2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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78 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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79 all the API functions to use the MPU wrappers. That should only be done when
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80 task.h is included from an application file. */
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81 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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83 #include "FreeRTOS.h"
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87 #if ( configUSE_CO_ROUTINES == 1 )
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88 #include "croutine.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Constants used with the cRxLock and xTxLock structure members. */
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94 #define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )
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95 #define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 )
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97 #define queueERRONEOUS_UNBLOCK ( -1 )
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99 /* When the xQUEUE structure is used to represent a base queue its pcHead and
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100 pcTail members are used as pointers into the queue storage area. When the
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101 xQUEUE structure is used to represent a mutex pcHead and pcTail pointers are
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102 not necessary, and the pcHead pointer is set to NULL to indicate that the
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103 pcTail pointer actually points to the mutex holder (if any). Map alternative
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104 names to the pcHead and pcTail structure members to ensure the readability of
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105 the code is maintained despite this dual use of two structure members. An
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106 alternative implementation would be to use a union, but use of a union is
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107 against the coding standard (although an exception to the standard has been
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108 permitted where the dual use also significantly changes the type of the
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109 structure member). */
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110 #define pxMutexHolder pcTail
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111 #define uxQueueType pcHead
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112 #define queueQUEUE_IS_MUTEX NULL
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114 /* Semaphores do not actually store or copy data, so have an item size of
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116 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )
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117 #define queueDONT_BLOCK ( ( portTickType ) 0U )
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118 #define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U )
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122 * Definition of the queue used by the scheduler.
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123 * Items are queued by copy, not reference.
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125 typedef struct QueueDefinition
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127 signed char *pcHead; /*< Points to the beginning of the queue storage area. */
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128 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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130 signed char *pcWriteTo; /*< Points to the free next place in the storage area. */
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132 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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134 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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135 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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138 xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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139 xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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141 volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */
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142 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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143 unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */
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145 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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146 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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148 #if ( configUSE_TRACE_FACILITY == 1 )
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149 unsigned char ucQueueNumber;
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150 unsigned char ucQueueType;
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153 #if ( configUSE_QUEUE_SETS == 1 )
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154 struct QueueDefinition *pxQueueSetContainer;
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158 /*-----------------------------------------------------------*/
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161 * The queue registry is just a means for kernel aware debuggers to locate
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162 * queue structures. It has no other purpose so is an optional component.
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164 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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166 /* The type stored within the queue registry array. This allows a name
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167 to be assigned to each queue making kernel aware debugging a little
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168 more user friendly. */
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169 typedef struct QUEUE_REGISTRY_ITEM
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171 signed char *pcQueueName;
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172 xQueueHandle xHandle;
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173 } xQueueRegistryItem;
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175 /* The queue registry is simply an array of xQueueRegistryItem structures.
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176 The pcQueueName member of a structure being NULL is indicative of the
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177 array position being vacant. */
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178 xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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180 #endif /* configQUEUE_REGISTRY_SIZE */
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183 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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184 * prevent an ISR from adding or removing items to the queue, but does prevent
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185 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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186 * queue is locked it will instead increment the appropriate queue lock count
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187 * to indicate that a task may require unblocking. When the queue in unlocked
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188 * these lock counts are inspected, and the appropriate action taken.
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190 static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
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193 * Uses a critical section to determine if there is any data in a queue.
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195 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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197 static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
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200 * Uses a critical section to determine if there is any space in a queue.
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202 * @return pdTRUE if there is no space, otherwise pdFALSE;
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204 static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
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207 * Copies an item into the queue, either at the front of the queue or the
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208 * back of the queue.
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210 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION;
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213 * Copies an item out of a queue.
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215 static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
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217 #if ( configUSE_QUEUE_SETS == 1 )
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219 * Checks to see if a queue is a member of a queue set, and if so, notifies
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220 * the queue set that the queue contains data.
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222 static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
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225 /*-----------------------------------------------------------*/
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228 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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229 * accessing the queue event lists.
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231 #define prvLockQueue( pxQueue ) \
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232 taskENTER_CRITICAL(); \
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234 if( ( pxQueue )->xRxLock == queueUNLOCKED ) \
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236 ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \
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238 if( ( pxQueue )->xTxLock == queueUNLOCKED ) \
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240 ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \
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243 taskEXIT_CRITICAL()
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244 /*-----------------------------------------------------------*/
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246 portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )
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248 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
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250 configASSERT( pxQueue );
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252 taskENTER_CRITICAL();
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254 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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255 pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
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256 pxQueue->pcWriteTo = pxQueue->pcHead;
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257 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize );
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258 pxQueue->xRxLock = queueUNLOCKED;
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259 pxQueue->xTxLock = queueUNLOCKED;
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261 if( xNewQueue == pdFALSE )
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263 /* If there are tasks blocked waiting to read from the queue, then
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264 the tasks will remain blocked as after this function exits the queue
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265 will still be empty. If there are tasks blocked waiting to write to
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266 the queue, then one should be unblocked as after this function exits
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267 it will be possible to write to it. */
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268 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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270 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
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272 portYIELD_WITHIN_API();
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278 /* Ensure the event queues start in the correct state. */
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279 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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280 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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283 taskEXIT_CRITICAL();
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285 /* A value is returned for calling semantic consistency with previous
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289 /*-----------------------------------------------------------*/
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291 xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType )
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293 xQUEUE *pxNewQueue;
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294 size_t xQueueSizeInBytes;
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295 xQueueHandle xReturn = NULL;
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297 /* Remove compiler warnings about unused parameters should
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298 configUSE_TRACE_FACILITY not be set to 1. */
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299 ( void ) ucQueueType;
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301 /* Allocate the new queue structure. */
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302 if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )
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304 pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
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305 if( pxNewQueue != NULL )
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307 /* Create the list of pointers to queue items. The queue is one byte
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308 longer than asked for to make wrap checking easier/faster. */
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309 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;
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311 pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );
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312 if( pxNewQueue->pcHead != NULL )
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314 /* Initialise the queue members as described above where the
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315 queue type is defined. */
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316 pxNewQueue->uxLength = uxQueueLength;
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317 pxNewQueue->uxItemSize = uxItemSize;
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318 xQueueGenericReset( pxNewQueue, pdTRUE );
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320 #if ( configUSE_TRACE_FACILITY == 1 )
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322 pxNewQueue->ucQueueType = ucQueueType;
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324 #endif /* configUSE_TRACE_FACILITY */
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326 #if( configUSE_QUEUE_SETS == 1 )
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328 pxNewQueue->pxQueueSetContainer = NULL;
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330 #endif /* configUSE_QUEUE_SETS */
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332 traceQUEUE_CREATE( pxNewQueue );
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333 xReturn = pxNewQueue;
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337 traceQUEUE_CREATE_FAILED( ucQueueType );
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338 vPortFree( pxNewQueue );
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343 configASSERT( xReturn );
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347 /*-----------------------------------------------------------*/
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349 #if ( configUSE_MUTEXES == 1 )
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351 xQueueHandle xQueueCreateMutex( unsigned char ucQueueType )
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353 xQUEUE *pxNewQueue;
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355 /* Prevent compiler warnings about unused parameters if
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356 configUSE_TRACE_FACILITY does not equal 1. */
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357 ( void ) ucQueueType;
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359 /* Allocate the new queue structure. */
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360 pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
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361 if( pxNewQueue != NULL )
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363 /* Information required for priority inheritance. */
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364 pxNewQueue->pxMutexHolder = NULL;
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365 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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367 /* Queues used as a mutex no data is actually copied into or out
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369 pxNewQueue->pcWriteTo = NULL;
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370 pxNewQueue->u.pcReadFrom = NULL;
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372 /* Each mutex has a length of 1 (like a binary semaphore) and
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373 an item size of 0 as nothing is actually copied into or out
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375 pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
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376 pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U;
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377 pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U;
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378 pxNewQueue->xRxLock = queueUNLOCKED;
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379 pxNewQueue->xTxLock = queueUNLOCKED;
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381 #if ( configUSE_TRACE_FACILITY == 1 )
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383 pxNewQueue->ucQueueType = ucQueueType;
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387 #if ( configUSE_QUEUE_SETS == 1 )
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389 pxNewQueue->pxQueueSetContainer = NULL;
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393 /* Ensure the event queues start with the correct state. */
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394 vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
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395 vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
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397 traceCREATE_MUTEX( pxNewQueue );
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399 /* Start with the semaphore in the expected state. */
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400 xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );
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404 traceCREATE_MUTEX_FAILED();
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407 configASSERT( pxNewQueue );
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411 #endif /* configUSE_MUTEXES */
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412 /*-----------------------------------------------------------*/
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414 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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416 void* xQueueGetMutexHolder( xQueueHandle xSemaphore )
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420 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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421 be called directly. Note: This is is a good way of determining if the
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422 calling task is the mutex holder, but not a good way of determining the
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423 identity of the mutex holder, as the holder may change between the
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424 following critical section exiting and the function returning. */
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425 taskENTER_CRITICAL();
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427 if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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429 pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;
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436 taskEXIT_CRITICAL();
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442 /*-----------------------------------------------------------*/
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444 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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446 portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )
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448 portBASE_TYPE xReturn;
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449 xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
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451 configASSERT( pxMutex );
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453 /* If this is the task that holds the mutex then pxMutexHolder will not
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454 change outside of this task. If this task does not hold the mutex then
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455 pxMutexHolder can never coincidentally equal the tasks handle, and as
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456 this is the only condition we are interested in it does not matter if
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457 pxMutexHolder is accessed simultaneously by another task. Therefore no
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458 mutual exclusion is required to test the pxMutexHolder variable. */
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459 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() )
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461 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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463 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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464 the task handle, therefore no underflow check is required. Also,
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465 uxRecursiveCallCount is only modified by the mutex holder, and as
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466 there can only be one, no mutual exclusion is required to modify the
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467 uxRecursiveCallCount member. */
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468 ( pxMutex->u.uxRecursiveCallCount )--;
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470 /* Have we unwound the call count? */
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471 if( pxMutex->u.uxRecursiveCallCount == 0 )
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473 /* Return the mutex. This will automatically unblock any other
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474 task that might be waiting to access the mutex. */
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475 xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
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482 /* We cannot give the mutex because we are not the holder. */
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485 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
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491 #endif /* configUSE_RECURSIVE_MUTEXES */
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492 /*-----------------------------------------------------------*/
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494 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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496 portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
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498 portBASE_TYPE xReturn;
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499 xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
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501 configASSERT( pxMutex );
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503 /* Comments regarding mutual exclusion as per those within
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504 xQueueGiveMutexRecursive(). */
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506 traceTAKE_MUTEX_RECURSIVE( pxMutex );
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508 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() )
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510 ( pxMutex->u.uxRecursiveCallCount )++;
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515 xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );
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517 /* pdPASS will only be returned if we successfully obtained the mutex,
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518 we may have blocked to reach here. */
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519 if( xReturn == pdPASS )
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521 ( pxMutex->u.uxRecursiveCallCount )++;
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525 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
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532 #endif /* configUSE_RECURSIVE_MUTEXES */
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533 /*-----------------------------------------------------------*/
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535 #if ( configUSE_COUNTING_SEMAPHORES == 1 )
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537 xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
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539 xQueueHandle xHandle;
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541 xHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
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543 if( xHandle != NULL )
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545 ( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;
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547 traceCREATE_COUNTING_SEMAPHORE();
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551 traceCREATE_COUNTING_SEMAPHORE_FAILED();
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554 configASSERT( xHandle );
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558 #endif /* configUSE_COUNTING_SEMAPHORES */
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559 /*-----------------------------------------------------------*/
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561 signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
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563 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
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564 xTimeOutType xTimeOut;
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565 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
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567 configASSERT( pxQueue );
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568 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
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569 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
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571 /* This function relaxes the coding standard somewhat to allow return
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572 statements within the function itself. This is done in the interest
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573 of execution time efficiency. */
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576 taskENTER_CRITICAL();
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578 /* Is there room on the queue now? The running task must be
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579 the highest priority task wanting to access the queue. If
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580 the head item in the queue is to be overwritten then it does
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581 not matter if the queue is full. */
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582 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
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584 traceQUEUE_SEND( pxQueue );
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585 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
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587 #if ( configUSE_QUEUE_SETS == 1 )
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589 if( pxQueue->pxQueueSetContainer != NULL )
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591 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
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593 /* The queue is a member of a queue set, and posting
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594 to the queue set caused a higher priority task to
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595 unblock. A context switch is required. */
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596 portYIELD_WITHIN_API();
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601 /* If there was a task waiting for data to arrive on the
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602 queue then unblock it now. */
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603 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
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605 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
607 /* The unblocked task has a priority higher than
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608 our own so yield immediately. Yes it is ok to
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609 do this from within the critical section - the
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610 kernel takes care of that. */
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611 portYIELD_WITHIN_API();
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616 #else /* configUSE_QUEUE_SETS */
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618 /* If there was a task waiting for data to arrive on the
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619 queue then unblock it now. */
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620 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
622 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
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624 /* The unblocked task has a priority higher than
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625 our own so yield immediately. Yes it is ok to do
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626 this from within the critical section - the kernel
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627 takes care of that. */
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628 portYIELD_WITHIN_API();
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632 #endif /* configUSE_QUEUE_SETS */
\r
634 taskEXIT_CRITICAL();
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636 /* Return to the original privilege level before exiting the
\r
642 if( xTicksToWait == ( portTickType ) 0 )
\r
644 /* The queue was full and no block time is specified (or
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645 the block time has expired) so leave now. */
\r
646 taskEXIT_CRITICAL();
\r
648 /* Return to the original privilege level before exiting
\r
650 traceQUEUE_SEND_FAILED( pxQueue );
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651 return errQUEUE_FULL;
\r
653 else if( xEntryTimeSet == pdFALSE )
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655 /* The queue was full and a block time was specified so
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656 configure the timeout structure. */
\r
657 vTaskSetTimeOutState( &xTimeOut );
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658 xEntryTimeSet = pdTRUE;
\r
662 taskEXIT_CRITICAL();
\r
664 /* Interrupts and other tasks can send to and receive from the queue
\r
665 now the critical section has been exited. */
\r
668 prvLockQueue( pxQueue );
\r
670 /* Update the timeout state to see if it has expired yet. */
\r
671 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
673 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
675 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
676 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
678 /* Unlocking the queue means queue events can effect the
\r
679 event list. It is possible that interrupts occurring now
\r
680 remove this task from the event list again - but as the
\r
681 scheduler is suspended the task will go onto the pending
\r
682 ready last instead of the actual ready list. */
\r
683 prvUnlockQueue( pxQueue );
\r
685 /* Resuming the scheduler will move tasks from the pending
\r
686 ready list into the ready list - so it is feasible that this
\r
687 task is already in a ready list before it yields - in which
\r
688 case the yield will not cause a context switch unless there
\r
689 is also a higher priority task in the pending ready list. */
\r
690 if( xTaskResumeAll() == pdFALSE )
\r
692 portYIELD_WITHIN_API();
\r
698 prvUnlockQueue( pxQueue );
\r
699 ( void ) xTaskResumeAll();
\r
704 /* The timeout has expired. */
\r
705 prvUnlockQueue( pxQueue );
\r
706 ( void ) xTaskResumeAll();
\r
708 /* Return to the original privilege level before exiting the
\r
710 traceQUEUE_SEND_FAILED( pxQueue );
\r
711 return errQUEUE_FULL;
\r
715 /*-----------------------------------------------------------*/
\r
717 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
719 signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
\r
721 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
\r
722 xTimeOutType xTimeOut;
\r
723 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
725 configASSERT( pxQueue );
\r
726 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
730 taskENTER_CRITICAL();
\r
732 /* Is there room on the queue now? To be running we must be
\r
733 the highest priority task wanting to access the queue. */
\r
734 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
736 traceQUEUE_SEND( pxQueue );
\r
737 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
739 /* If there was a task waiting for data to arrive on the
\r
740 queue then unblock it now. */
\r
741 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
743 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
745 /* The unblocked task has a priority higher than
\r
746 our own so yield immediately. */
\r
747 portYIELD_WITHIN_API();
\r
751 taskEXIT_CRITICAL();
\r
756 if( xTicksToWait == ( portTickType ) 0 )
\r
758 taskEXIT_CRITICAL();
\r
759 return errQUEUE_FULL;
\r
761 else if( xEntryTimeSet == pdFALSE )
\r
763 vTaskSetTimeOutState( &xTimeOut );
\r
764 xEntryTimeSet = pdTRUE;
\r
768 taskEXIT_CRITICAL();
\r
770 taskENTER_CRITICAL();
\r
772 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
774 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
776 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
777 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
778 portYIELD_WITHIN_API();
\r
783 taskEXIT_CRITICAL();
\r
784 traceQUEUE_SEND_FAILED( pxQueue );
\r
785 return errQUEUE_FULL;
\r
788 taskEXIT_CRITICAL();
\r
792 #endif /* configUSE_ALTERNATIVE_API */
\r
793 /*-----------------------------------------------------------*/
\r
795 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
797 signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
\r
799 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
\r
800 xTimeOutType xTimeOut;
\r
801 signed char *pcOriginalReadPosition;
\r
802 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
804 configASSERT( pxQueue );
\r
805 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
809 taskENTER_CRITICAL();
\r
811 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
813 /* Remember our read position in case we are just peeking. */
\r
814 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
816 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
818 if( xJustPeeking == pdFALSE )
\r
820 traceQUEUE_RECEIVE( pxQueue );
\r
822 /* Data is actually being removed (not just peeked). */
\r
823 --( pxQueue->uxMessagesWaiting );
\r
825 #if ( configUSE_MUTEXES == 1 )
\r
827 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
829 /* Record the information required to implement
\r
830 priority inheritance should it become necessary. */
\r
831 pxQueue->pxMutexHolder = ( void * ) xTaskGetCurrentTaskHandle();
\r
836 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
838 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
840 portYIELD_WITHIN_API();
\r
846 traceQUEUE_PEEK( pxQueue );
\r
848 /* We are not removing the data, so reset our read
\r
850 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
852 /* The data is being left in the queue, so see if there are
\r
853 any other tasks waiting for the data. */
\r
854 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
856 /* Tasks that are removed from the event list will get added to
\r
857 the pending ready list as the scheduler is still suspended. */
\r
858 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
860 /* The task waiting has a higher priority than this task. */
\r
861 portYIELD_WITHIN_API();
\r
867 taskEXIT_CRITICAL();
\r
872 if( xTicksToWait == ( portTickType ) 0 )
\r
874 taskEXIT_CRITICAL();
\r
875 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
876 return errQUEUE_EMPTY;
\r
878 else if( xEntryTimeSet == pdFALSE )
\r
880 vTaskSetTimeOutState( &xTimeOut );
\r
881 xEntryTimeSet = pdTRUE;
\r
885 taskEXIT_CRITICAL();
\r
887 taskENTER_CRITICAL();
\r
889 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
891 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
893 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
895 #if ( configUSE_MUTEXES == 1 )
\r
897 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
899 portENTER_CRITICAL();
\r
901 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
903 portEXIT_CRITICAL();
\r
908 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
909 portYIELD_WITHIN_API();
\r
914 taskEXIT_CRITICAL();
\r
915 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
916 return errQUEUE_EMPTY;
\r
919 taskEXIT_CRITICAL();
\r
924 #endif /* configUSE_ALTERNATIVE_API */
\r
925 /*-----------------------------------------------------------*/
\r
927 signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
\r
929 signed portBASE_TYPE xReturn;
\r
930 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
931 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
933 configASSERT( pxQueue );
\r
934 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
935 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
937 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
938 system call (or maximum API call) interrupt priority. Interrupts that are
\r
939 above the maximum system call priority are keep permanently enabled, even
\r
940 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
941 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
942 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
943 failure if a FreeRTOS API function is called from an interrupt that has been
\r
944 assigned a priority above the configured maximum system call priority.
\r
945 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
946 that have been assigned a priority at or (logically) below the maximum
\r
947 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
948 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
949 More information (albeit Cortex-M specific) is provided on the following
\r
950 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
951 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
953 /* Similar to xQueueGenericSend, except we don't block if there is no room
\r
954 in the queue. Also we don't directly wake a task that was blocked on a
\r
955 queue read, instead we return a flag to say whether a context switch is
\r
956 required or not (i.e. has a task with a higher priority than us been woken
\r
958 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
960 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
962 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
964 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
966 /* If the queue is locked we do not alter the event list. This will
\r
967 be done when the queue is unlocked later. */
\r
968 if( pxQueue->xTxLock == queueUNLOCKED )
\r
970 #if ( configUSE_QUEUE_SETS == 1 )
\r
972 if( pxQueue->pxQueueSetContainer != NULL )
\r
974 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
\r
976 /* The queue is a member of a queue set, and posting
\r
977 to the queue set caused a higher priority task to
\r
978 unblock. A context switch is required. */
\r
979 if( pxHigherPriorityTaskWoken != NULL )
\r
981 *pxHigherPriorityTaskWoken = pdTRUE;
\r
987 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
989 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
991 /* The task waiting has a higher priority so record that a
\r
992 context switch is required. */
\r
993 if( pxHigherPriorityTaskWoken != NULL )
\r
995 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1001 #else /* configUSE_QUEUE_SETS */
\r
1003 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1005 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1007 /* The task waiting has a higher priority so record that a
\r
1008 context switch is required. */
\r
1009 if( pxHigherPriorityTaskWoken != NULL )
\r
1011 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1016 #endif /* configUSE_QUEUE_SETS */
\r
1020 /* Increment the lock count so the task that unlocks the queue
\r
1021 knows that data was posted while it was locked. */
\r
1022 ++( pxQueue->xTxLock );
\r
1029 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1030 xReturn = errQUEUE_FULL;
\r
1033 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1037 /*-----------------------------------------------------------*/
\r
1039 signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
\r
1041 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
\r
1042 xTimeOutType xTimeOut;
\r
1043 signed char *pcOriginalReadPosition;
\r
1044 xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
\r
1046 configASSERT( pxQueue );
\r
1047 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
\r
1049 /* This function relaxes the coding standard somewhat to allow return
\r
1050 statements within the function itself. This is done in the interest
\r
1051 of execution time efficiency. */
\r
1055 taskENTER_CRITICAL();
\r
1057 /* Is there data in the queue now? To be running we must be
\r
1058 the highest priority task wanting to access the queue. */
\r
1059 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
\r
1061 /* Remember the read position in case the queue is only being
\r
1063 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1065 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1067 if( xJustPeeking == pdFALSE )
\r
1069 traceQUEUE_RECEIVE( pxQueue );
\r
1071 /* Actually removing data, not just peeking. */
\r
1072 --( pxQueue->uxMessagesWaiting );
\r
1074 #if ( configUSE_MUTEXES == 1 )
\r
1076 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1078 /* Record the information required to implement
\r
1079 priority inheritance should it become necessary. */
\r
1080 pxQueue->pxMutexHolder = ( void * ) xTaskGetCurrentTaskHandle();
\r
1085 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1087 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
1089 portYIELD_WITHIN_API();
\r
1095 traceQUEUE_PEEK( pxQueue );
\r
1097 /* The data is not being removed, so reset the read
\r
1099 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1101 /* The data is being left in the queue, so see if there are
\r
1102 any other tasks waiting for the data. */
\r
1103 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1105 /* Tasks that are removed from the event list will get added to
\r
1106 the pending ready list as the scheduler is still suspended. */
\r
1107 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1109 /* The task waiting has a higher priority than this task. */
\r
1110 portYIELD_WITHIN_API();
\r
1115 taskEXIT_CRITICAL();
\r
1120 if( xTicksToWait == ( portTickType ) 0 )
\r
1122 /* The queue was empty and no block time is specified (or
\r
1123 the block time has expired) so leave now. */
\r
1124 taskEXIT_CRITICAL();
\r
1125 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1126 return errQUEUE_EMPTY;
\r
1128 else if( xEntryTimeSet == pdFALSE )
\r
1130 /* The queue was empty and a block time was specified so
\r
1131 configure the timeout structure. */
\r
1132 vTaskSetTimeOutState( &xTimeOut );
\r
1133 xEntryTimeSet = pdTRUE;
\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, 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, 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
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
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 memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize );
\r
1409 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1410 if( pxQueue->pcWriteTo >= pxQueue->pcTail )
\r
1412 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1417 memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize );
\r
1418 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1419 if( pxQueue->u.pcReadFrom < pxQueue->pcHead )
\r
1421 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1424 if( xPosition == queueOVERWRITE )
\r
1426 if( pxQueue->uxMessagesWaiting > 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 *pvBuffer )
\r
1443 if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
\r
1445 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1446 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
1448 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1450 memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize );
\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 == 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 == 0 )
\r
1586 xReturn = pdFALSE;
\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
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 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 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
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 != 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 != 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
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 xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE );
\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 xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL );
\r
2035 #endif /* configUSE_QUEUE_SETS */
\r
2036 /*-----------------------------------------------------------*/
\r
2038 #if ( configUSE_QUEUE_SETS == 1 )
\r
2040 static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *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