2 FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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68 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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69 all the API functions to use the MPU wrappers. That should only be done when
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70 task.h is included from an application file. */
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71 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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73 #include "FreeRTOS.h"
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77 #if ( configUSE_CO_ROUTINES == 1 )
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78 #include "croutine.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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88 /* Constants used with the cRxLock and xTxLock structure members. */
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89 #define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )
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90 #define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 )
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92 /* When the xQUEUE structure is used to represent a base queue its pcHead and
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93 pcTail members are used as pointers into the queue storage area. When the
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94 xQUEUE structure is used to represent a mutex pcHead and pcTail pointers are
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95 not necessary, and the pcHead pointer is set to NULL to indicate that the
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96 pcTail pointer actually points to the mutex holder (if any). Map alternative
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97 names to the pcHead and pcTail structure members to ensure the readability of
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98 the code is maintained despite this dual use of two structure members. An
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99 alternative implementation would be to use a union, but use of a union is
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100 against the coding standard (although an exception to the standard has been
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101 permitted where the dual use also significantly changes the type of the
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102 structure member). */
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103 #define pxMutexHolder pcTail
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104 #define uxQueueType pcHead
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105 #define queueQUEUE_IS_MUTEX NULL
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107 /* Semaphores do not actually store or copy data, so have an item size of
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109 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )
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110 #define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U )
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114 * Definition of the queue used by the scheduler.
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115 * Items are queued by copy, not reference.
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117 typedef struct QueueDefinition
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119 signed char *pcHead; /*< Points to the beginning of the queue storage area. */
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120 signed char *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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122 signed char *pcWriteTo; /*< Points to the free next place in the storage area. */
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124 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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126 signed char *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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127 unsigned portBASE_TYPE uxRecursiveCallCount;/*< Maintains a count of the numebr of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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130 xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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131 xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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133 volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */
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134 unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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135 unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */
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137 volatile signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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138 volatile signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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140 #if ( configUSE_TRACE_FACILITY == 1 )
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141 unsigned char ucQueueNumber;
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142 unsigned char ucQueueType;
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145 #if ( configUSE_QUEUE_SETS == 1 )
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146 struct QueueDefinition *pxQueueSetContainer;
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150 /*-----------------------------------------------------------*/
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153 * The queue registry is just a means for kernel aware debuggers to locate
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154 * queue structures. It has no other purpose so is an optional component.
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156 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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158 /* The type stored within the queue registry array. This allows a name
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159 to be assigned to each queue making kernel aware debugging a little
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160 more user friendly. */
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161 typedef struct QUEUE_REGISTRY_ITEM
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163 signed char *pcQueueName;
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164 xQueueHandle xHandle;
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165 } xQueueRegistryItem;
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167 /* The queue registry is simply an array of xQueueRegistryItem structures.
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168 The pcQueueName member of a structure being NULL is indicative of the
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169 array position being vacant. */
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170 xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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172 #endif /* configQUEUE_REGISTRY_SIZE */
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175 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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176 * prevent an ISR from adding or removing items to the queue, but does prevent
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177 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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178 * queue is locked it will instead increment the appropriate queue lock count
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179 * to indicate that a task may require unblocking. When the queue in unlocked
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180 * these lock counts are inspected, and the appropriate action taken.
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182 static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
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185 * Uses a critical section to determine if there is any data in a queue.
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187 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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189 static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
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192 * Uses a critical section to determine if there is any space in a queue.
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194 * @return pdTRUE if there is no space, otherwise pdFALSE;
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196 static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
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199 * Copies an item into the queue, either at the front of the queue or the
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200 * back of the queue.
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202 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION;
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205 * Copies an item out of a queue.
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207 static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void * const pvBuffer ) PRIVILEGED_FUNCTION;
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209 #if ( configUSE_QUEUE_SETS == 1 )
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211 * Checks to see if a queue is a member of a queue set, and if so, notifies
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212 * the queue set that the queue contains data.
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214 static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
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217 /*-----------------------------------------------------------*/
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220 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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221 * accessing the queue event lists.
