2 FreeRTOS V9.0.0rc1 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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82 #if ( configUSE_CO_ROUTINES == 1 )
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83 #include "croutine.h"
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86 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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87 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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88 header files above, but not in this file, in order to generate the correct
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89 privileged Vs unprivileged linkage and placement. */
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90 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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93 /* Constants used with the cRxLock and cTxLock structure members. */
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94 #define queueUNLOCKED ( ( int8_t ) -1 )
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95 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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97 /* When the Queue_t structure is used to represent a base queue its pcHead and
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98 pcTail members are used as pointers into the queue storage area. When the
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99 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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100 not necessary, and the pcHead pointer is set to NULL to indicate that the
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101 pcTail pointer actually points to the mutex holder (if any). Map alternative
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102 names to the pcHead and pcTail structure members to ensure the readability of
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103 the code is maintained despite this dual use of two structure members. An
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104 alternative implementation would be to use a union, but use of a union is
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105 against the coding standard (although an exception to the standard has been
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106 permitted where the dual use also significantly changes the type of the
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107 structure member). */
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108 #define pxMutexHolder pcTail
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109 #define uxQueueType pcHead
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110 #define queueQUEUE_IS_MUTEX NULL
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112 /* Semaphores do not actually store or copy data, so have an item size of
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114 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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115 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define queueYIELD_IF_USING_PREEMPTION()
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122 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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126 * Definition of the queue used by the scheduler.
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127 * Items are queued by copy, not reference. See the following link for the
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128 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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130 typedef struct QueueDefinition
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132 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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133 int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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134 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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136 union /* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */
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138 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
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139 UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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142 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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143 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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145 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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146 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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147 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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149 volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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150 volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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152 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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153 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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156 #if ( configUSE_QUEUE_SETS == 1 )
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157 struct QueueDefinition *pxQueueSetContainer;
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160 #if ( configUSE_TRACE_FACILITY == 1 )
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161 UBaseType_t uxQueueNumber;
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162 uint8_t ucQueueType;
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167 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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168 name below to enable the use of older kernel aware debuggers. */
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169 typedef xQUEUE Queue_t;
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171 /*-----------------------------------------------------------*/
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174 * The queue registry is just a means for kernel aware debuggers to locate
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175 * queue structures. It has no other purpose so is an optional component.
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177 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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179 /* The type stored within the queue registry array. This allows a name
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180 to be assigned to each queue making kernel aware debugging a little
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181 more user friendly. */
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182 typedef struct QUEUE_REGISTRY_ITEM
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184 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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185 QueueHandle_t xHandle;
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186 } xQueueRegistryItem;
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188 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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189 new xQueueRegistryItem name below to enable the use of older kernel aware
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191 typedef xQueueRegistryItem QueueRegistryItem_t;
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193 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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194 The pcQueueName member of a structure being NULL is indicative of the
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195 array position being vacant. */
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196 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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198 #endif /* configQUEUE_REGISTRY_SIZE */
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201 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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202 * prevent an ISR from adding or removing items to the queue, but does prevent
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203 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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204 * queue is locked it will instead increment the appropriate queue lock count
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205 * to indicate that a task may require unblocking. When the queue in unlocked
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206 * these lock counts are inspected, and the appropriate action taken.
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208 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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211 * Uses a critical section to determine if there is any data in a queue.
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213 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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215 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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218 * Uses a critical section to determine if there is any space in a queue.
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220 * @return pdTRUE if there is no space, otherwise pdFALSE;
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222 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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225 * Copies an item into the queue, either at the front of the queue or the
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226 * back of the queue.
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228 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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231 * Copies an item out of a queue.
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233 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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235 #if ( configUSE_QUEUE_SETS == 1 )
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237 * Checks to see if a queue is a member of a queue set, and if so, notifies
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238 * the queue set that the queue contains data.
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240 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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244 * Called after a Queue_t structure has been allocated either statically or
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245 * dynamically to fill in the structure's members.
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247 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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250 * Mutexes are a special type of queue. When a mutex is created, first the
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251 * queue is created, then prvInitialiseMutex() is called to configure the queue
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254 static void prvInitialiseMutex( Queue_t *pxNewQueue );
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256 /*-----------------------------------------------------------*/
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259 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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260 * accessing the queue event lists.
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262 #define prvLockQueue( pxQueue ) \
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263 taskENTER_CRITICAL(); \
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265 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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267 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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269 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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271 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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274 taskEXIT_CRITICAL()
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275 /*-----------------------------------------------------------*/
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277 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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279 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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281 configASSERT( pxQueue );
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283 taskENTER_CRITICAL();
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285 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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286 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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287 pxQueue->pcWriteTo = pxQueue->pcHead;
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288 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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289 pxQueue->cRxLock = queueUNLOCKED;
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290 pxQueue->cTxLock = queueUNLOCKED;
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292 if( xNewQueue == pdFALSE )
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294 /* If there are tasks blocked waiting to read from the queue, then
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295 the tasks will remain blocked as after this function exits the queue
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296 will still be empty. If there are tasks blocked waiting to write to
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297 the queue, then one should be unblocked as after this function exits
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298 it will be possible to write to it. */
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299 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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301 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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303 queueYIELD_IF_USING_PREEMPTION();
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307 mtCOVERAGE_TEST_MARKER();
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312 mtCOVERAGE_TEST_MARKER();
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317 /* Ensure the event queues start in the correct state. */
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318 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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319 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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322 taskEXIT_CRITICAL();
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324 /* A value is returned for calling semantic consistency with previous
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328 /*-----------------------------------------------------------*/
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330 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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332 QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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334 Queue_t *pxNewQueue;
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336 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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338 /* The StaticQueue_t structure and the queue storage area must be
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340 configASSERT( pxStaticQueue != NULL );
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342 /* A queue storage area should be provided if the item size is not 0, and
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343 should not be provided if the item size is 0. */
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344 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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345 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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347 #if( configASSERT_DEFINED == 1 )
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349 /* Sanity check that the size of the structure used to declare a
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350 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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351 the real queue and semaphore structures. */
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352 volatile size_t xSize = sizeof( StaticQueue_t );
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353 configASSERT( xSize == sizeof( Queue_t ) );
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355 #endif /* configASSERT_DEFINED */
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357 /* The address of a statically allocated queue was passed in, use it.
