\r
2660 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2662 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2664 /* Store the information on this queue. */
\r
2665 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2666 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2668 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2673 mtCOVERAGE_TEST_MARKER();
\r
2678 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2679 /*-----------------------------------------------------------*/
\r
2681 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2683 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2686 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2688 /* Note there is nothing here to protect against another task adding or
\r
2689 removing entries from the registry while it is being searched. */
\r
2690 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2692 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2694 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2699 mtCOVERAGE_TEST_MARKER();
\r
2704 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2706 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2707 /*-----------------------------------------------------------*/
\r
2709 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2711 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2715 /* See if the handle of the queue being unregistered in actually in the
\r
2717 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2719 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2721 /* Set the name to NULL to show that this slot if free again. */
\r
2722 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2724 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2725 appear in the registry twice if it is added, removed, then
\r
2727 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2732 mtCOVERAGE_TEST_MARKER();
\r
2736 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2738 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2739 /*-----------------------------------------------------------*/
\r
2741 #if ( configUSE_TIMERS == 1 )
\r
2743 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2745 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2747 /* This function should not be called by application code hence the
\r
2748 'Restricted' in its name. It is not part of the public API. It is
\r
2749 designed for use by kernel code, and has special calling requirements.
\r
2750 It can result in vListInsert() being called on a list that can only
\r
2751 possibly ever have one item in it, so the list will be fast, but even
\r
2752 so it should be called with the scheduler locked and not from a critical
\r
2755 /* Only do anything if there are no messages in the queue. This function
\r
2756 will not actually cause the task to block, just place it on a blocked
\r
2757 list. It will not block until the scheduler is unlocked - at which
\r
2758 time a yield will be performed. If an item is added to the queue while
\r
2759 the queue is locked, and the calling task blocks on the queue, then the
\r
2760 calling task will be immediately unblocked when the queue is unlocked. */
\r
2761 prvLockQueue( pxQueue );
\r
2762 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2764 /* There is nothing in the queue, block for the specified period. */
\r
2765 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2769 mtCOVERAGE_TEST_MARKER();
\r
2771 prvUnlockQueue( pxQueue );
\r
2774 #endif /* configUSE_TIMERS */
\r
2775 /*-----------------------------------------------------------*/
\r
2777 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2779 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2781 QueueSetHandle_t pxQueue;
\r
2783 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2788 #endif /* configUSE_QUEUE_SETS */
\r
2789 /*-----------------------------------------------------------*/
\r
2791 #if ( configUSE_QUEUE_SETS == 1 )
\r
2793 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2795 BaseType_t xReturn;
\r
2797 taskENTER_CRITICAL();
\r
2799 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2801 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2804 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2806 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2807 items in the queue/semaphore. */
\r
2812 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2816 taskEXIT_CRITICAL();
\r
2821 #endif /* configUSE_QUEUE_SETS */
\r
2822 /*-----------------------------------------------------------*/
\r
2824 #if ( configUSE_QUEUE_SETS == 1 )
\r
2826 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2828 BaseType_t xReturn;
\r
2829 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2831 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2833 /* The queue was not a member of the set. */
\r
2836 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2838 /* It is dangerous to remove a queue from a set when the queue is
\r
2839 not empty because the queue set will still hold pending events for
\r
2845 taskENTER_CRITICAL();
\r
2847 /* The queue is no longer contained in the set. */
\r
2848 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2850 taskEXIT_CRITICAL();
\r
2855 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2857 #endif /* configUSE_QUEUE_SETS */
\r
2858 /*-----------------------------------------------------------*/
\r
2860 #if ( configUSE_QUEUE_SETS == 1 )
\r
2862 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2864 QueueSetMemberHandle_t xReturn = NULL;
\r
2866 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2870 #endif /* configUSE_QUEUE_SETS */
\r
2871 /*-----------------------------------------------------------*/
\r
2873 #if ( configUSE_QUEUE_SETS == 1 )
\r
2875 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2877 QueueSetMemberHandle_t xReturn = NULL;
\r
2879 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2883 #endif /* configUSE_QUEUE_SETS */
\r
2884 /*-----------------------------------------------------------*/
\r
2886 #if ( configUSE_QUEUE_SETS == 1 )
\r
2888 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2890 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2891 BaseType_t xReturn = pdFALSE;
\r
2893 /* This function must be called form a critical section. */
\r
2895 configASSERT( pxQueueSetContainer );
\r
2896 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2898 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2900 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2902 traceQUEUE_SEND( pxQueueSetContainer );
\r
2904 /* The data copied is the handle of the queue that contains data. */
\r
2905 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2907 if( cTxLock == queueUNLOCKED )
\r
2909 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2911 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2913 /* The task waiting has a higher priority. */
\r
2918 mtCOVERAGE_TEST_MARKER();
\r
2923 mtCOVERAGE_TEST_MARKER();
\r
2928 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2933 mtCOVERAGE_TEST_MARKER();
\r
2939 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob