2 FreeRTOS V8.2.3 - Copyright (C) 2015 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 xRxLock and xTxLock structure members. */
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94 #define queueUNLOCKED ( ( BaseType_t ) -1 )
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95 #define queueLOCKED_UNMODIFIED ( ( BaseType_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 /* Bits that can be set in xQUEUE->ucStaticAllocationFlags to indicate that the
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118 queue storage area and queue structure were statically allocated respectively.
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119 When these are statically allocated they won't be freed if the queue gets
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121 #define queueSTATICALLY_ALLOCATED_STORAGE ( ( uint8_t ) 0x01 )
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122 #define queueSTATICALLY_ALLOCATED_QUEUE_STRUCT ( ( uint8_t ) 0x02 )
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124 #if( configUSE_PREEMPTION == 0 )
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125 /* If the cooperative scheduler is being used then a yield should not be
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126 performed just because a higher priority task has been woken. */
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127 #define queueYIELD_IF_USING_PREEMPTION()
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129 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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133 * Definition of the queue used by the scheduler.
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134 * Items are queued by copy, not reference. See the following link for the
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135 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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137 typedef struct QueueDefinition
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139 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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140 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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141 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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143 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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145 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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146 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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149 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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150 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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152 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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153 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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154 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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156 volatile BaseType_t xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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157 volatile BaseType_t xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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159 #if ( configUSE_QUEUE_SETS == 1 )
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160 struct QueueDefinition *pxQueueSetContainer;
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163 #if ( configUSE_TRACE_FACILITY == 1 )
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164 UBaseType_t uxQueueNumber;
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165 uint8_t ucQueueType;
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168 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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169 uint8_t ucStaticAllocationFlags;
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174 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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175 name below to enable the use of older kernel aware debuggers. */
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176 typedef xQUEUE Queue_t;
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178 /*-----------------------------------------------------------*/
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181 * The queue registry is just a means for kernel aware debuggers to locate
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182 * queue structures. It has no other purpose so is an optional component.
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184 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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186 /* The type stored within the queue registry array. This allows a name
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187 to be assigned to each queue making kernel aware debugging a little
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188 more user friendly. */
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189 typedef struct QUEUE_REGISTRY_ITEM
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191 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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192 QueueHandle_t xHandle;
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193 } xQueueRegistryItem;
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195 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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196 new xQueueRegistryItem name below to enable the use of older kernel aware
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198 typedef xQueueRegistryItem QueueRegistryItem_t;
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200 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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201 The pcQueueName member of a structure being NULL is indicative of the
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202 array position being vacant. */
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203 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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205 #endif /* configQUEUE_REGISTRY_SIZE */
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208 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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209 * prevent an ISR from adding or removing items to the queue, but does prevent
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210 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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211 * queue is locked it will instead increment the appropriate queue lock count
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212 * to indicate that a task may require unblocking. When the queue in unlocked
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213 * these lock counts are inspected, and the appropriate action taken.
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215 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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218 * Uses a critical section to determine if there is any data in a queue.
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220 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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222 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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225 * Uses a critical section to determine if there is any space in a queue.
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227 * @return pdTRUE if there is no space, otherwise pdFALSE;
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229 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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232 * Copies an item into the queue, either at the front of the queue or the
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233 * back of the queue.
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235 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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238 * Copies an item out of a queue.
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240 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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243 * A queue requires two blocks of memory; a structure to hold the queue state
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244 * and a storage area to hold the items in the queue. The memory is assigned
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245 * by prvAllocateQueueMemory(). If ppucQueueStorage is NULL then the queue
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246 * storage will allocated dynamically, otherwise the buffer passed in
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247 * ppucQueueStorage will be used. If pxStaticQueue is NULL then the queue
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248 * structure will be allocated dynamically, otherwise the buffer pointed to by
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249 * pxStaticQueue will be used.
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251 static Queue_t *prvAllocateQueueMemory( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t **ppucQueueStorage, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
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253 #if ( configUSE_QUEUE_SETS == 1 )
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255 * Checks to see if a queue is a member of a queue set, and if so, notifies
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256 * the queue set that the queue contains data.
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258 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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261 /*-----------------------------------------------------------*/
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264 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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265 * accessing the queue event lists.