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358 The address of a statically allocated storage area was also passed in
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359 but is already set. */
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360 pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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362 if( pxNewQueue != NULL )
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364 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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366 /* Queues can be allocated wither statically or dynamically, so
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367 note this queue was allocated statically in case the queue is
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369 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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371 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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373 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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379 #endif /* configSUPPORT_STATIC_ALLOCATION */
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380 /*-----------------------------------------------------------*/
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382 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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384 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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386 Queue_t *pxNewQueue;
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387 size_t xQueueSizeInBytes;
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388 uint8_t *pucQueueStorage;
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390 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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392 if( uxItemSize == ( UBaseType_t ) 0 )
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394 /* There is not going to be a queue storage area. */
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395 xQueueSizeInBytes = ( size_t ) 0;
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399 /* Allocate enough space to hold the maximum number of items that
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400 can be in the queue at any time. */
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401 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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404 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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406 if( pxNewQueue != NULL )
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408 /* Jump past the queue structure to find the location of the queue
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410 pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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412 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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414 /* Queues can be created either statically or dynamically, so
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415 note this task was created dynamically in case it is later
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417 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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419 #endif /* configSUPPORT_STATIC_ALLOCATION */
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421 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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427 #endif /* configSUPPORT_STATIC_ALLOCATION */
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428 /*-----------------------------------------------------------*/
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430 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
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432 /* Remove compiler warnings about unused parameters should
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433 configUSE_TRACE_FACILITY not be set to 1. */
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434 ( void ) ucQueueType;
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436 if( uxItemSize == ( UBaseType_t ) 0 )
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438 /* No RAM was allocated for the queue storage area, but PC head cannot
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439 be set to NULL because NULL is used as a key to say the queue is used as
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440 a mutex. Therefore just set pcHead to point to the queue as a benign
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441 value that is known to be within the memory map. */
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442 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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446 /* Set the head to the start of the queue storage area. */
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447 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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450 /* Initialise the queue members as described where the queue type is
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452 pxNewQueue->uxLength = uxQueueLength;
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453 pxNewQueue->uxItemSize = uxItemSize;
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454 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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456 #if ( configUSE_TRACE_FACILITY == 1 )
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458 pxNewQueue->ucQueueType = ucQueueType;
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460 #endif /* configUSE_TRACE_FACILITY */
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462 #if( configUSE_QUEUE_SETS == 1 )
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464 pxNewQueue->pxQueueSetContainer = NULL;
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466 #endif /* configUSE_QUEUE_SETS */
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468 traceQUEUE_CREATE( pxNewQueue );
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470 /*-----------------------------------------------------------*/
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472 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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474 if( pxNewQueue != NULL )
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476 /* The queue create function will set all the queue structure members
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477 correctly for a generic queue, but this function is creating a
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478 mutex. Overwrite those members that need to be set differently -
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479 in particular the information required for priority inheritance. */
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480 pxNewQueue->pxMutexHolder = NULL;
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481 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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483 /* In case this is a recursive mutex. */
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484 pxNewQueue->u.uxRecursiveCallCount = 0;
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486 traceCREATE_MUTEX( pxNewQueue );
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488 /* Start with the semaphore in the expected state. */
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489 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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493 traceCREATE_MUTEX_FAILED();
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496 /*-----------------------------------------------------------*/
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498 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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500 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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502 Queue_t *pxNewQueue;
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503 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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505 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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506 prvInitialiseMutex( pxNewQueue );
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511 #endif /* configUSE_MUTEXES */
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512 /*-----------------------------------------------------------*/
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514 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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516 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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518 Queue_t *pxNewQueue;
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519 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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521 /* Prevent compiler warnings about unused parameters if
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522 configUSE_TRACE_FACILITY does not equal 1. */
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523 ( void ) ucQueueType;
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525 pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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526 prvInitialiseMutex( pxNewQueue );
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531 #endif /* configUSE_MUTEXES */
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532 /*-----------------------------------------------------------*/
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534 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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536 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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540 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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541 be called directly. Note: This is a good way of determining if the
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542 calling task is the mutex holder, but not a good way of determining the
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543 identity of the mutex holder, as the holder may change between the
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544 following critical section exiting and the function returning. */
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545 taskENTER_CRITICAL();
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547 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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549 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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556 taskEXIT_CRITICAL();
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559 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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562 /*-----------------------------------------------------------*/
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564 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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566 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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568 BaseType_t xReturn;
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569 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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571 configASSERT( pxMutex );
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573 /* If this is the task that holds the mutex then pxMutexHolder will not
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574 change outside of this task. If this task does not hold the mutex then
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575 pxMutexHolder can never coincidentally equal the tasks handle, and as
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576 this is the only condition we are interested in it does not matter if
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577 pxMutexHolder is accessed simultaneously by another task. Therefore no
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578 mutual exclusion is required to test the pxMutexHolder variable. */
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579 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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581 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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583 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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584 the task handle, therefore no underflow check is required. Also,
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585 uxRecursiveCallCount is only modified by the mutex holder, and as
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586 there can only be one, no mutual exclusion is required to modify the
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587 uxRecursiveCallCount member. */
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588 ( pxMutex->u.uxRecursiveCallCount )--;
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590 /* Has the recursive call count unwound to 0? */
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591 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
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593 /* Return the mutex. This will automatically unblock any other
\r
594 task that might be waiting to access the mutex. */
\r
595 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
599 mtCOVERAGE_TEST_MARKER();
\r
606 /* The mutex cannot be given because the calling task is not the
\r
610 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
616 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
617 /*-----------------------------------------------------------*/
\r
619 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
621 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
623 BaseType_t xReturn;
\r
624 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
626 configASSERT( pxMutex );
\r
628 /* Comments regarding mutual exclusion as per those within
\r
629 xQueueGiveMutexRecursive(). */
\r
631 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
633 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
635 ( pxMutex->u.uxRecursiveCallCount )++;
\r
640 xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
\r
642 /* pdPASS will only be returned if the mutex was successfully
\r
643 obtained. The calling task may have entered the Blocked state
\r
644 before reaching here. */
\r
645 if( xReturn != pdFAIL )
\r
647 ( pxMutex->u.uxRecursiveCallCount )++;
\r
651 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
658 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
659 /*-----------------------------------------------------------*/
\r
661 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
663 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
665 QueueHandle_t xHandle;
\r
667 configASSERT( uxMaxCount != 0 );
\r
668 configASSERT( uxInitialCount <= uxMaxCount );
\r
670 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
672 if( xHandle != NULL )
\r
674 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
676 traceCREATE_COUNTING_SEMAPHORE();
\r
680 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
686 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
687 /*-----------------------------------------------------------*/
\r
689 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
691 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
693 QueueHandle_t xHandle;
\r
695 configASSERT( uxMaxCount != 0 );
\r
696 configASSERT( uxInitialCount <= uxMaxCount );
\r
698 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
700 if( xHandle != NULL )
\r
702 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
704 traceCREATE_COUNTING_SEMAPHORE();
\r
708 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
714 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
715 /*-----------------------------------------------------------*/
\r
717 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
719 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
720 TimeOut_t xTimeOut;
\r
721 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
723 configASSERT( pxQueue );
\r
724 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
725 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
726 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
728 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
733 /* This function relaxes the coding standard somewhat to allow return
\r
734 statements within the function itself. This is done in the interest
\r
735 of execution time efficiency. */
\r
738 taskENTER_CRITICAL();
\r
740 /* Is there room on the queue now? The running task must be the
\r
741 highest priority task wanting to access the queue. If the head item
\r
742 in the queue is to be overwritten then it does not matter if the
\r
744 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
746 traceQUEUE_SEND( pxQueue );
\r
747 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
749 #if ( configUSE_QUEUE_SETS == 1 )
\r
751 if( pxQueue->pxQueueSetContainer != NULL )
\r
753 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
755 /* The queue is a member of a queue set, and posting
\r
756 to the queue set caused a higher priority task to
\r
757 unblock. A context switch is required. */
\r
758 queueYIELD_IF_USING_PREEMPTION();
\r
762 mtCOVERAGE_TEST_MARKER();
\r
767 /* If there was a task waiting for data to arrive on the
\r
768 queue then unblock it now. */
\r
769 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
771 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
773 /* The unblocked task has a priority higher than
\r
774 our own so yield immediately. Yes it is ok to
\r
775 do this from within the critical section - the
\r
776 kernel takes care of that. */
\r
777 queueYIELD_IF_USING_PREEMPTION();
\r
781 mtCOVERAGE_TEST_MARKER();
\r
784 else if( xYieldRequired != pdFALSE )
\r
786 /* This path is a special case that will only get
\r
787 executed if the task was holding multiple mutexes
\r
788 and the mutexes were given back in an order that is
\r
789 different to that in which they were taken. */
\r
790 queueYIELD_IF_USING_PREEMPTION();
\r
794 mtCOVERAGE_TEST_MARKER();
\r
798 #else /* configUSE_QUEUE_SETS */
\r
800 /* If there was a task waiting for data to arrive on the
\r
801 queue then unblock it now. */
\r
802 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
804 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
806 /* The unblocked task has a priority higher than
\r
807 our own so yield immediately. Yes it is ok to do
\r
808 this from within the critical section - the kernel
\r
809 takes care of that. */
\r
810 queueYIELD_IF_USING_PREEMPTION();
\r
814 mtCOVERAGE_TEST_MARKER();
\r
817 else if( xYieldRequired != pdFALSE )
\r
819 /* This path is a special case that will only get
\r
820 executed if the task was holding multiple mutexes and
\r
821 the mutexes were given back in an order that is
\r
822 different to that in which they were taken. */
\r
823 queueYIELD_IF_USING_PREEMPTION();
\r
827 mtCOVERAGE_TEST_MARKER();
\r
830 #endif /* configUSE_QUEUE_SETS */
\r
832 taskEXIT_CRITICAL();
\r
837 if( xTicksToWait == ( TickType_t ) 0 )
\r
839 /* The queue was full and no block time is specified (or
\r
840 the block time has expired) so leave now. */
\r
841 taskEXIT_CRITICAL();
\r
843 /* Return to the original privilege level before exiting
\r
845 traceQUEUE_SEND_FAILED( pxQueue );
\r
846 return errQUEUE_FULL;
\r
848 else if( xEntryTimeSet == pdFALSE )
\r
850 /* The queue was full and a block time was specified so
\r
851 configure the timeout structure. */
\r
852 vTaskSetTimeOutState( &xTimeOut );
\r
853 xEntryTimeSet = pdTRUE;
\r
857 /* Entry time was already set. */
\r
858 mtCOVERAGE_TEST_MARKER();
\r
862 taskEXIT_CRITICAL();
\r
864 /* Interrupts and other tasks can send to and receive from the queue
\r
865 now the critical section has been exited. */
\r
868 prvLockQueue( pxQueue );
\r
870 /* Update the timeout state to see if it has expired yet. */
\r
871 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
873 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
875 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
876 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
878 /* Unlocking the queue means queue events can effect the
\r
879 event list. It is possible that interrupts occurring now
\r
880 remove this task from the event list again - but as the
\r
881 scheduler is suspended the task will go onto the pending
\r
882 ready last instead of the actual ready list. */
\r
883 prvUnlockQueue( pxQueue );
\r
885 /* Resuming the scheduler will move tasks from the pending
\r
886 ready list into the ready list - so it is feasible that this
\r
887 task is already in a ready list before it yields - in which
\r
888 case the yield will not cause a context switch unless there
\r
889 is also a higher priority task in the pending ready list. */
\r
890 if( xTaskResumeAll() == pdFALSE )
\r
892 portYIELD_WITHIN_API();
\r
898 prvUnlockQueue( pxQueue );
\r
899 ( void ) xTaskResumeAll();
\r
904 /* The timeout has expired. */
\r
905 prvUnlockQueue( pxQueue );
\r
906 ( void ) xTaskResumeAll();
\r
908 traceQUEUE_SEND_FAILED( pxQueue );
\r
909 return errQUEUE_FULL;
\r
913 /*-----------------------------------------------------------*/
\r
915 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
917 BaseType_t xReturn;
\r
918 UBaseType_t uxSavedInterruptStatus;
\r
919 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
921 configASSERT( pxQueue );
\r
922 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
923 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
925 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
926 system call (or maximum API call) interrupt priority. Interrupts that are
\r
927 above the maximum system call priority are kept permanently enabled, even
\r
928 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
929 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
930 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
931 failure if a FreeRTOS API function is called from an interrupt that has been
\r
932 assigned a priority above the configured maximum system call priority.