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223 #define prvLockQueue( pxQueue ) \
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224 taskENTER_CRITICAL(); \
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226 if( ( pxQueue )->xRxLock == queueUNLOCKED ) \
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228 ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \
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230 if( ( pxQueue )->xTxLock == queueUNLOCKED ) \
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232 ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \
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235 taskEXIT_CRITICAL()
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236 /*-----------------------------------------------------------*/
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238 portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )
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240 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
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242 configASSERT( pxQueue );
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244 taskENTER_CRITICAL();
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246 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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247 pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
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248 pxQueue->pcWriteTo = pxQueue->pcHead;
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249 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize );
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250 pxQueue->xRxLock = queueUNLOCKED;
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251 pxQueue->xTxLock = queueUNLOCKED;
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253 if( xNewQueue == pdFALSE )
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255 /* If there are tasks blocked waiting to read from the queue, then
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256 the tasks will remain blocked as after this function exits the queue
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257 will still be empty. If there are tasks blocked waiting to write to
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258 the queue, then one should be unblocked as after this function exits
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259 it will be possible to write to it. */
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260 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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262 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
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264 portYIELD_WITHIN_API();
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270 /* Ensure the event queues start in the correct state. */
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271 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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272 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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275 taskEXIT_CRITICAL();
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277 /* A value is returned for calling semantic consistency with previous
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281 /*-----------------------------------------------------------*/
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283 xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType )
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285 xQUEUE *pxNewQueue;
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286 size_t xQueueSizeInBytes;
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287 xQueueHandle xReturn = NULL;
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289 /* Remove compiler warnings about unused parameters should
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290 configUSE_TRACE_FACILITY not be set to 1. */
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291 ( void ) ucQueueType;
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293 /* Allocate the new queue structure. */
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294 if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )
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296 pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
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297 if( pxNewQueue != NULL )
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299 /* Create the list of pointers to queue items. The queue is one byte
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300 longer than asked for to make wrap checking easier/faster. */
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301 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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303 pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );
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304 if( pxNewQueue->pcHead != NULL )
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306 /* Initialise the queue members as described above where the
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307 queue type is defined. */
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308 pxNewQueue->uxLength = uxQueueLength;
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309 pxNewQueue->uxItemSize = uxItemSize;
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310 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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312 #if ( configUSE_TRACE_FACILITY == 1 )
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314 pxNewQueue->ucQueueType = ucQueueType;
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316 #endif /* configUSE_TRACE_FACILITY */
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318 #if( configUSE_QUEUE_SETS == 1 )
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320 pxNewQueue->pxQueueSetContainer = NULL;
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322 #endif /* configUSE_QUEUE_SETS */
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324 traceQUEUE_CREATE( pxNewQueue );
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325 xReturn = pxNewQueue;
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329 traceQUEUE_CREATE_FAILED( ucQueueType );
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330 vPortFree( pxNewQueue );
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335 configASSERT( xReturn );
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339 /*-----------------------------------------------------------*/
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341 #if ( configUSE_MUTEXES == 1 )
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343 xQueueHandle xQueueCreateMutex( unsigned char ucQueueType )
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345 xQUEUE *pxNewQueue;
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347 /* Prevent compiler warnings about unused parameters if
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348 configUSE_TRACE_FACILITY does not equal 1. */
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349 ( void ) ucQueueType;
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351 /* Allocate the new queue structure. */
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352 pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
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353 if( pxNewQueue != NULL )
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355 /* Information required for priority inheritance. */
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356 pxNewQueue->pxMutexHolder = NULL;
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357 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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359 /* Queues used as a mutex no data is actually copied into or out
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361 pxNewQueue->pcWriteTo = NULL;
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362 pxNewQueue->u.pcReadFrom = NULL;
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364 /* Each mutex has a length of 1 (like a binary semaphore) and
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365 an item size of 0 as nothing is actually copied into or out
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367 pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
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368 pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U;
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369 pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U;
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370 pxNewQueue->xRxLock = queueUNLOCKED;
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371 pxNewQueue->xTxLock = queueUNLOCKED;
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373 #if ( configUSE_TRACE_FACILITY == 1 )
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375 pxNewQueue->ucQueueType = ucQueueType;
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379 #if ( configUSE_QUEUE_SETS == 1 )
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381 pxNewQueue->pxQueueSetContainer = NULL;
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385 /* Ensure the event queues start with the correct state. */
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386 vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
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387 vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
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389 traceCREATE_MUTEX( pxNewQueue );
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391 /* Start with the semaphore in the expected state. */
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392 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );
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396 traceCREATE_MUTEX_FAILED();
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399 configASSERT( pxNewQueue );
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403 #endif /* configUSE_MUTEXES */
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404 /*-----------------------------------------------------------*/