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267 #define prvLockQueue( pxQueue ) \
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268 taskENTER_CRITICAL(); \
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270 if( ( pxQueue )->xRxLock == queueUNLOCKED ) \
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272 ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \
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274 if( ( pxQueue )->xTxLock == queueUNLOCKED ) \
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276 ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \
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279 taskEXIT_CRITICAL()
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280 /*-----------------------------------------------------------*/
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282 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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284 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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286 configASSERT( pxQueue );
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288 taskENTER_CRITICAL();
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290 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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291 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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292 pxQueue->pcWriteTo = pxQueue->pcHead;
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293 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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294 pxQueue->xRxLock = queueUNLOCKED;
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295 pxQueue->xTxLock = queueUNLOCKED;
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297 if( xNewQueue == pdFALSE )
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299 /* If there are tasks blocked waiting to read from the queue, then
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300 the tasks will remain blocked as after this function exits the queue
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301 will still be empty. If there are tasks blocked waiting to write to
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302 the queue, then one should be unblocked as after this function exits
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303 it will be possible to write to it. */
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304 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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306 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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308 queueYIELD_IF_USING_PREEMPTION();
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312 mtCOVERAGE_TEST_MARKER();
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317 mtCOVERAGE_TEST_MARKER();
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322 /* Ensure the event queues start in the correct state. */
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323 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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324 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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327 taskEXIT_CRITICAL();
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329 /* A value is returned for calling semantic consistency with previous
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333 /*-----------------------------------------------------------*/
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335 static Queue_t *prvAllocateQueueMemory( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t **ppucQueueStorage, StaticQueue_t *pxStaticQueue )
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337 Queue_t *pxNewQueue;
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338 size_t xQueueSizeInBytes;
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340 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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342 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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344 /* Sanity check that the size of the structure used to declare a
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345 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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346 the real queue and semaphore structures. */
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347 volatile size_t xSize = sizeof( StaticQueue_t );
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348 configASSERT( xSize == sizeof( Queue_t ) );
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350 #endif /* configASSERT_DEFINED */
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352 if( uxItemSize == ( UBaseType_t ) 0 )
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354 /* There is not going to be a queue storage area. */
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355 xQueueSizeInBytes = ( size_t ) 0;
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359 /* Allocate enough space to hold the maximum number of items that can be
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360 in the queue at any time. */
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361 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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364 #if( configSUPPORT_STATIC_ALLOCATION == 0 )
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366 /* Allocate the new queue structure and storage area. */
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367 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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369 if( pxNewQueue != NULL )
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371 /* Jump past the queue structure to find the location of the queue
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373 *ppucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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376 /* The pxStaticQueue parameter is not used. Remove compiler warnings. */
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377 ( void ) pxStaticQueue;
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381 if( pxStaticQueue == NULL )
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383 /* A statically allocated queue was not passed in, so create one
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385 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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386 pxNewQueue->ucStaticAllocationFlags = 0;
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390 /* The address of a statically allocated queue was passed in, use
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391 it and note that the queue was not dynamically allocated so there is
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392 no attempt to free it again should the queue be deleted. */
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393 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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394 pxNewQueue->ucStaticAllocationFlags = queueSTATICALLY_ALLOCATED_QUEUE_STRUCT;
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397 if( pxNewQueue != NULL )
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399 if( ( *ppucQueueStorage == NULL ) && ( xQueueSizeInBytes > ( size_t ) 0 ) )
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401 /* A statically allocated queue storage area was not passed in,
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402 so allocate the queue storage area dynamically. */
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403 *ppucQueueStorage = ( uint8_t * ) pvPortMalloc( xQueueSizeInBytes );
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405 if( *ppucQueueStorage == NULL )
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407 /* The queue storage area could not be created, so free the
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408 queue structure also. */
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409 if( ( pxNewQueue->ucStaticAllocationFlags & queueSTATICALLY_ALLOCATED_QUEUE_STRUCT ) == 0 )
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411 vPortFree( ( void * ) pxNewQueue );
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415 mtCOVERAGE_TEST_MARKER();
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422 mtCOVERAGE_TEST_MARKER();
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427 /* Note the fact that either the queue storage area was passed
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428 into this function, or the size requirement for the queue
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429 storage area was zero - either way no attempt should be made to
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430 free the queue storage area if the queue is deleted. */
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431 pxNewQueue->ucStaticAllocationFlags |= queueSTATICALLY_ALLOCATED_STORAGE;
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439 /*-----------------------------------------------------------*/
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441 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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443 Queue_t *pxNewQueue;
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445 /* Remove compiler warnings about unused parameters should
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446 configUSE_TRACE_FACILITY not be set to 1. */
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447 ( void ) ucQueueType;
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449 /* A queue requires a queue structure and a queue storage area. These may
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450 be allocated statically or dynamically, depending on the parameter
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452 pxNewQueue = prvAllocateQueueMemory( uxQueueLength, uxItemSize, &pucQueueStorage, pxStaticQueue );
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454 if( pxNewQueue != NULL )
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456 if( uxItemSize == ( UBaseType_t ) 0 )
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458 /* No RAM was allocated for the queue storage area, but PC head
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459 cannot be set to NULL because NULL is used as a key to say the queue