\r
933 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
934 that have been assigned a priority at or (logically) below the maximum
\r
935 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
936 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
937 More information (albeit Cortex-M specific) is provided on the following
\r
938 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
939 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
941 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
942 in the queue. Also don't directly wake a task that was blocked on a queue
\r
943 read, instead return a flag to say whether a context switch is required or
\r
944 not (i.e. has a task with a higher priority than us been woken by this
\r
946 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
948 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
950 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
952 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
953 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
954 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
955 called here even though the disinherit function does not check if
\r
956 the scheduler is suspended before accessing the ready lists. */
\r
957 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
959 /* The event list is not altered if the queue is locked. This will
\r
960 be done when the queue is unlocked later. */
\r
961 if( pxQueue->cTxLock == queueUNLOCKED )
\r
963 #if ( configUSE_QUEUE_SETS == 1 )
\r
965 if( pxQueue->pxQueueSetContainer != NULL )
\r
967 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
969 /* The queue is a member of a queue set, and posting
\r
970 to the queue set caused a higher priority task to
\r
971 unblock. A context switch is required. */
\r
972 if( pxHigherPriorityTaskWoken != NULL )
\r
974 *pxHigherPriorityTaskWoken = pdTRUE;
\r
978 mtCOVERAGE_TEST_MARKER();
\r
983 mtCOVERAGE_TEST_MARKER();
\r
988 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
990 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
992 /* The task waiting has a higher priority so
\r
993 record that a context switch is required. */
\r
994 if( pxHigherPriorityTaskWoken != NULL )
\r
996 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1000 mtCOVERAGE_TEST_MARKER();
\r
1005 mtCOVERAGE_TEST_MARKER();
\r
1010 mtCOVERAGE_TEST_MARKER();
\r
1014 #else /* configUSE_QUEUE_SETS */
\r
1016 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1018 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1020 /* The task waiting has a higher priority so record that a
\r
1021 context switch is required. */
\r
1022 if( pxHigherPriorityTaskWoken != NULL )
\r
1024 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1028 mtCOVERAGE_TEST_MARKER();
\r
1033 mtCOVERAGE_TEST_MARKER();
\r
1038 mtCOVERAGE_TEST_MARKER();
\r
1041 #endif /* configUSE_QUEUE_SETS */
\r
1045 /* Increment the lock count so the task that unlocks the queue
\r
1046 knows that data was posted while it was locked. */
\r
1047 ++( pxQueue->cTxLock );
\r
1054 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1055 xReturn = errQUEUE_FULL;
\r
1058 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1062 /*-----------------------------------------------------------*/
\r
1064 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1066 BaseType_t xReturn;
\r
1067 UBaseType_t uxSavedInterruptStatus;
\r
1068 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1070 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1071 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1072 read, instead return a flag to say whether a context switch is required or
\r
1073 not (i.e. has a task with a higher priority than us been woken by this
\r
1076 configASSERT( pxQueue );
\r
1078 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1079 if the item size is not 0. */
\r
1080 configASSERT( pxQueue->uxItemSize == 0 );
\r
1082 /* Normally a mutex would not be given from an interrupt, especially if
\r
1083 there is a mutex holder, as priority inheritance makes no sense for an
\r
1084 interrupts, only tasks. */
\r
1085 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1087 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1088 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1089 above the maximum system call priority are kept permanently enabled, even
\r
1090 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1091 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1092 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1093 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1094 assigned a priority above the configured maximum system call priority.
\r
1095 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1096 that have been assigned a priority at or (logically) below the maximum
\r
1097 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1098 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1099 More information (albeit Cortex-M specific) is provided on the following
\r
1100 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1101 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1103 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1105 /* When the queue is used to implement a semaphore no data is ever
\r
1106 moved through the queue but it is still valid to see if the queue 'has
\r
1108 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1110 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1112 /* A task can only have an inherited priority if it is a mutex
\r
1113 holder - and if there is a mutex holder then the mutex cannot be
\r
1114 given from an ISR. As this is the ISR version of the function it
\r
1115 can be assumed there is no mutex holder and no need to determine if
\r
1116 priority disinheritance is needed. Simply increase the count of
\r
1117 messages (semaphores) available. */
\r
1118 ++( pxQueue->uxMessagesWaiting );
\r
1120 /* The event list is not altered if the queue is locked. This will
\r
1121 be done when the queue is unlocked later. */
\r
1122 if( pxQueue->cTxLock == queueUNLOCKED )
\r
1124 #if ( configUSE_QUEUE_SETS == 1 )
\r
1126 if( pxQueue->pxQueueSetContainer != NULL )
\r
1128 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1130 /* The semaphore is a member of a queue set, and
\r
1131 posting to the queue set caused a higher priority
\r
1132 task to unblock. A context switch is required. */
\r
1133 if( pxHigherPriorityTaskWoken != NULL )
\r
1135 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1139 mtCOVERAGE_TEST_MARKER();
\r
1144 mtCOVERAGE_TEST_MARKER();
\r
1149 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1151 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1153 /* The task waiting has a higher priority so
\r
1154 record that a context switch is required. */
\r
1155 if( pxHigherPriorityTaskWoken != NULL )
\r
1157 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1161 mtCOVERAGE_TEST_MARKER();
\r
1166 mtCOVERAGE_TEST_MARKER();
\r
1171 mtCOVERAGE_TEST_MARKER();
\r
1175 #else /* configUSE_QUEUE_SETS */
\r
1177 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1179 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1181 /* The task waiting has a higher priority so record that a
\r
1182 context switch is required. */
\r
1183 if( pxHigherPriorityTaskWoken != NULL )
\r
1185 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1189 mtCOVERAGE_TEST_MARKER();
\r
1194 mtCOVERAGE_TEST_MARKER();
\r
1199 mtCOVERAGE_TEST_MARKER();
\r
1202 #endif /* configUSE_QUEUE_SETS */
\r
1206 /* Increment the lock count so the task that unlocks the queue
\r
1207 knows that data was posted while it was locked. */
\r
1208 ++( pxQueue->cTxLock );
\r
1215 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1216 xReturn = errQUEUE_FULL;
\r
1219 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1223 /*-----------------------------------------------------------*/