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406 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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408 void* xQueueGetMutexHolder( xQueueHandle xSemaphore )
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412 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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413 be called directly. Note: This is is a good way of determining if the
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414 calling task is the mutex holder, but not a good way of determining the
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415 identity of the mutex holder, as the holder may change between the
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416 following critical section exiting and the function returning. */
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417 taskENTER_CRITICAL();
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419 if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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421 pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;
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428 taskEXIT_CRITICAL();
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434 /*-----------------------------------------------------------*/
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436 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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438 portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )
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440 portBASE_TYPE xReturn;
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441 xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
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443 configASSERT( pxMutex );
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445 /* If this is the task that holds the mutex then pxMutexHolder will not
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446 change outside of this task. If this task does not hold the mutex then
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447 pxMutexHolder can never coincidentally equal the tasks handle, and as
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448 this is the only condition we are interested in it does not matter if
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449 pxMutexHolder is accessed simultaneously by another task. Therefore no
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450 mutual exclusion is required to test the pxMutexHolder variable. */
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451 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as xTaskHandle is a typedef. */
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453 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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455 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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456 the task handle, therefore no underflow check is required. Also,
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457 uxRecursiveCallCount is only modified by the mutex holder, and as
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458 there can only be one, no mutual exclusion is required to modify the
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459 uxRecursiveCallCount member. */
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460 ( pxMutex->u.uxRecursiveCallCount )--;
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462 /* Have we unwound the call count? */
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463 if( pxMutex->u.uxRecursiveCallCount == ( unsigned portBASE_TYPE ) 0 )
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465 /* Return the mutex. This will automatically unblock any other
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466 task that might be waiting to access the mutex. */
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467 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
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474 /* We cannot give the mutex because we are not the holder. */
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477 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
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483 #endif /* configUSE_RECURSIVE_MUTEXES */
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484 /*-----------------------------------------------------------*/
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486 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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488 portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
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490 portBASE_TYPE xReturn;
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491 xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
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493 configASSERT( pxMutex );
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495 /* Comments regarding mutual exclusion as per those within
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496 xQueueGiveMutexRecursive(). */
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498 traceTAKE_MUTEX_RECURSIVE( pxMutex );
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500 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */
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502 ( pxMutex->u.uxRecursiveCallCount )++;
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507 xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );
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509 /* pdPASS will only be returned if we successfully obtained the mutex,
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510 we may have blocked to reach here. */
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511 if( xReturn == pdPASS )
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513 ( pxMutex->u.uxRecursiveCallCount )++;
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517 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
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524 #endif /* configUSE_RECURSIVE_MUTEXES */
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525 /*-----------------------------------------------------------*/
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527 #if ( configUSE_COUNTING_SEMAPHORES == 1 )
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529 xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
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531 xQueueHandle xHandle;
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533 xHandle = xQueueGenericCreate( uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
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535 if( xHandle != NULL )
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537 ( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;
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539 traceCREATE_COUNTING_SEMAPHORE();
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543 traceCREATE_COUNTING_SEMAPHORE_FAILED();
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546 configASSERT( xHandle );
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550 #endif /* configUSE_COUNTING_SEMAPHORES */
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551 /*-----------------------------------------------------------*/
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553 signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
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555 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
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556 xTimeOutType xTimeOut;
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557 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
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559 configASSERT( pxQueue );
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560 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
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561 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
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563 /* This function relaxes the coding standard somewhat to allow return
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564 statements within the function itself. This is done in the interest
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565 of execution time efficiency. */
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568 taskENTER_CRITICAL();
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570 /* Is there room on the queue now? The running task must be
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571 the highest priority task wanting to access the queue. If
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572 the head item in the queue is to be overwritten then it does
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573 not matter if the queue is full. */
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574 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
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576 traceQUEUE_SEND( pxQueue );
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577 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
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579 #if ( configUSE_QUEUE_SETS == 1 )
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581 if( pxQueue->pxQueueSetContainer != NULL )
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583 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
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585 /* The queue is a member of a queue set, and posting
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586 to the queue set caused a higher priority task to
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587 unblock. A context switch is required. */
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588 portYIELD_WITHIN_API();
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593 /* If there was a task waiting for data to arrive on the
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594 queue then unblock it now. */