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460 is used as a mutex. Therefore just set pcHead to point to the queue
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461 as a benign value that is known to be within the memory map. */
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462 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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466 /* Set the head to the start of the queue storage area. */
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467 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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470 /* Initialise the queue members as described where the queue type is
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472 pxNewQueue->uxLength = uxQueueLength;
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473 pxNewQueue->uxItemSize = uxItemSize;
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474 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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476 #if ( configUSE_TRACE_FACILITY == 1 )
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478 pxNewQueue->ucQueueType = ucQueueType;
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480 #endif /* configUSE_TRACE_FACILITY */
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482 #if( configUSE_QUEUE_SETS == 1 )
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484 pxNewQueue->pxQueueSetContainer = NULL;
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486 #endif /* configUSE_QUEUE_SETS */
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488 traceQUEUE_CREATE( pxNewQueue );
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492 mtCOVERAGE_TEST_MARKER();
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495 configASSERT( pxNewQueue );
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497 return ( QueueHandle_t ) pxNewQueue;
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499 /*-----------------------------------------------------------*/
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501 #if ( configUSE_MUTEXES == 1 )
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503 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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505 Queue_t *pxNewQueue;
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506 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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508 /* Prevent compiler warnings about unused parameters if
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509 configUSE_TRACE_FACILITY does not equal 1. */
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510 ( void ) ucQueueType;
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512 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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514 /* Allocate the new queue structure. */
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515 if( pxNewQueue != NULL )
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517 /* xQueueGenericCreate() will set all the queue structure members
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518 correctly for a generic queue, but this function is creating a
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519 mutex. Overwrite those members that need to be set differently -
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520 in particular the information required for priority inheritance. */
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521 pxNewQueue->pxMutexHolder = NULL;
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522 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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524 /* In case this is a recursive mutex. */
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525 pxNewQueue->u.uxRecursiveCallCount = 0;
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527 traceCREATE_MUTEX( pxNewQueue );
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529 /* Start with the semaphore in the expected state. */
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530 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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534 traceCREATE_MUTEX_FAILED();
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540 #endif /* configUSE_MUTEXES */
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541 /*-----------------------------------------------------------*/
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543 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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545 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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549 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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550 be called directly. Note: This is a good way of determining if the
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551 calling task is the mutex holder, but not a good way of determining the
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552 identity of the mutex holder, as the holder may change between the
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553 following critical section exiting and the function returning. */
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554 taskENTER_CRITICAL();
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556 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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558 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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565 taskEXIT_CRITICAL();
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568 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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571 /*-----------------------------------------------------------*/
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573 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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575 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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577 BaseType_t xReturn;
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578 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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580 configASSERT( pxMutex );
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582 /* If this is the task that holds the mutex then pxMutexHolder will not
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583 change outside of this task. If this task does not hold the mutex then
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584 pxMutexHolder can never coincidentally equal the tasks handle, and as
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585 this is the only condition we are interested in it does not matter if
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586 pxMutexHolder is accessed simultaneously by another task. Therefore no
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587 mutual exclusion is required to test the pxMutexHolder variable. */
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588 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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590 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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592 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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593 the task handle, therefore no underflow check is required. Also,
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594 uxRecursiveCallCount is only modified by the mutex holder, and as
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595 there can only be one, no mutual exclusion is required to modify the
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596 uxRecursiveCallCount member. */
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597 ( pxMutex->u.uxRecursiveCallCount )--;
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599 /* Has the recursive call count unwound to 0? */
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600 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
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602 /* Return the mutex. This will automatically unblock any other
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603 task that might be waiting to access the mutex. */
\r
604 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
608 mtCOVERAGE_TEST_MARKER();
\r
615 /* The mutex cannot be given because the calling task is not the
\r
619 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
625 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
626 /*-----------------------------------------------------------*/
\r
628 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
630 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
632 BaseType_t xReturn;
\r
633 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
635 configASSERT( pxMutex );
\r
637 /* Comments regarding mutual exclusion as per those within
\r
638 xQueueGiveMutexRecursive(). */
\r
640 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
642 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
644 ( pxMutex->u.uxRecursiveCallCount )++;
\r
649 xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
\r
651 /* pdPASS will only be returned if the mutex was successfully
\r
652 obtained. The calling task may have entered the Blocked state
\r
653 before reaching here. */
\r
654 if( xReturn != pdFAIL )
\r
656 ( pxMutex->u.uxRecursiveCallCount )++;
\r
660 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
667 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
668 /*-----------------------------------------------------------*/
\r
670 #if ( configUSE_COUNTING_SEMAPHORES == 1 )
\r
672 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
674 QueueHandle_t xHandle;
\r
676 configASSERT( uxMaxCount != 0 );
\r
677 configASSERT( uxInitialCount <= uxMaxCount );
\r
679 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
681 if( xHandle != NULL )
\r
683 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
685 traceCREATE_COUNTING_SEMAPHORE();
\r
689 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
692 configASSERT( xHandle );
\r
696 #endif /* configUSE_COUNTING_SEMAPHORES */
\r
697 /*-----------------------------------------------------------*/
\r
699 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
701 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
702 TimeOut_t xTimeOut;
\r
703 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
705 configASSERT( pxQueue );
\r