\r
1225 BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking )
\r
1227 BaseType_t xEntryTimeSet = pdFALSE;
\r
1228 TimeOut_t xTimeOut;
\r
1229 int8_t *pcOriginalReadPosition;
\r
1230 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1232 configASSERT( pxQueue );
\r
1233 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1234 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1236 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1240 /* This function relaxes the coding standard somewhat to allow return
\r
1241 statements within the function itself. This is done in the interest
\r
1242 of execution time efficiency. */
\r
1246 taskENTER_CRITICAL();
\r
1248 /* Is there data in the queue now? To be running the calling task
\r
1249 must be the highest priority task wanting to access the queue. */
\r
1250 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1252 /* Remember the read position in case the queue is only being
\r
1254 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1256 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1258 if( xJustPeeking == pdFALSE )
\r
1260 traceQUEUE_RECEIVE( pxQueue );
\r
1262 /* Actually removing data, not just peeking. */
\r
1263 --( pxQueue->uxMessagesWaiting );
\r
1265 #if ( configUSE_MUTEXES == 1 )
\r
1267 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1269 /* Record the information required to implement
\r
1270 priority inheritance should it become necessary. */
\r
1271 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1275 mtCOVERAGE_TEST_MARKER();
\r
1278 #endif /* configUSE_MUTEXES */
\r
1280 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1282 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1284 queueYIELD_IF_USING_PREEMPTION();
\r
1288 mtCOVERAGE_TEST_MARKER();
\r
1293 mtCOVERAGE_TEST_MARKER();
\r
1298 traceQUEUE_PEEK( pxQueue );
\r
1300 /* The data is not being removed, so reset the read
\r
1302 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1304 /* The data is being left in the queue, so see if there are
\r
1305 any other tasks waiting for the data. */
\r
1306 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1308 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1310 /* The task waiting has a higher priority than this task. */
\r
1311 queueYIELD_IF_USING_PREEMPTION();
\r
1315 mtCOVERAGE_TEST_MARKER();
\r
1320 mtCOVERAGE_TEST_MARKER();
\r
1324 taskEXIT_CRITICAL();
\r
1329 if( xTicksToWait == ( TickType_t ) 0 )
\r
1331 /* The queue was empty and no block time is specified (or
\r
1332 the block time has expired) so leave now. */
\r
1333 taskEXIT_CRITICAL();
\r
1334 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1335 return errQUEUE_EMPTY;
\r
1337 else if( xEntryTimeSet == pdFALSE )
\r
1339 /* The queue was empty and a block time was specified so
\r
1340 configure the timeout structure. */
\r
1341 vTaskSetTimeOutState( &xTimeOut );
\r
1342 xEntryTimeSet = pdTRUE;
\r
1346 /* Entry time was already set. */
\r
1347 mtCOVERAGE_TEST_MARKER();
\r
1351 taskEXIT_CRITICAL();
\r
1353 /* Interrupts and other tasks can send to and receive from the queue
\r
1354 now the critical section has been exited. */
\r
1356 vTaskSuspendAll();
\r
1357 prvLockQueue( pxQueue );
\r
1359 /* Update the timeout state to see if it has expired yet. */
\r
1360 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1362 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1364 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1366 #if ( configUSE_MUTEXES == 1 )
\r
1368 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1370 taskENTER_CRITICAL();
\r
1372 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1374 taskEXIT_CRITICAL();
\r
1378 mtCOVERAGE_TEST_MARKER();
\r
1383 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1384 prvUnlockQueue( pxQueue );
\r
1385 if( xTaskResumeAll() == pdFALSE )
\r
1387 portYIELD_WITHIN_API();
\r
1391 mtCOVERAGE_TEST_MARKER();
\r
1397 prvUnlockQueue( pxQueue );
\r
1398 ( void ) xTaskResumeAll();
\r
1403 prvUnlockQueue( pxQueue );
\r
1404 ( void ) xTaskResumeAll();
\r
1406 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1408 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1409 return errQUEUE_EMPTY;
\r
1413 mtCOVERAGE_TEST_MARKER();
\r
1418 /*-----------------------------------------------------------*/
\r
1420 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1422 BaseType_t xReturn;
\r
1423 UBaseType_t uxSavedInterruptStatus;
\r
1424 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1426 configASSERT( pxQueue );
\r
1427 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1429 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1430 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1431 above the maximum system call priority are kept permanently enabled, even
\r
1432 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1433 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1434 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1435 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1436 assigned a priority above the configured maximum system call priority.
\r
1437 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1438 that have been assigned a priority at or (logically) below the maximum
\r
1439 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1440 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1441 More information (albeit Cortex-M specific) is provided on the following
\r
1442 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1443 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1445 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1447 /* Cannot block in an ISR, so check there is data available. */
\r
1448 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1450 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1452 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1453 --( pxQueue->uxMessagesWaiting );
\r
1455 /* If the queue is locked the event list will not be modified.
\r
1456 Instead update the lock count so the task that unlocks the queue
\r
1457 will know that an ISR has removed data while the queue was
\r
1459 if( pxQueue->cRxLock == queueUNLOCKED )
\r
1461 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1463 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1465 /* The task waiting has a higher priority than us so
\r
1466 force a context switch. */
\r
1467 if( pxHigherPriorityTaskWoken != NULL )
\r
1469 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1473 mtCOVERAGE_TEST_MARKER();
\r
1478 mtCOVERAGE_TEST_MARKER();
\r
1483 mtCOVERAGE_TEST_MARKER();
\r
1488 /* Increment the lock count so the task that unlocks the queue
\r
1489 knows that data was removed while it was locked. */
\r
1490 ++( pxQueue->cRxLock );
\r
1498 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1501 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1505 /*-----------------------------------------------------------*/
\r
1507 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1509 BaseType_t xReturn;
\r
1510 UBaseType_t uxSavedInterruptStatus;
\r
1511 int8_t *pcOriginalReadPosition;
\r
1512 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1514 configASSERT( pxQueue );
\r
1515 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1516 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1518 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1519 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1520 above the maximum system call priority are kept permanently enabled, even
\r
1521 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1522 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1523 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1524 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1525 assigned a priority above the configured maximum system call priority.