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595 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
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597 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
599 /* The unblocked task has a priority higher than
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600 our own so yield immediately. Yes it is ok to
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601 do this from within the critical section - the
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602 kernel takes care of that. */
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603 portYIELD_WITHIN_API();
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608 #else /* configUSE_QUEUE_SETS */
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610 /* If there was a task waiting for data to arrive on the
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611 queue then unblock it now. */
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612 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
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614 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
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616 /* The unblocked task has a priority higher than
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617 our own so yield immediately. Yes it is ok to do
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618 this from within the critical section - the kernel
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619 takes care of that. */
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620 portYIELD_WITHIN_API();
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624 #endif /* configUSE_QUEUE_SETS */
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626 taskEXIT_CRITICAL();
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628 /* Return to the original privilege level before exiting the
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634 if( xTicksToWait == ( portTickType ) 0 )
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636 /* The queue was full and no block time is specified (or
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637 the block time has expired) so leave now. */
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638 taskEXIT_CRITICAL();
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640 /* Return to the original privilege level before exiting
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642 traceQUEUE_SEND_FAILED( pxQueue );
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643 return errQUEUE_FULL;
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645 else if( xEntryTimeSet == pdFALSE )
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647 /* The queue was full and a block time was specified so
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648 configure the timeout structure. */
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649 vTaskSetTimeOutState( &xTimeOut );
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650 xEntryTimeSet = pdTRUE;
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654 /* Entry time was already set. */
\r
658 taskEXIT_CRITICAL();
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660 /* Interrupts and other tasks can send to and receive from the queue
\r
661 now the critical section has been exited. */
\r
664 prvLockQueue( pxQueue );
\r
666 /* Update the timeout state to see if it has expired yet. */
\r
667 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
669 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
671 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
672 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
674 /* Unlocking the queue means queue events can effect the
\r
675 event list. It is possible that interrupts occurring now
\r
676 remove this task from the event list again - but as the
\r
677 scheduler is suspended the task will go onto the pending
\r
678 ready last instead of the actual ready list. */
\r
679 prvUnlockQueue( pxQueue );
\r
681 /* Resuming the scheduler will move tasks from the pending
\r
682 ready list into the ready list - so it is feasible that this
\r
683 task is already in a ready list before it yields - in which
\r
684 case the yield will not cause a context switch unless there
\r
685 is also a higher priority task in the pending ready list. */
\r
686 if( xTaskResumeAll() == pdFALSE )
\r
688 portYIELD_WITHIN_API();
\r
694 prvUnlockQueue( pxQueue );
\r
695 ( void ) xTaskResumeAll();
\r
700 /* The timeout has expired. */
\r
701 prvUnlockQueue( pxQueue );
\r
702 ( void ) xTaskResumeAll();
\r
704 /* Return to the original privilege level before exiting the
\r
706 traceQUEUE_SEND_FAILED( pxQueue );
\r
707 return errQUEUE_FULL;
\r
711 /*-----------------------------------------------------------*/
\r
713 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
715 signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
\r
717 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
\r
718 xTimeOutType xTimeOut;
\r
719 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
721 configASSERT( pxQueue );
\r
722 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
726 taskENTER_CRITICAL();
\r
728 /* Is there room on the queue now? To be running we must be
\r
729 the highest priority task wanting to access the queue. */
\r
730 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
732 traceQUEUE_SEND( pxQueue );
\r
733 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
735 /* If there was a task waiting for data to arrive on the
\r
736 queue then unblock it now. */
\r
737 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
739 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
741 /* The unblocked task has a priority higher than
\r
742 our own so yield immediately. */
\r
743 portYIELD_WITHIN_API();
\r
747 taskEXIT_CRITICAL();
\r
752 if( xTicksToWait == ( portTickType ) 0 )
\r
754 taskEXIT_CRITICAL();
\r
755 return errQUEUE_FULL;
\r
757 else if( xEntryTimeSet == pdFALSE )
\r
759 vTaskSetTimeOutState( &xTimeOut );
\r
760 xEntryTimeSet = pdTRUE;
\r
764 taskEXIT_CRITICAL();
\r
766 taskENTER_CRITICAL();
\r
768 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
770 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
772 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
773 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
774 portYIELD_WITHIN_API();
\r
779 taskEXIT_CRITICAL();
\r
780 traceQUEUE_SEND_FAILED( pxQueue );
\r
781 return errQUEUE_FULL;
\r
784 taskEXIT_CRITICAL();
\r
788 #endif /* configUSE_ALTERNATIVE_API */
\r
789 /*-----------------------------------------------------------*/
\r
791 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
793 signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
\r
795 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
\r
796 xTimeOutType xTimeOut;
\r
797 signed char *pcOriginalReadPosition;
\r
798 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
800 configASSERT( pxQueue );
\r
801 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
805 taskENTER_CRITICAL();
\r
807 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
809 /* Remember our read position in case we are just peeking. */
\r
810 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
812 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
814 if( xJustPeeking == pdFALSE )
\r
816 traceQUEUE_RECEIVE( pxQueue );
\r
818 /* Data is actually being removed (not just peeked). */
\r
819 --( pxQueue->uxMessagesWaiting );
\r
821 #if ( configUSE_MUTEXES == 1 )
\r
823 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
825 /* Record the information required to implement
\r
826 priority inheritance should it become necessary. */
\r
827 pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle();
\r
832 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
834 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
836 portYIELD_WITHIN_API();
\r
842 traceQUEUE_PEEK( pxQueue );
\r
844 /* We are not removing the data, so reset our read
\r
846 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
848 /* The data is being left in the queue, so see if there are
\r
849 any other tasks waiting for the data. */
\r
850 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
852 /* Tasks that are removed from the event list will get added to
\r
853 the pending ready list as the scheduler is still suspended. */
\r
854 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
856 /* The task waiting has a higher priority than this task. */
\r
857 portYIELD_WITHIN_API();
\r
863 taskEXIT_CRITICAL();
\r
868 if( xTicksToWait == ( portTickType ) 0 )
\r
870 taskEXIT_CRITICAL();
\r
871 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
872 return errQUEUE_EMPTY;
\r
874 else if( xEntryTimeSet == pdFALSE )
\r
876 vTaskSetTimeOutState( &xTimeOut );
\r
877 xEntryTimeSet = pdTRUE;
\r
881 taskEXIT_CRITICAL();
\r
883 taskENTER_CRITICAL();
\r
885 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
887 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
889 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
891 #if ( configUSE_MUTEXES == 1 )
\r
893 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
895 portENTER_CRITICAL();
\r
897 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
899 portEXIT_CRITICAL();
\r
904 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
905 portYIELD_WITHIN_API();
\r
910 taskEXIT_CRITICAL();
\r
911 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
912 return errQUEUE_EMPTY;
\r
915 taskEXIT_CRITICAL();
\r
920 #endif /* configUSE_ALTERNATIVE_API */
\r
921 /*-----------------------------------------------------------*/
\r
923 signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
\r
925 signed portBASE_TYPE xReturn;
\r
926 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
927 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
929 configASSERT( pxQueue );
\r
930 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
931 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
933 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
934 system call (or maximum API call) interrupt priority. Interrupts that are
\r
935 above the maximum system call priority are keep permanently enabled, even
\r
936 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
937 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