706 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
707 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
708 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
710 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
715 /* This function relaxes the coding standard somewhat to allow return
\r
716 statements within the function itself. This is done in the interest
\r
717 of execution time efficiency. */
\r
720 taskENTER_CRITICAL();
\r
722 /* Is there room on the queue now? The running task must be the
\r
723 highest priority task wanting to access the queue. If the head item
\r
724 in the queue is to be overwritten then it does not matter if the
\r
726 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
728 traceQUEUE_SEND( pxQueue );
\r
729 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
731 #if ( configUSE_QUEUE_SETS == 1 )
\r
733 if( pxQueue->pxQueueSetContainer != NULL )
\r
735 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
737 /* The queue is a member of a queue set, and posting
\r
738 to the queue set caused a higher priority task to
\r
739 unblock. A context switch is required. */
\r
740 queueYIELD_IF_USING_PREEMPTION();
\r
744 mtCOVERAGE_TEST_MARKER();
\r
749 /* If there was a task waiting for data to arrive on the
\r
750 queue then unblock it now. */
\r
751 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
753 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
755 /* The unblocked task has a priority higher than
\r
756 our own so yield immediately. Yes it is ok to
\r
757 do this from within the critical section - the
\r
758 kernel takes care of that. */
\r
759 queueYIELD_IF_USING_PREEMPTION();
\r
763 mtCOVERAGE_TEST_MARKER();
\r
766 else if( xYieldRequired != pdFALSE )
\r
768 /* This path is a special case that will only get
\r
769 executed if the task was holding multiple mutexes
\r
770 and the mutexes were given back in an order that is
\r
771 different to that in which they were taken. */
\r
772 queueYIELD_IF_USING_PREEMPTION();
\r
776 mtCOVERAGE_TEST_MARKER();
\r
780 #else /* configUSE_QUEUE_SETS */
\r
782 /* If there was a task waiting for data to arrive on the
\r
783 queue then unblock it now. */
\r
784 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
786 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
788 /* The unblocked task has a priority higher than
\r
789 our own so yield immediately. Yes it is ok to do
\r
790 this from within the critical section - the kernel
\r
791 takes care of that. */
\r
792 queueYIELD_IF_USING_PREEMPTION();
\r
796 mtCOVERAGE_TEST_MARKER();
\r
799 else if( xYieldRequired != pdFALSE )
\r
801 /* This path is a special case that will only get
\r
802 executed if the task was holding multiple mutexes and
\r
803 the mutexes were given back in an order that is
\r
804 different to that in which they were taken. */
\r
805 queueYIELD_IF_USING_PREEMPTION();
\r
809 mtCOVERAGE_TEST_MARKER();
\r
812 #endif /* configUSE_QUEUE_SETS */
\r
814 taskEXIT_CRITICAL();
\r
819 if( xTicksToWait == ( TickType_t ) 0 )
\r
821 /* The queue was full and no block time is specified (or
\r
822 the block time has expired) so leave now. */
\r
823 taskEXIT_CRITICAL();
\r
825 /* Return to the original privilege level before exiting
\r
827 traceQUEUE_SEND_FAILED( pxQueue );
\r
828 return errQUEUE_FULL;
\r
830 else if( xEntryTimeSet == pdFALSE )
\r
832 /* The queue was full and a block time was specified so
\r
833 configure the timeout structure. */
\r
834 vTaskSetTimeOutState( &xTimeOut );
\r
835 xEntryTimeSet = pdTRUE;
\r
839 /* Entry time was already set. */
\r
840 mtCOVERAGE_TEST_MARKER();
\r
844 taskEXIT_CRITICAL();
\r
846 /* Interrupts and other tasks can send to and receive from the queue
\r
847 now the critical section has been exited. */
\r
850 prvLockQueue( pxQueue );
\r
852 /* Update the timeout state to see if it has expired yet. */
\r
853 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
855 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
857 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
858 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
860 /* Unlocking the queue means queue events can effect the
\r
861 event list. It is possible that interrupts occurring now
\r
862 remove this task from the event list again - but as the
\r
863 scheduler is suspended the task will go onto the pending
\r
864 ready last instead of the actual ready list. */
\r
865 prvUnlockQueue( pxQueue );
\r
867 /* Resuming the scheduler will move tasks from the pending
\r
868 ready list into the ready list - so it is feasible that this
\r
869 task is already in a ready list before it yields - in which
\r
870 case the yield will not cause a context switch unless there
\r
871 is also a higher priority task in the pending ready list. */
\r
872 if( xTaskResumeAll() == pdFALSE )
\r
874 portYIELD_WITHIN_API();
\r
880 prvUnlockQueue( pxQueue );
\r
881 ( void ) xTaskResumeAll();
\r
886 /* The timeout has expired. */
\r
887 prvUnlockQueue( pxQueue );
\r
888 ( void ) xTaskResumeAll();
\r
890 traceQUEUE_SEND_FAILED( pxQueue );
\r
891 return errQUEUE_FULL;
\r
895 /*-----------------------------------------------------------*/
\r
897 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
899 BaseType_t xReturn;
\r
900 UBaseType_t uxSavedInterruptStatus;
\r
901 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
903 configASSERT( pxQueue );
\r
904 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
905 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
907 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
908 system call (or maximum API call) interrupt priority. Interrupts that are
\r
909 above the maximum system call priority are kept permanently enabled, even
\r
910 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
911 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
912 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
913 failure if a FreeRTOS API function is called from an interrupt that has been
\r
914 assigned a priority above the configured maximum system call priority.
\r
915 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
916 that have been assigned a priority at or (logically) below the maximum
\r
917 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
918 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
919 More information (albeit Cortex-M specific) is provided on the following
\r
920 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
921 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
923 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
924 in the queue. Also don't directly wake a task that was blocked on a queue
\r
925 read, instead return a flag to say whether a context switch is required or
\r
926 not (i.e. has a task with a higher priority than us been woken by this
\r
928 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
930 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
932 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
934 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
935 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
936 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
937 called here even though the disinherit function does not check if
\r
938 the scheduler is suspended before accessing the ready lists. */
\r
939 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
941 /* The event list is not altered if the queue is locked. This will
\r
942 be done when the queue is unlocked later. */
\r
943 if( pxQueue->xTxLock == queueUNLOCKED )
\r
945 #if ( configUSE_QUEUE_SETS == 1 )
\r
947 if( pxQueue->pxQueueSetContainer != NULL )
\r
949 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
951 /* The queue is a member of a queue set, and posting
\r
952 to the queue set caused a higher priority task to
\r
953 unblock. A context switch is required. */
\r
954 if( pxHigherPriorityTaskWoken != NULL )
\r
956 *pxHigherPriorityTaskWoken = pdTRUE;
\r
960 mtCOVERAGE_TEST_MARKER();
\r
965 mtCOVERAGE_TEST_MARKER();
\r
970 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
972 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
974 /* The task waiting has a higher priority so
\r
975 record that a context switch is required. */
\r
976 if( pxHigherPriorityTaskWoken != NULL )
\r
978 *pxHigherPriorityTaskWoken = pdTRUE;
\r
982 mtCOVERAGE_TEST_MARKER();
\r
987 mtCOVERAGE_TEST_MARKER();
\r
992 mtCOVERAGE_TEST_MARKER();
\r
996 #else /* configUSE_QUEUE_SETS */
\r
998 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1000 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1002 /* The task waiting has a higher priority so record that a
\r
1003 context switch is required. */
\r
1004 if( pxHigherPriorityTaskWoken != NULL )
\r
1006 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1010 mtCOVERAGE_TEST_MARKER();
\r
1015 mtCOVERAGE_TEST_MARKER();
\r
1020 mtCOVERAGE_TEST_MARKER();
\r
1023 #endif /* configUSE_QUEUE_SETS */
\r
1027 /* Increment the lock count so the task that unlocks the queue
\r
1028 knows that data was posted while it was locked. */
\r
1029 ++( pxQueue->xTxLock );
\r
1036 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1037 xReturn = errQUEUE_FULL;
\r
1040 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1044 /*-----------------------------------------------------------*/
\r
1046 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1048 BaseType_t xReturn;
\r
1049 UBaseType_t uxSavedInterruptStatus;
\r
1050 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1052 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1053 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1054 read, instead return a flag to say whether a context switch is required or
\r
1055 not (i.e. has a task with a higher priority than us been woken by this
\r
1058 configASSERT( pxQueue );
\r
1060 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1061 if the item size is not 0. */
\r
1062 configASSERT( pxQueue->uxItemSize == 0 );
\r
1064 /* Normally a mutex would not be given from an interrupt, especially if
\r
1065 there is a mutex holder, as priority inheritance makes no sense for an
\r
1066 interrupts, only tasks. */
\r
1067 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1069 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1070 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1071 above the maximum system call priority are kept permanently enabled, even
\r
1072 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1073 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1074 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1075 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1076 assigned a priority above the configured maximum system call priority.