\r
1526 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1527 that have been assigned a priority at or (logically) below the maximum
\r
1528 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1529 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1530 More information (albeit Cortex-M specific) is provided on the following
\r
1531 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1532 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1534 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1536 /* Cannot block in an ISR, so check there is data available. */
\r
1537 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1539 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1541 /* Remember the read position so it can be reset as nothing is
\r
1542 actually being removed from the queue. */
\r
1543 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1544 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1545 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1552 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1555 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1559 /*-----------------------------------------------------------*/
\r
1561 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1563 UBaseType_t uxReturn;
\r
1565 configASSERT( xQueue );
\r
1567 taskENTER_CRITICAL();
\r
1569 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1571 taskEXIT_CRITICAL();
\r
1574 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1575 /*-----------------------------------------------------------*/
\r
1577 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1579 UBaseType_t uxReturn;
\r
1582 pxQueue = ( Queue_t * ) xQueue;
\r
1583 configASSERT( pxQueue );
\r
1585 taskENTER_CRITICAL();
\r
1587 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1589 taskEXIT_CRITICAL();
\r
1592 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1593 /*-----------------------------------------------------------*/
\r
1595 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1597 UBaseType_t uxReturn;
\r
1599 configASSERT( xQueue );
\r
1601 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1604 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1605 /*-----------------------------------------------------------*/
\r
1607 void vQueueDelete( QueueHandle_t xQueue )
\r
1609 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1611 configASSERT( pxQueue );
\r
1612 traceQUEUE_DELETE( pxQueue );
\r
1614 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1616 vQueueUnregisterQueue( pxQueue );
\r
1620 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1622 /* The queue can only have been allocated dynamically - free it
\r
1624 vPortFree( pxQueue );
\r
1626 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1628 /* The queue could have been allocated statically or dynamically, so
\r
1629 check before attempting to free the memory. */
\r
1630 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
1632 vPortFree( pxQueue );
\r
1636 mtCOVERAGE_TEST_MARKER();
\r
1639 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
1641 /*-----------------------------------------------------------*/
\r
1643 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1645 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1647 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1650 #endif /* configUSE_TRACE_FACILITY */
\r
1651 /*-----------------------------------------------------------*/
\r
1653 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1655 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1657 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
1660 #endif /* configUSE_TRACE_FACILITY */
\r
1661 /*-----------------------------------------------------------*/
\r
1663 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1665 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
1667 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
1670 #endif /* configUSE_TRACE_FACILITY */
\r
1671 /*-----------------------------------------------------------*/
\r
1673 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
1675 BaseType_t xReturn = pdFALSE;
\r
1677 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
1679 #if ( configUSE_MUTEXES == 1 )
\r
1681 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1683 /* The mutex is no longer being held. */
\r
1684 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1685 pxQueue->pxMutexHolder = NULL;
\r
1689 mtCOVERAGE_TEST_MARKER();
\r
1692 #endif /* configUSE_MUTEXES */
\r
1694 else if( xPosition == queueSEND_TO_BACK )
\r
1696 ( 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
1697 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1698 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1700 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1704 mtCOVERAGE_TEST_MARKER();
\r
1709 ( 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
1710 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1711 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1713 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1717 mtCOVERAGE_TEST_MARKER();
\r
1720 if( xPosition == queueOVERWRITE )
\r
1722 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1724 /* An item is not being added but overwritten, so subtract
\r
1725 one from the recorded number of items in the queue so when
\r
1726 one is added again below the number of recorded items remains
\r
1728 --( pxQueue->uxMessagesWaiting );
\r
1732 mtCOVERAGE_TEST_MARKER();
\r
1737 mtCOVERAGE_TEST_MARKER();
\r
1741 ++( pxQueue->uxMessagesWaiting );
\r
1745 /*-----------------------------------------------------------*/
\r
1747 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
1749 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
1751 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1752 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1754 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1758 mtCOVERAGE_TEST_MARKER();
\r
1760 ( 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
1763 /*-----------------------------------------------------------*/
\r
1765 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
1767 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1769 /* The lock counts contains the number of extra data items placed or
\r
1770 removed from the queue while the queue was locked. When a queue is
\r
1771 locked items can be added or removed, but the event lists cannot be
\r
1773 taskENTER_CRITICAL();
\r
1775 /* See if data was added to the queue while it was locked. */
\r
1776 while( pxQueue->cTxLock > queueLOCKED_UNMODIFIED )
\r
1778 /* Data was posted while the queue was locked. Are any tasks
\r
1779 blocked waiting for data to become available? */
\r
1780 #if ( configUSE_QUEUE_SETS == 1 )
\r
1782 if( pxQueue->pxQueueSetContainer != NULL )
\r
1784 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1786 /* The queue is a member of a queue set, and posting to
\r
1787 the queue set caused a higher priority task to unblock.