938 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
939 failure if a FreeRTOS API function is called from an interrupt that has been
\r
940 assigned a priority above the configured maximum system call priority.
\r
941 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
942 that have been assigned a priority at or (logically) below the maximum
\r
943 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
944 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
945 More information (albeit Cortex-M specific) is provided on the following
\r
946 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
947 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
949 /* Similar to xQueueGenericSend, except we don't block if there is no room
\r
950 in the queue. Also we don't directly wake a task that was blocked on a
\r
951 queue read, instead we return a flag to say whether a context switch is
\r
952 required or not (i.e. has a task with a higher priority than us been woken
\r
954 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
956 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
958 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
960 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
962 /* If the queue is locked we do not alter the event list. This will
\r
963 be done when the queue is unlocked later. */
\r
964 if( pxQueue->xTxLock == queueUNLOCKED )
\r
966 #if ( configUSE_QUEUE_SETS == 1 )
\r
968 if( pxQueue->pxQueueSetContainer != NULL )
\r
970 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
\r
972 /* The queue is a member of a queue set, and posting
\r
973 to the queue set caused a higher priority task to
\r
974 unblock. A context switch is required. */
\r
975 if( pxHigherPriorityTaskWoken != NULL )
\r
977 *pxHigherPriorityTaskWoken = pdTRUE;
\r
983 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
985 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
987 /* The task waiting has a higher priority so record that a
\r
988 context switch is required. */
\r
989 if( pxHigherPriorityTaskWoken != NULL )
\r
991 *pxHigherPriorityTaskWoken = pdTRUE;
\r
997 #else /* configUSE_QUEUE_SETS */
\r
999 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1001 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1003 /* The task waiting has a higher priority so record that a
\r
1004 context switch is required. */
\r
1005 if( pxHigherPriorityTaskWoken != NULL )
\r
1007 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1012 #endif /* configUSE_QUEUE_SETS */
\r
1016 /* Increment the lock count so the task that unlocks the queue
\r
1017 knows that data was posted while it was locked. */
\r
1018 ++( pxQueue->xTxLock );
\r
1025 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1026 xReturn = errQUEUE_FULL;
\r
1029 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1033 /*-----------------------------------------------------------*/
\r
1035 signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
\r
1037 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
\r
1038 xTimeOutType xTimeOut;
\r
1039 signed char *pcOriginalReadPosition;
\r
1040 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1042 configASSERT( pxQueue );
\r
1043 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
1045 /* This function relaxes the coding standard somewhat to allow return
\r
1046 statements within the function itself. This is done in the interest
\r
1047 of execution time efficiency. */
\r
1051 taskENTER_CRITICAL();
\r
1053 /* Is there data in the queue now? To be running we must be
\r
1054 the highest priority task wanting to access the queue. */
\r
1055 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1057 /* Remember the read position in case the queue is only being
\r
1059 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1061 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1063 if( xJustPeeking == pdFALSE )
\r
1065 traceQUEUE_RECEIVE( pxQueue );
\r
1067 /* Actually removing data, not just peeking. */
\r
1068 --( pxQueue->uxMessagesWaiting );
\r
1070 #if ( configUSE_MUTEXES == 1 )
\r
1072 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1074 /* Record the information required to implement
\r
1075 priority inheritance should it become necessary. */
\r
1076 pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */
\r
1081 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1083 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
1085 portYIELD_WITHIN_API();
\r
1091 traceQUEUE_PEEK( pxQueue );
\r
1093 /* The data is not being removed, so reset the read
\r
1095 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1097 /* The data is being left in the queue, so see if there are
\r
1098 any other tasks waiting for the data. */
\r
1099 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1101 /* Tasks that are removed from the event list will get added to
\r
1102 the pending ready list as the scheduler is still suspended. */
\r
1103 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1105 /* The task waiting has a higher priority than this task. */
\r
1106 portYIELD_WITHIN_API();
\r
1111 taskEXIT_CRITICAL();
\r
1116 if( xTicksToWait == ( portTickType ) 0 )
\r
1118 /* The queue was empty and no block time is specified (or
\r
1119 the block time has expired) so leave now. */
\r
1120 taskEXIT_CRITICAL();
\r
1121 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1122 return errQUEUE_EMPTY;
\r
1124 else if( xEntryTimeSet == pdFALSE )
\r
1126 /* The queue was empty and a block time was specified so
\r
1127 configure the timeout structure. */
\r
1128 vTaskSetTimeOutState( &xTimeOut );
\r
1129 xEntryTimeSet = pdTRUE;
\r
1133 /* Entry time was already set. */
\r
1137 taskEXIT_CRITICAL();
\r
1139 /* Interrupts and other tasks can send to and receive from the queue
\r
1140 now the critical section has been exited. */
\r
1142 vTaskSuspendAll();
\r
1143 prvLockQueue( pxQueue );
\r
1145 /* Update the timeout state to see if it has expired yet. */
\r
1146 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1148 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1150 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1152 #if ( configUSE_MUTEXES == 1 )
\r
1154 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1156 portENTER_CRITICAL();
\r
1158 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1160 portEXIT_CRITICAL();
\r
1165 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1166 prvUnlockQueue( pxQueue );
\r
1167 if( xTaskResumeAll() == pdFALSE )
\r
1169 portYIELD_WITHIN_API();
\r
1175 prvUnlockQueue( pxQueue );
\r
1176 ( void ) xTaskResumeAll();
\r
1181 prvUnlockQueue( pxQueue );
\r
1182 ( void ) xTaskResumeAll();
\r
1183 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1184 return errQUEUE_EMPTY;
\r
1188 /*-----------------------------------------------------------*/
\r
1190 signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, const void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
\r
1192 signed portBASE_TYPE xReturn;
\r
1193 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1194 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1196 configASSERT( pxQueue );
\r
1197 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
1199 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1200 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1201 above the maximum system call priority are keep permanently enabled, even
\r
1202 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1203 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1204 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1205 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1206 assigned a priority above the configured maximum system call priority.
\r
1207 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1208 that have been assigned a priority at or (logically) below the maximum
\r
1209 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1210 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1211 More information (albeit Cortex-M specific) is provided on the following
\r
1212 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1213 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1215 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1217 /* Cannot block in an ISR, so check there is data available. */
\r
1218 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1220 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1222 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1223 --( pxQueue->uxMessagesWaiting );
\r
1225 /* If the queue is locked the event list will not be modified.
\r
1226 Instead update the lock count so the task that unlocks the queue
\r
1227 will know that an ISR has removed data while the queue was
\r
1229 if( pxQueue->xRxLock == queueUNLOCKED )
\r
1231 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1233 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1235 /* The task waiting has a higher priority than us so
\r
1236 force a context switch. */
\r
1237 if( pxHigherPriorityTaskWoken != NULL )
\r
1239 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1246 /* Increment the lock count so the task that unlocks the queue
\r
1247 knows that data was removed while it was locked. */
\r
1248 ++( pxQueue->xRxLock );
\r
1256 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1259 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1263 /*-----------------------------------------------------------*/
\r
1265 signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, const void * const pvBuffer )
\r
1267 signed portBASE_TYPE xReturn;
\r
1268 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1269 signed char *pcOriginalReadPosition;
\r
1270 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1272 configASSERT( pxQueue );
\r
1273 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
1275 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1276 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1277 above the maximum system call priority are keep permanently enabled, even
\r
1278 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1279 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1280 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1281 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1282 assigned a priority above the configured maximum system call priority.