\r
1077 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1078 that have been assigned a priority at or (logically) below the maximum
\r
1079 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1080 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1081 More information (albeit Cortex-M specific) is provided on the following
\r
1082 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1083 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1085 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1087 /* When the queue is used to implement a semaphore no data is ever
\r
1088 moved through the queue but it is still valid to see if the queue 'has
\r
1090 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1092 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1094 /* A task can only have an inherited priority if it is a mutex
\r
1095 holder - and if there is a mutex holder then the mutex cannot be
\r
1096 given from an ISR. As this is the ISR version of the function it
\r
1097 can be assumed there is no mutex holder and no need to determine if
\r
1098 priority disinheritance is needed. Simply increase the count of
\r
1099 messages (semaphores) available. */
\r
1100 ++( pxQueue->uxMessagesWaiting );
\r
1102 /* The event list is not altered if the queue is locked. This will
\r
1103 be done when the queue is unlocked later. */
\r
1104 if( pxQueue->xTxLock == queueUNLOCKED )
\r
1106 #if ( configUSE_QUEUE_SETS == 1 )
\r
1108 if( pxQueue->pxQueueSetContainer != NULL )
\r
1110 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1112 /* The semaphore is a member of a queue set, and
\r
1113 posting to the queue set caused a higher priority
\r
1114 task to unblock. A context switch is required. */
\r
1115 if( pxHigherPriorityTaskWoken != NULL )
\r
1117 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1121 mtCOVERAGE_TEST_MARKER();
\r
1126 mtCOVERAGE_TEST_MARKER();
\r
1131 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1133 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1135 /* The task waiting has a higher priority so
\r
1136 record that a context switch is required. */
\r
1137 if( pxHigherPriorityTaskWoken != NULL )
\r
1139 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1143 mtCOVERAGE_TEST_MARKER();
\r
1148 mtCOVERAGE_TEST_MARKER();
\r
1153 mtCOVERAGE_TEST_MARKER();
\r
1157 #else /* configUSE_QUEUE_SETS */
\r
1159 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1161 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1163 /* The task waiting has a higher priority so record that a
\r
1164 context switch is required. */
\r
1165 if( pxHigherPriorityTaskWoken != NULL )
\r
1167 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1171 mtCOVERAGE_TEST_MARKER();
\r
1176 mtCOVERAGE_TEST_MARKER();
\r
1181 mtCOVERAGE_TEST_MARKER();
\r
1184 #endif /* configUSE_QUEUE_SETS */
\r
1188 /* Increment the lock count so the task that unlocks the queue
\r
1189 knows that data was posted while it was locked. */
\r
1190 ++( pxQueue->xTxLock );
\r
1197 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1198 xReturn = errQUEUE_FULL;
\r
1201 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1205 /*-----------------------------------------------------------*/
\r
1207 BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking )
\r
1209 BaseType_t xEntryTimeSet = pdFALSE;
\r
1210 TimeOut_t xTimeOut;
\r
1211 int8_t *pcOriginalReadPosition;
\r
1212 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1214 configASSERT( pxQueue );
\r
1215 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1216 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1218 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1222 /* This function relaxes the coding standard somewhat to allow return
\r
1223 statements within the function itself. This is done in the interest
\r
1224 of execution time efficiency. */
\r
1228 taskENTER_CRITICAL();
\r
1230 /* Is there data in the queue now? To be running the calling task
\r
1231 must be the highest priority task wanting to access the queue. */
\r
1232 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1234 /* Remember the read position in case the queue is only being
\r
1236 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1238 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1240 if( xJustPeeking == pdFALSE )
\r
1242 traceQUEUE_RECEIVE( pxQueue );
\r
1244 /* Actually removing data, not just peeking. */
\r
1245 --( pxQueue->uxMessagesWaiting );
\r
1247 #if ( configUSE_MUTEXES == 1 )
\r
1249 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1251 /* Record the information required to implement
\r
1252 priority inheritance should it become necessary. */
\r
1253 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1257 mtCOVERAGE_TEST_MARKER();
\r
1260 #endif /* configUSE_MUTEXES */
\r
1262 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1264 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1266 queueYIELD_IF_USING_PREEMPTION();
\r
1270 mtCOVERAGE_TEST_MARKER();
\r
1275 mtCOVERAGE_TEST_MARKER();
\r
1280 traceQUEUE_PEEK( pxQueue );
\r
1282 /* The data is not being removed, so reset the read
\r
1284 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1286 /* The data is being left in the queue, so see if there are
\r
1287 any other tasks waiting for the data. */
\r
1288 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1290 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1292 /* The task waiting has a higher priority than this task. */
\r
1293 queueYIELD_IF_USING_PREEMPTION();
\r
1297 mtCOVERAGE_TEST_MARKER();
\r
1302 mtCOVERAGE_TEST_MARKER();
\r
1306 taskEXIT_CRITICAL();
\r
1311 if( xTicksToWait == ( TickType_t ) 0 )
\r
1313 /* The queue was empty and no block time is specified (or
\r
1314 the block time has expired) so leave now. */
\r
1315 taskEXIT_CRITICAL();
\r
1316 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1317 return errQUEUE_EMPTY;
\r
1319 else if( xEntryTimeSet == pdFALSE )
\r
1321 /* The queue was empty and a block time was specified so
\r
1322 configure the timeout structure. */
\r
1323 vTaskSetTimeOutState( &xTimeOut );
\r
1324 xEntryTimeSet = pdTRUE;
\r
1328 /* Entry time was already set. */
\r
1329 mtCOVERAGE_TEST_MARKER();
\r
1333 taskEXIT_CRITICAL();
\r
1335 /* Interrupts and other tasks can send to and receive from the queue
\r
1336 now the critical section has been exited. */
\r
1338 vTaskSuspendAll();
\r
1339 prvLockQueue( pxQueue );
\r
1341 /* Update the timeout state to see if it has expired yet. */
\r
1342 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1344 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1346 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1348 #if ( configUSE_MUTEXES == 1 )
\r
1350 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1352 taskENTER_CRITICAL();
\r
1354 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1356 taskEXIT_CRITICAL();
\r
1360 mtCOVERAGE_TEST_MARKER();
\r
1365 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1366 prvUnlockQueue( pxQueue );
\r
1367 if( xTaskResumeAll() == pdFALSE )
\r
1369 portYIELD_WITHIN_API();
\r
1373 mtCOVERAGE_TEST_MARKER();
\r
1379 prvUnlockQueue( pxQueue );
\r
1380 ( void ) xTaskResumeAll();
\r
1385 prvUnlockQueue( pxQueue );
\r
1386 ( void ) xTaskResumeAll();
\r
1388 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1390 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1391 return errQUEUE_EMPTY;
\r
1395 mtCOVERAGE_TEST_MARKER();
\r
1400 /*-----------------------------------------------------------*/
\r
1402 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1404 BaseType_t xReturn;
\r
1405 UBaseType_t uxSavedInterruptStatus;
\r
1406 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1408 configASSERT( pxQueue );
\r
1409 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1411 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1412 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1413 above the maximum system call priority are kept permanently enabled, even
\r
1414 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1415 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1416 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1417 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1418 assigned a priority above the configured maximum system call priority.