\r
1788 A context switch is required. */
\r
1789 vTaskMissedYield();
\r
1793 mtCOVERAGE_TEST_MARKER();
\r
1798 /* Tasks that are removed from the event list will get
\r
1799 added to the pending ready list as the scheduler is still
\r
1801 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1803 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1805 /* The task waiting has a higher priority so record that a
\r
1806 context switch is required. */
\r
1807 vTaskMissedYield();
\r
1811 mtCOVERAGE_TEST_MARKER();
\r
1820 #else /* configUSE_QUEUE_SETS */
\r
1822 /* Tasks that are removed from the event list will get added to
\r
1823 the pending ready list as the scheduler is still suspended. */
\r
1824 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1826 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1828 /* The task waiting has a higher priority so record that
\r
1829 a context switch is required. */
\r
1830 vTaskMissedYield();
\r
1834 mtCOVERAGE_TEST_MARKER();
\r
1842 #endif /* configUSE_QUEUE_SETS */
\r
1844 --( pxQueue->cTxLock );
\r
1847 pxQueue->cTxLock = queueUNLOCKED;
\r
1849 taskEXIT_CRITICAL();
\r
1851 /* Do the same for the Rx lock. */
\r
1852 taskENTER_CRITICAL();
\r
1854 while( pxQueue->cRxLock > queueLOCKED_UNMODIFIED )
\r
1856 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1858 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1860 vTaskMissedYield();
\r
1864 mtCOVERAGE_TEST_MARKER();
\r
1867 --( pxQueue->cRxLock );
\r
1875 pxQueue->cRxLock = queueUNLOCKED;
\r
1877 taskEXIT_CRITICAL();
\r
1879 /*-----------------------------------------------------------*/
\r
1881 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
1883 BaseType_t xReturn;
\r
1885 taskENTER_CRITICAL();
\r
1887 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1893 xReturn = pdFALSE;
\r
1896 taskEXIT_CRITICAL();
\r
1900 /*-----------------------------------------------------------*/
\r
1902 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
1904 BaseType_t xReturn;
\r
1906 configASSERT( xQueue );
\r
1907 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1913 xReturn = pdFALSE;
\r
1917 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1918 /*-----------------------------------------------------------*/
\r
1920 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
1922 BaseType_t xReturn;
\r
1924 taskENTER_CRITICAL();
\r
1926 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
1932 xReturn = pdFALSE;
\r
1935 taskEXIT_CRITICAL();
\r
1939 /*-----------------------------------------------------------*/
\r
1941 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
1943 BaseType_t xReturn;
\r
1945 configASSERT( xQueue );
\r
1946 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
1952 xReturn = pdFALSE;
\r
1956 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1957 /*-----------------------------------------------------------*/
\r
1959 #if ( configUSE_CO_ROUTINES == 1 )
\r
1961 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
1963 BaseType_t xReturn;
\r
1964 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1966 /* If the queue is already full we may have to block. A critical section
\r
1967 is required to prevent an interrupt removing something from the queue
\r
1968 between the check to see if the queue is full and blocking on the queue. */
\r
1969 portDISABLE_INTERRUPTS();
\r
1971 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
1973 /* The queue is full - do we want to block or just leave without
\r
1975 if( xTicksToWait > ( TickType_t ) 0 )
\r
1977 /* As this is called from a coroutine we cannot block directly, but
\r
1978 return indicating that we need to block. */
\r
1979 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
1980 portENABLE_INTERRUPTS();
\r
1981 return errQUEUE_BLOCKED;
\r
1985 portENABLE_INTERRUPTS();
\r
1986 return errQUEUE_FULL;
\r
1990 portENABLE_INTERRUPTS();
\r
1992 portDISABLE_INTERRUPTS();
\r
1994 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1996 /* There is room in the queue, copy the data into the queue. */
\r
1997 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2000 /* Were any co-routines waiting for data to become available? */
\r
2001 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2003 /* In this instance the co-routine could be placed directly
\r
2004 into the ready list as we are within a critical section.
\r
2005 Instead the same pending ready list mechanism is used as if
\r
2006 the event were caused from within an interrupt. */
\r
2007 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2009 /* The co-routine waiting has a higher priority so record
\r
2010 that a yield might be appropriate. */
\r
2011 xReturn = errQUEUE_YIELD;
\r
2015 mtCOVERAGE_TEST_MARKER();
\r
2020 mtCOVERAGE_TEST_MARKER();
\r
2025 xReturn = errQUEUE_FULL;
\r
2028 portENABLE_INTERRUPTS();
\r
2033 #endif /* configUSE_CO_ROUTINES */
\r
2034 /*-----------------------------------------------------------*/
\r
2036 #if ( configUSE_CO_ROUTINES == 1 )
\r
2038 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2040 BaseType_t xReturn;
\r
2041 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2043 /* If the queue is already empty we may have to block. A critical section
\r
2044 is required to prevent an interrupt adding something to the queue
\r
2045 between the check to see if the queue is empty and blocking on the queue. */
\r
2046 portDISABLE_INTERRUPTS();
\r
2048 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2050 /* There are no messages in the queue, do we want to block or just
\r
2051 leave with nothing? */
\r
2052 if( xTicksToWait > ( TickType_t ) 0 )
\r
2054 /* As this is a co-routine we cannot block directly, but return
\r
2055 indicating that we need to block. */
\r
2056 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2057 portENABLE_INTERRUPTS();
\r
2058 return errQUEUE_BLOCKED;
\r
2062 portENABLE_INTERRUPTS();
\r
2063 return errQUEUE_FULL;
\r
2068 mtCOVERAGE_TEST_MARKER();
\r
2071 portENABLE_INTERRUPTS();
\r
2073 portDISABLE_INTERRUPTS();
\r
2075 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2077 /* Data is available from the queue. */
\r
2078 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2079 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2081 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2085 mtCOVERAGE_TEST_MARKER();
\r
2087 --( pxQueue->uxMessagesWaiting );
\r
2088 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2092 /* Were any co-routines waiting for space to become available? */
\r
2093 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2095 /* In this instance the co-routine could be placed directly
\r
2096 into the ready list as we are within a critical section.