\r
1283 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1284 that have been assigned a priority at or (logically) below the maximum
\r
1285 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1286 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1287 More information (albeit Cortex-M specific) is provided on the following
\r
1288 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1289 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1291 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1293 /* Cannot block in an ISR, so check there is data available. */
\r
1294 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1296 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1298 /* Remember the read position so it can be reset as nothing is
\r
1299 actually being removed from the queue. */
\r
1300 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1301 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1302 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1309 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1312 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1316 /*-----------------------------------------------------------*/
\r
1318 unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue )
\r
1320 unsigned portBASE_TYPE uxReturn;
\r
1322 configASSERT( xQueue );
\r
1324 taskENTER_CRITICAL();
\r
1325 uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
\r
1326 taskEXIT_CRITICAL();
\r
1329 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1330 /*-----------------------------------------------------------*/
\r
1332 unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue )
\r
1334 unsigned portBASE_TYPE uxReturn;
\r
1336 configASSERT( xQueue );
\r
1338 uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
\r
1341 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1342 /*-----------------------------------------------------------*/
\r
1344 void vQueueDelete( xQueueHandle xQueue )
\r
1346 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1348 configASSERT( pxQueue );
\r
1350 traceQUEUE_DELETE( pxQueue );
\r
1351 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1353 vQueueUnregisterQueue( pxQueue );
\r
1356 vPortFree( pxQueue->pcHead );
\r
1357 vPortFree( pxQueue );
\r
1359 /*-----------------------------------------------------------*/
\r
1361 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1363 unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue )
\r
1365 return ( ( xQUEUE * ) xQueue )->ucQueueNumber;
\r
1368 #endif /* configUSE_TRACE_FACILITY */
\r
1369 /*-----------------------------------------------------------*/
\r
1371 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1373 void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber )
\r
1375 ( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber;
\r
1378 #endif /* configUSE_TRACE_FACILITY */
\r
1379 /*-----------------------------------------------------------*/
\r
1381 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1383 unsigned char ucQueueGetQueueType( xQueueHandle xQueue )
\r
1385 return ( ( xQUEUE * ) xQueue )->ucQueueType;
\r
1388 #endif /* configUSE_TRACE_FACILITY */
\r
1389 /*-----------------------------------------------------------*/
\r
1391 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
\r
1393 if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 )
\r
1395 #if ( configUSE_MUTEXES == 1 )
\r
1397 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1399 /* The mutex is no longer being held. */
\r
1400 vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1401 pxQueue->pxMutexHolder = NULL;
\r
1404 #endif /* configUSE_MUTEXES */
\r
1406 else if( xPosition == queueSEND_TO_BACK )
\r
1408 ( 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
1409 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1410 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1412 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1417 ( 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
1418 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1419 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1421 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1424 if( xPosition == queueOVERWRITE )
\r
1426 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1428 /* An item is not being added but overwritten, so subtract
\r
1429 one from the recorded number of items in the queue so when
\r
1430 one is added again below the number of recorded items remains
\r
1432 --( pxQueue->uxMessagesWaiting );
\r
1437 ++( pxQueue->uxMessagesWaiting );
\r
1439 /*-----------------------------------------------------------*/
\r
1441 static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void * const pvBuffer )
\r
1443 if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
\r
1445 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1446 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1448 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1450 ( 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
1453 /*-----------------------------------------------------------*/
\r
1455 static void prvUnlockQueue( xQUEUE *pxQueue )
\r
1457 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1459 /* The lock counts contains the number of extra data items placed or
\r
1460 removed from the queue while the queue was locked. When a queue is
\r
1461 locked items can be added or removed, but the event lists cannot be
\r
1463 taskENTER_CRITICAL();
\r
1465 /* See if data was added to the queue while it was locked. */
\r
1466 while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )
\r
1468 /* Data was posted while the queue was locked. Are any tasks
\r
1469 blocked waiting for data to become available? */
\r
1470 #if ( configUSE_QUEUE_SETS == 1 )
\r
1472 if( pxQueue->pxQueueSetContainer != NULL )
\r
1474 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
\r
1476 /* The queue is a member of a queue set, and posting to
\r
1477 the queue set caused a higher priority task to unblock.