\r
1419 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1420 that have been assigned a priority at or (logically) below the maximum
\r
1421 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1422 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1423 More information (albeit Cortex-M specific) is provided on the following
\r
1424 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1425 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1427 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1429 /* Cannot block in an ISR, so check there is data available. */
\r
1430 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1432 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1434 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1435 --( pxQueue->uxMessagesWaiting );
\r
1437 /* If the queue is locked the event list will not be modified.
\r
1438 Instead update the lock count so the task that unlocks the queue
\r
1439 will know that an ISR has removed data while the queue was
\r
1441 if( pxQueue->xRxLock == queueUNLOCKED )
\r
1443 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1445 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1447 /* The task waiting has a higher priority than us so
\r
1448 force a context switch. */
\r
1449 if( pxHigherPriorityTaskWoken != NULL )
\r
1451 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1455 mtCOVERAGE_TEST_MARKER();
\r
1460 mtCOVERAGE_TEST_MARKER();
\r
1465 mtCOVERAGE_TEST_MARKER();
\r
1470 /* Increment the lock count so the task that unlocks the queue
\r
1471 knows that data was removed while it was locked. */
\r
1472 ++( pxQueue->xRxLock );
\r
1480 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1483 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1487 /*-----------------------------------------------------------*/
\r
1489 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1491 BaseType_t xReturn;
\r
1492 UBaseType_t uxSavedInterruptStatus;
\r
1493 int8_t *pcOriginalReadPosition;
\r
1494 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1496 configASSERT( pxQueue );
\r
1497 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1498 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1500 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1501 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1502 above the maximum system call priority are kept permanently enabled, even
\r
1503 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1504 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1505 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1506 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1507 assigned a priority above the configured maximum system call priority.
\r
1508 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1509 that have been assigned a priority at or (logically) below the maximum
\r
1510 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1511 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1512 More information (albeit Cortex-M specific) is provided on the following
\r
1513 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1514 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1516 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1518 /* Cannot block in an ISR, so check there is data available. */
\r
1519 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1521 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1523 /* Remember the read position so it can be reset as nothing is
\r
1524 actually being removed from the queue. */
\r
1525 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1526 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1527 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1534 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1537 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1541 /*-----------------------------------------------------------*/
\r
1543 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1545 UBaseType_t uxReturn;
\r
1547 configASSERT( xQueue );
\r
1549 taskENTER_CRITICAL();
\r
1551 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1553 taskEXIT_CRITICAL();
\r
1556 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1557 /*-----------------------------------------------------------*/
\r
1559 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1561 UBaseType_t uxReturn;
\r
1564 pxQueue = ( Queue_t * ) xQueue;
\r
1565 configASSERT( pxQueue );
\r
1567 taskENTER_CRITICAL();
\r
1569 uxReturn = pxQueue->uxLength - pxQueue->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 uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1579 UBaseType_t uxReturn;
\r
1581 configASSERT( xQueue );
\r
1583 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1586 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1587 /*-----------------------------------------------------------*/
\r
1589 void vQueueDelete( QueueHandle_t xQueue )
\r
1591 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1593 configASSERT( pxQueue );
\r
1595 traceQUEUE_DELETE( pxQueue );
\r
1596 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1598 vQueueUnregisterQueue( pxQueue );
\r
1602 #if( configSUPPORT_STATIC_ALLOCATION == 0 )
\r
1604 /* The queue and the queue storage area will have been dynamically
\r
1605 allocated in one go. */
\r
1606 vPortFree( pxQueue );
\r
1610 if( ( pxQueue->ucStaticAllocationFlags & queueSTATICALLY_ALLOCATED_STORAGE ) == 0 )
\r
1612 /* The queue storage area was dynamically allocated, so must be
\r
1614 vPortFree( pxQueue->pcHead );
\r
1618 mtCOVERAGE_TEST_MARKER();
\r
1621 if( ( pxQueue->ucStaticAllocationFlags & queueSTATICALLY_ALLOCATED_QUEUE_STRUCT ) == 0 )
\r
1623 /* The queue structure was dynamically allocated, so must be
\r
1625 vPortFree( pxQueue );
\r
1629 mtCOVERAGE_TEST_MARKER();
\r
1634 /*-----------------------------------------------------------*/
\r
1636 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1638 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1640 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1643 #endif /* configUSE_TRACE_FACILITY */
\r
1644 /*-----------------------------------------------------------*/
\r
1646 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1648 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1650 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
1653 #endif /* configUSE_TRACE_FACILITY */
\r
1654 /*-----------------------------------------------------------*/
\r
1656 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1658 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
1660 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
1663 #endif /* configUSE_TRACE_FACILITY */
\r
1664 /*-----------------------------------------------------------*/
\r
1666 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
1668 BaseType_t xReturn = pdFALSE;
\r
1670 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
1672 #if ( configUSE_MUTEXES == 1 )
\r
1674 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1676 /* The mutex is no longer being held. */