\r
2097 Instead the same pending ready list mechanism is used as if
\r
2098 the event were caused from within an interrupt. */
\r
2099 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2101 xReturn = errQUEUE_YIELD;
\r
2105 mtCOVERAGE_TEST_MARKER();
\r
2110 mtCOVERAGE_TEST_MARKER();
\r
2118 portENABLE_INTERRUPTS();
\r
2123 #endif /* configUSE_CO_ROUTINES */
\r
2124 /*-----------------------------------------------------------*/
\r
2126 #if ( configUSE_CO_ROUTINES == 1 )
\r
2128 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2130 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2132 /* Cannot block within an ISR so if there is no space on the queue then
\r
2133 exit without doing anything. */
\r
2134 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2136 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2138 /* We only want to wake one co-routine per ISR, so check that a
\r
2139 co-routine has not already been woken. */
\r
2140 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2142 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2144 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2150 mtCOVERAGE_TEST_MARKER();
\r
2155 mtCOVERAGE_TEST_MARKER();
\r
2160 mtCOVERAGE_TEST_MARKER();
\r
2165 mtCOVERAGE_TEST_MARKER();
\r
2168 return xCoRoutinePreviouslyWoken;
\r
2171 #endif /* configUSE_CO_ROUTINES */
\r
2172 /*-----------------------------------------------------------*/
\r
2174 #if ( configUSE_CO_ROUTINES == 1 )
\r
2176 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2178 BaseType_t xReturn;
\r
2179 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2181 /* We cannot block from an ISR, so check there is data available. If
\r
2182 not then just leave without doing anything. */
\r
2183 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2185 /* Copy the data from the queue. */
\r
2186 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2187 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2189 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2193 mtCOVERAGE_TEST_MARKER();
\r
2195 --( pxQueue->uxMessagesWaiting );
\r
2196 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2198 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2200 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2202 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2204 *pxCoRoutineWoken = pdTRUE;
\r
2208 mtCOVERAGE_TEST_MARKER();
\r
2213 mtCOVERAGE_TEST_MARKER();
\r
2218 mtCOVERAGE_TEST_MARKER();
\r
2231 #endif /* configUSE_CO_ROUTINES */
\r
2232 /*-----------------------------------------------------------*/
\r
2234 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2236 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2240 /* See if there is an empty space in the registry. A NULL name denotes
\r
2242 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2244 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2246 /* Store the information on this queue. */
\r
2247 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2248 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2250 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2255 mtCOVERAGE_TEST_MARKER();
\r
2260 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2261 /*-----------------------------------------------------------*/
\r
2263 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2265 const char *pcQueueGetQueueName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2268 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2270 /* Note there is nothing here to protect against another task adding or
\r
2271 removing entries from the registry while it is being searched. */
\r
2272 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2274 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2276 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2281 mtCOVERAGE_TEST_MARKER();
\r
2288 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2289 /*-----------------------------------------------------------*/
\r
2291 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2293 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2297 /* See if the handle of the queue being unregistered in actually in the
\r
2299 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2301 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2303 /* Set the name to NULL to show that this slot if free again. */
\r
2304 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2306 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2307 appear in the registry twice if it is added, removed, then
\r
2309 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2314 mtCOVERAGE_TEST_MARKER();
\r
2318 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2320 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2321 /*-----------------------------------------------------------*/
\r
2323 #if ( configUSE_TIMERS == 1 )
\r
2325 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2327 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2329 /* This function should not be called by application code hence the
\r
2330 'Restricted' in its name. It is not part of the public API. It is
\r
2331 designed for use by kernel code, and has special calling requirements.
\r
2332 It can result in vListInsert() being called on a list that can only
\r
2333 possibly ever have one item in it, so the list will be fast, but even
\r
2334 so it should be called with the scheduler locked and not from a critical
\r
2337 /* Only do anything if there are no messages in the queue. This function
\r
2338 will not actually cause the task to block, just place it on a blocked
\r
2339 list. It will not block until the scheduler is unlocked - at which
\r
2340 time a yield will be performed. If an item is added to the queue while
\r
2341 the queue is locked, and the calling task blocks on the queue, then the
\r
2342 calling task will be immediately unblocked when the queue is unlocked. */
\r
2343 prvLockQueue( pxQueue );
\r
2344 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2346 /* There is nothing in the queue, block for the specified period. */
\r
2347 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2351 mtCOVERAGE_TEST_MARKER();
\r
2353 prvUnlockQueue( pxQueue );
\r
2356 #endif /* configUSE_TIMERS */
\r
2357 /*-----------------------------------------------------------*/
\r
2359 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2361 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2363 QueueSetHandle_t pxQueue;
\r
2365 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2370 #endif /* configUSE_QUEUE_SETS */
\r
2371 /*-----------------------------------------------------------*/
\r
2373 #if ( configUSE_QUEUE_SETS == 1 )
\r
2375 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2377 BaseType_t xReturn;
\r
2379 taskENTER_CRITICAL();
\r
2381 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2383 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2386 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2388 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2389 items in the queue/semaphore. */
\r
2394 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2398 taskEXIT_CRITICAL();
\r
2403 #endif /* configUSE_QUEUE_SETS */
\r
2404 /*-----------------------------------------------------------*/
\r
2406 #if ( configUSE_QUEUE_SETS == 1 )
\r
2408 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2410 BaseType_t xReturn;
\r
2411 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2413 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2415 /* The queue was not a member of the set. */
\r
2418 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2420 /* It is dangerous to remove a queue from a set when the queue is
\r
2421 not empty because the queue set will still hold pending events for
\r
2427 taskENTER_CRITICAL();
\r
2429 /* The queue is no longer contained in the set. */
\r
2430 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2432 taskEXIT_CRITICAL();
\r
2437 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2439 #endif /* configUSE_QUEUE_SETS */
\r
2440 /*-----------------------------------------------------------*/
\r
2442 #if ( configUSE_QUEUE_SETS == 1 )
\r
2444 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2446 QueueSetMemberHandle_t xReturn = NULL;
\r
2448 ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2452 #endif /* configUSE_QUEUE_SETS */
\r
2453 /*-----------------------------------------------------------*/
\r
2455 #if ( configUSE_QUEUE_SETS == 1 )
\r
2457 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2459 QueueSetMemberHandle_t xReturn = NULL;
\r
2461 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2465 #endif /* configUSE_QUEUE_SETS */
\r
2466 /*-----------------------------------------------------------*/
\r
2468 #if ( configUSE_QUEUE_SETS == 1 )
\r
2470 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2472 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2473 BaseType_t xReturn = pdFALSE;
\r
2475 /* This function must be called form a critical section. */
\r
2477 configASSERT( pxQueueSetContainer );
\r
2478 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2480 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2482 traceQUEUE_SEND( pxQueueSetContainer );
\r
2484 /* The data copied is the handle of the queue that contains data. */
\r
2485 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2487 if( pxQueueSetContainer->cTxLock == queueUNLOCKED )
\r
2489 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2491 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2493 /* The task waiting has a higher priority. */
\r
2498 mtCOVERAGE_TEST_MARKER();
\r
2503 mtCOVERAGE_TEST_MARKER();
\r
2508 ( pxQueueSetContainer->cTxLock )++;
\r
2513 mtCOVERAGE_TEST_MARKER();
\r
2519 #endif /* configUSE_QUEUE_SETS */
\r