\r
1478 A context switch is required. */
\r
1479 vTaskMissedYield();
\r
1484 /* Tasks that are removed from the event list will get added to
\r
1485 the pending ready list as the scheduler is still suspended. */
\r
1486 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1488 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1490 /* The task waiting has a higher priority so record that a
\r
1491 context switch is required. */
\r
1492 vTaskMissedYield();
\r
1501 #else /* configUSE_QUEUE_SETS */
\r
1503 /* Tasks that are removed from the event list will get added to
\r
1504 the pending ready list as the scheduler is still suspended. */
\r
1505 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1507 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1509 /* The task waiting has a higher priority so record that a
\r
1510 context switch is required. */
\r
1511 vTaskMissedYield();
\r
1519 #endif /* configUSE_QUEUE_SETS */
\r
1521 --( pxQueue->xTxLock );
\r
1524 pxQueue->xTxLock = queueUNLOCKED;
\r
1526 taskEXIT_CRITICAL();
\r
1528 /* Do the same for the Rx lock. */
\r
1529 taskENTER_CRITICAL();
\r
1531 while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
\r
1533 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1535 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1537 vTaskMissedYield();
\r
1540 --( pxQueue->xRxLock );
\r
1548 pxQueue->xRxLock = queueUNLOCKED;
\r
1550 taskEXIT_CRITICAL();
\r
1552 /*-----------------------------------------------------------*/
\r
1554 static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue )
\r
1556 signed portBASE_TYPE xReturn;
\r
1558 taskENTER_CRITICAL();
\r
1560 if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
\r
1566 xReturn = pdFALSE;
\r
1569 taskEXIT_CRITICAL();
\r
1573 /*-----------------------------------------------------------*/
\r
1575 signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue )
\r
1577 signed portBASE_TYPE xReturn;
\r
1579 configASSERT( xQueue );
\r
1580 if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
\r
1586 xReturn = pdFALSE;
\r
1590 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1591 /*-----------------------------------------------------------*/
\r
1593 static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue )
\r
1595 signed portBASE_TYPE xReturn;
\r
1597 taskENTER_CRITICAL();
\r
1599 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
1605 xReturn = pdFALSE;
\r
1608 taskEXIT_CRITICAL();
\r
1612 /*-----------------------------------------------------------*/
\r
1614 signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue )
\r
1616 signed portBASE_TYPE xReturn;
\r
1618 configASSERT( xQueue );
\r
1619 if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength )
\r
1625 xReturn = pdFALSE;
\r
1629 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1630 /*-----------------------------------------------------------*/
\r
1632 #if ( configUSE_CO_ROUTINES == 1 )
\r
1634 signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait )
\r
1636 signed portBASE_TYPE xReturn;
\r
1637 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1639 /* If the queue is already full we may have to block. A critical section
\r
1640 is required to prevent an interrupt removing something from the queue
\r
1641 between the check to see if the queue is full and blocking on the queue. */
\r
1642 portDISABLE_INTERRUPTS();
\r
1644 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
1646 /* The queue is full - do we want to block or just leave without
\r
1648 if( xTicksToWait > ( portTickType ) 0 )
\r
1650 /* As this is called from a coroutine we cannot block directly, but
\r
1651 return indicating that we need to block. */
\r
1652 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
1653 portENABLE_INTERRUPTS();
\r
1654 return errQUEUE_BLOCKED;
\r
1658 portENABLE_INTERRUPTS();
\r
1659 return errQUEUE_FULL;
\r
1663 portENABLE_INTERRUPTS();
\r
1665 portDISABLE_INTERRUPTS();
\r
1667 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1669 /* There is room in the queue, copy the data into the queue. */
\r
1670 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
1673 /* Were any co-routines waiting for data to become available? */
\r
1674 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1676 /* In this instance the co-routine could be placed directly
\r
1677 into the ready list as we are within a critical section.
\r
1678 Instead the same pending ready list mechanism is used as if
\r
1679 the event were caused from within an interrupt. */
\r
1680 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1682 /* The co-routine waiting has a higher priority so record
\r
1683 that a yield might be appropriate. */
\r
1684 xReturn = errQUEUE_YIELD;
\r
1690 xReturn = errQUEUE_FULL;
\r
1693 portENABLE_INTERRUPTS();
\r
1698 #endif /* configUSE_CO_ROUTINES */
\r
1699 /*-----------------------------------------------------------*/
\r
1701 #if ( configUSE_CO_ROUTINES == 1 )
\r
1703 signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait )
\r
1705 signed portBASE_TYPE xReturn;
\r
1706 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1708 /* If the queue is already empty we may have to block. A critical section
\r
1709 is required to prevent an interrupt adding something to the queue
\r
1710 between the check to see if the queue is empty and blocking on the queue. */
\r
1711 portDISABLE_INTERRUPTS();
\r
1713 if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
\r
1715 /* There are no messages in the queue, do we want to block or just
\r
1716 leave with nothing? */
\r
1717 if( xTicksToWait > ( portTickType ) 0 )
\r
1719 /* As this is a co-routine we cannot block directly, but return
\r
1720 indicating that we need to block. */
\r
1721 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
1722 portENABLE_INTERRUPTS();
\r
1723 return errQUEUE_BLOCKED;
\r
1727 portENABLE_INTERRUPTS();
\r
1728 return errQUEUE_FULL;
\r
1732 portENABLE_INTERRUPTS();
\r
1734 portDISABLE_INTERRUPTS();
\r
1736 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1738 /* Data is available from the queue. */
\r
1739 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1740 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
1742 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1744 --( pxQueue->uxMessagesWaiting );
\r
1745 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
1749 /* Were any co-routines waiting for space to become available? */
\r
1750 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1752 /* In this instance the co-routine could be placed directly
\r
1753 into the ready list as we are within a critical section.