\r
1677 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1678 pxQueue->pxMutexHolder = NULL;
\r
1682 mtCOVERAGE_TEST_MARKER();
\r
1685 #endif /* configUSE_MUTEXES */
\r
1687 else if( xPosition == queueSEND_TO_BACK )
\r
1689 ( 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
1690 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1691 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1693 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1697 mtCOVERAGE_TEST_MARKER();
\r
1702 ( 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
1703 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1704 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1706 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1710 mtCOVERAGE_TEST_MARKER();
\r
1713 if( xPosition == queueOVERWRITE )
\r
1715 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1717 /* An item is not being added but overwritten, so subtract
\r
1718 one from the recorded number of items in the queue so when
\r
1719 one is added again below the number of recorded items remains
\r
1721 --( pxQueue->uxMessagesWaiting );
\r
1725 mtCOVERAGE_TEST_MARKER();
\r
1730 mtCOVERAGE_TEST_MARKER();
\r
1734 ++( pxQueue->uxMessagesWaiting );
\r
1738 /*-----------------------------------------------------------*/
\r
1740 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
1742 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
1744 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1745 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1747 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1751 mtCOVERAGE_TEST_MARKER();
\r
1753 ( 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
1756 /*-----------------------------------------------------------*/
\r
1758 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
1760 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1762 /* The lock counts contains the number of extra data items placed or
\r
1763 removed from the queue while the queue was locked. When a queue is
\r
1764 locked items can be added or removed, but the event lists cannot be
\r
1766 taskENTER_CRITICAL();
\r
1768 /* See if data was added to the queue while it was locked. */
\r
1769 while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )
\r
1771 /* Data was posted while the queue was locked. Are any tasks
\r
1772 blocked waiting for data to become available? */
\r
1773 #if ( configUSE_QUEUE_SETS == 1 )
\r
1775 if( pxQueue->pxQueueSetContainer != NULL )
\r
1777 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1779 /* The queue is a member of a queue set, and posting to
\r
1780 the queue set caused a higher priority task to unblock.
\r
1781 A context switch is required. */
\r
1782 vTaskMissedYield();
\r
1786 mtCOVERAGE_TEST_MARKER();
\r
1791 /* Tasks that are removed from the event list will get
\r
1792 added to the pending ready list as the scheduler is still
\r
1794 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1796 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1798 /* The task waiting has a higher priority so record that a
\r
1799 context switch is required. */
\r
1800 vTaskMissedYield();
\r
1804 mtCOVERAGE_TEST_MARKER();
\r
1813 #else /* configUSE_QUEUE_SETS */
\r
1815 /* Tasks that are removed from the event list will get added to
\r
1816 the pending ready list as the scheduler is still suspended. */
\r
1817 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1819 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1821 /* The task waiting has a higher priority so record that
\r
1822 a context switch is required. */
\r
1823 vTaskMissedYield();
\r
1827 mtCOVERAGE_TEST_MARKER();
\r
1835 #endif /* configUSE_QUEUE_SETS */
\r
1837 --( pxQueue->xTxLock );
\r
1840 pxQueue->xTxLock = queueUNLOCKED;
\r
1842 taskEXIT_CRITICAL();
\r
1844 /* Do the same for the Rx lock. */
\r
1845 taskENTER_CRITICAL();
\r
1847 while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
\r
1849 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1851 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1853 vTaskMissedYield();
\r
1857 mtCOVERAGE_TEST_MARKER();
\r
1860 --( pxQueue->xRxLock );
\r
1868 pxQueue->xRxLock = queueUNLOCKED;
\r
1870 taskEXIT_CRITICAL();
\r
1872 /*-----------------------------------------------------------*/
\r
1874 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
1876 BaseType_t xReturn;
\r
1878 taskENTER_CRITICAL();
\r
1880 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1886 xReturn = pdFALSE;
\r
1889 taskEXIT_CRITICAL();
\r
1893 /*-----------------------------------------------------------*/
\r
1895 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
1897 BaseType_t xReturn;
\r
1899 configASSERT( xQueue );
\r
1900 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1906 xReturn = pdFALSE;
\r
1910 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1911 /*-----------------------------------------------------------*/
\r
1913 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
1915 BaseType_t xReturn;
\r
1917 taskENTER_CRITICAL();
\r
1919 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
1925 xReturn = pdFALSE;
\r
1928 taskEXIT_CRITICAL();
\r
1932 /*-----------------------------------------------------------*/
\r
1934 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
1936 BaseType_t xReturn;
\r
1938 configASSERT( xQueue );
\r
1939 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
1945 xReturn = pdFALSE;
\r
1949 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1950 /*-----------------------------------------------------------*/
\r
1952 #if ( configUSE_CO_ROUTINES == 1 )
\r
1954 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
1956 BaseType_t xReturn;
\r
1957 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1959 /* If the queue is already full we may have to block. A critical section
\r
1960 is required to prevent an interrupt removing something from the queue
\r
1961 between the check to see if the queue is full and blocking on the queue. */
\r
1962 portDISABLE_INTERRUPTS();
\r
1964 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
1966 /* The queue is full - do we want to block or just leave without
\r
1968 if( xTicksToWait > ( TickType_t ) 0 )
\r
1970 /* As this is called from a coroutine we cannot block directly, but
\r
1971 return indicating that we need to block. */
\r
1972 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
1973 portENABLE_INTERRUPTS();
\r
1974 return errQUEUE_BLOCKED;
\r
1978 portENABLE_INTERRUPTS();
\r
1979 return errQUEUE_FULL;
\r
1983 portENABLE_INTERRUPTS();
\r
1985 portDISABLE_INTERRUPTS();
\r
1987 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1989 /* There is room in the queue, copy the data into the queue. */
\r
1990 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
1993 /* Were any co-routines waiting for data to become available? */
\r
1994 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1996 /* In this instance the co-routine could be placed directly
\r
1997 into the ready list as we are within a critical section.