\r
1754 Instead the same pending ready list mechanism is used as if
\r
1755 the event were caused from within an interrupt. */
\r
1756 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1758 xReturn = errQUEUE_YIELD;
\r
1767 portENABLE_INTERRUPTS();
\r
1772 #endif /* configUSE_CO_ROUTINES */
\r
1773 /*-----------------------------------------------------------*/
\r
1775 #if ( configUSE_CO_ROUTINES == 1 )
\r
1777 signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
\r
1779 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1781 /* Cannot block within an ISR so if there is no space on the queue then
\r
1782 exit without doing anything. */
\r
1783 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1785 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
1787 /* We only want to wake one co-routine per ISR, so check that a
\r
1788 co-routine has not already been woken. */
\r
1789 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
1791 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1793 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1801 return xCoRoutinePreviouslyWoken;
\r
1804 #endif /* configUSE_CO_ROUTINES */
\r
1805 /*-----------------------------------------------------------*/
\r
1807 #if ( configUSE_CO_ROUTINES == 1 )
\r
1809 signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
\r
1811 signed portBASE_TYPE xReturn;
\r
1812 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1814 /* We cannot block from an ISR, so check there is data available. If
\r
1815 not then just leave without doing anything. */
\r
1816 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1818 /* Copy the data from the queue. */
\r
1819 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1820 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
1822 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1824 --( pxQueue->uxMessagesWaiting );
\r
1825 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
1827 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
1829 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1831 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1833 *pxCoRoutineWoken = pdTRUE;
\r
1848 #endif /* configUSE_CO_ROUTINES */
\r
1849 /*-----------------------------------------------------------*/
\r
1851 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1853 void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
\r
1855 unsigned portBASE_TYPE ux;
\r
1857 /* See if there is an empty space in the registry. A NULL name denotes
\r
1859 for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
1861 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
1863 /* Store the information on this queue. */
\r
1864 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
1865 xQueueRegistry[ ux ].xHandle = xQueue;
\r
1871 #endif /* configQUEUE_REGISTRY_SIZE */
\r
1872 /*-----------------------------------------------------------*/
\r
1874 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1876 void vQueueUnregisterQueue( xQueueHandle xQueue )
\r
1878 unsigned portBASE_TYPE ux;
\r
1880 /* See if the handle of the queue being unregistered in actually in the
\r
1882 for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
1884 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
1886 /* Set the name to NULL to show that this slot if free again. */
\r
1887 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
1892 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1894 #endif /* configQUEUE_REGISTRY_SIZE */
\r
1895 /*-----------------------------------------------------------*/
\r
1897 #if ( configUSE_TIMERS == 1 )
\r
1899 void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait )
\r
1901 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1903 /* This function should not be called by application code hence the
\r
1904 'Restricted' in its name. It is not part of the public API. It is
\r
1905 designed for use by kernel code, and has special calling requirements.
\r
1906 It can result in vListInsert() being called on a list that can only
\r
1907 possibly ever have one item in it, so the list will be fast, but even
\r
1908 so it should be called with the scheduler locked and not from a critical
\r
1911 /* Only do anything if there are no messages in the queue. This function
\r
1912 will not actually cause the task to block, just place it on a blocked
\r
1913 list. It will not block until the scheduler is unlocked - at which
\r
1914 time a yield will be performed. If an item is added to the queue while
\r
1915 the queue is locked, and the calling task blocks on the queue, then the
\r
1916 calling task will be immediately unblocked when the queue is unlocked. */
\r
1917 prvLockQueue( pxQueue );
\r
1918 if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U )
\r
1920 /* There is nothing in the queue, block for the specified period. */
\r
1921 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1923 prvUnlockQueue( pxQueue );
\r
1926 #endif /* configUSE_TIMERS */
\r
1927 /*-----------------------------------------------------------*/
\r
1929 #if ( configUSE_QUEUE_SETS == 1 )
\r
1931 xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
\r
1933 xQueueSetHandle pxQueue;
\r
1935 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET );
\r
1940 #endif /* configUSE_QUEUE_SETS */
\r
1941 /*-----------------------------------------------------------*/
\r
1943 #if ( configUSE_QUEUE_SETS == 1 )
\r
1945 portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
\r
1947 portBASE_TYPE xReturn;
\r
1949 if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
1951 /* Cannot add a queue/semaphore to more than one queue set. */
\r
1954 else if( ( ( xQUEUE * ) xQueueOrSemaphore )->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 )
\r
1956 /* Cannot add a queue/semaphore to a queue set if there are already
\r
1957 items in the queue/semaphore. */
\r
1962 taskENTER_CRITICAL();
\r
1964 ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
1966 taskEXIT_CRITICAL();
\r
1973 #endif /* configUSE_QUEUE_SETS */
\r
1974 /*-----------------------------------------------------------*/
\r
1976 #if ( configUSE_QUEUE_SETS == 1 )
\r
1978 portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
\r
1980 portBASE_TYPE xReturn;
\r
1981 xQUEUE * const pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore;
\r
1983 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
1985 /* The queue was not a member of the set. */
\r
1988 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 )
\r
1990 /* It is dangerous to remove a queue from a set when the queue is
\r
1991 not empty because the queue set will still hold pending events for
\r
1997 taskENTER_CRITICAL();
\r
1999 /* The queue is no longer contained in the set. */
\r
2000 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2002 taskEXIT_CRITICAL();
\r
2007 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2009 #endif /* configUSE_QUEUE_SETS */
\r
2010 /*-----------------------------------------------------------*/
\r
2012 #if ( configUSE_QUEUE_SETS == 1 )
\r
2014 xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )
\r
2016 xQueueSetMemberHandle xReturn = NULL;
\r
2018 ( void ) xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2022 #endif /* configUSE_QUEUE_SETS */
\r
2023 /*-----------------------------------------------------------*/
\r
2025 #if ( configUSE_QUEUE_SETS == 1 )
\r
2027 xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet )
\r
2029 xQueueSetMemberHandle xReturn = NULL;
\r
2031 ( void ) xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2035 #endif /* configUSE_QUEUE_SETS */
\r
2036 /*-----------------------------------------------------------*/
\r
2038 #if ( configUSE_QUEUE_SETS == 1 )
\r
2040 static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition )
\r
2042 xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2043 portBASE_TYPE xReturn = pdFALSE;
\r
2045 configASSERT( pxQueueSetContainer );
\r
2046 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2048 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2050 traceQUEUE_SEND( pxQueueSetContainer );
\r
2051 /* The data copies is the handle of the queue that contains data. */
\r
2052 prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2053 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2055 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2057 /* The task waiting has a higher priority */
\r
2066 #endif /* configUSE_QUEUE_SETS */
\r