\r
1998 Instead the same pending ready list mechanism is used as if
\r
1999 the event were caused from within an interrupt. */
\r
2000 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2002 /* The co-routine waiting has a higher priority so record
\r
2003 that a yield might be appropriate. */
\r
2004 xReturn = errQUEUE_YIELD;
\r
2008 mtCOVERAGE_TEST_MARKER();
\r
2013 mtCOVERAGE_TEST_MARKER();
\r
2018 xReturn = errQUEUE_FULL;
\r
2021 portENABLE_INTERRUPTS();
\r
2026 #endif /* configUSE_CO_ROUTINES */
\r
2027 /*-----------------------------------------------------------*/
\r
2029 #if ( configUSE_CO_ROUTINES == 1 )
\r
2031 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2033 BaseType_t xReturn;
\r
2034 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2036 /* If the queue is already empty we may have to block. A critical section
\r
2037 is required to prevent an interrupt adding something to the queue
\r
2038 between the check to see if the queue is empty and blocking on the queue. */
\r
2039 portDISABLE_INTERRUPTS();
\r
2041 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2043 /* There are no messages in the queue, do we want to block or just
\r
2044 leave with nothing? */
\r
2045 if( xTicksToWait > ( TickType_t ) 0 )
\r
2047 /* As this is a co-routine we cannot block directly, but return
\r
2048 indicating that we need to block. */
\r
2049 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2050 portENABLE_INTERRUPTS();
\r
2051 return errQUEUE_BLOCKED;
\r
2055 portENABLE_INTERRUPTS();
\r
2056 return errQUEUE_FULL;
\r
2061 mtCOVERAGE_TEST_MARKER();
\r
2064 portENABLE_INTERRUPTS();
\r
2066 portDISABLE_INTERRUPTS();
\r
2068 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2070 /* Data is available from the queue. */
\r
2071 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2072 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2074 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2078 mtCOVERAGE_TEST_MARKER();
\r
2080 --( pxQueue->uxMessagesWaiting );
\r
2081 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2085 /* Were any co-routines waiting for space to become available? */
\r
2086 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2088 /* In this instance the co-routine could be placed directly
\r
2089 into the ready list as we are within a critical section.
\r
2090 Instead the same pending ready list mechanism is used as if
\r
2091 the event were caused from within an interrupt. */
\r
2092 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2094 xReturn = errQUEUE_YIELD;
\r
2098 mtCOVERAGE_TEST_MARKER();
\r
2103 mtCOVERAGE_TEST_MARKER();
\r
2111 portENABLE_INTERRUPTS();
\r
2116 #endif /* configUSE_CO_ROUTINES */
\r
2117 /*-----------------------------------------------------------*/
\r
2119 #if ( configUSE_CO_ROUTINES == 1 )
\r
2121 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2123 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2125 /* Cannot block within an ISR so if there is no space on the queue then
\r
2126 exit without doing anything. */
\r
2127 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2129 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2131 /* We only want to wake one co-routine per ISR, so check that a
\r
2132 co-routine has not already been woken. */
\r
2133 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2135 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2137 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2143 mtCOVERAGE_TEST_MARKER();
\r
2148 mtCOVERAGE_TEST_MARKER();
\r
2153 mtCOVERAGE_TEST_MARKER();
\r
2158 mtCOVERAGE_TEST_MARKER();
\r
2161 return xCoRoutinePreviouslyWoken;
\r
2164 #endif /* configUSE_CO_ROUTINES */
\r
2165 /*-----------------------------------------------------------*/
\r
2167 #if ( configUSE_CO_ROUTINES == 1 )
\r
2169 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2171 BaseType_t xReturn;
\r
2172 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2174 /* We cannot block from an ISR, so check there is data available. If
\r
2175 not then just leave without doing anything. */
\r
2176 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2178 /* Copy the data from the queue. */
\r
2179 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2180 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2182 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2186 mtCOVERAGE_TEST_MARKER();
\r
2188 --( pxQueue->uxMessagesWaiting );
\r
2189 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2191 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2193 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2195 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2197 *pxCoRoutineWoken = pdTRUE;
\r
2201 mtCOVERAGE_TEST_MARKER();
\r
2206 mtCOVERAGE_TEST_MARKER();
\r
2211 mtCOVERAGE_TEST_MARKER();
\r
2224 #endif /* configUSE_CO_ROUTINES */
\r
2225 /*-----------------------------------------------------------*/
\r
2227 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2229 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2233 /* See if there is an empty space in the registry. A NULL name denotes
\r
2235 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2237 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2239 /* Store the information on this queue. */
\r
2240 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2241 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2243 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2248 mtCOVERAGE_TEST_MARKER();
\r
2253 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2254 /*-----------------------------------------------------------*/
\r
2256 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2258 const char *pcQueueGetQueueName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2261 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2263 /* Note there is nothing here to protect against another task adding or
\r
2264 removing entries from the registry while it is being searched. */
\r
2265 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2267 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2269 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2274 mtCOVERAGE_TEST_MARKER();
\r
2281 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2282 /*-----------------------------------------------------------*/
\r
2284 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2286 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2290 /* See if the handle of the queue being unregistered in actually in the
\r
2292 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2294 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2296 /* Set the name to NULL to show that this slot if free again. */
\r
2297 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2299 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2300 appear in the registry twice if it is added, removed, then
\r
2302 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2307 mtCOVERAGE_TEST_MARKER();
\r
2311 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2313 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2314 /*-----------------------------------------------------------*/
\r
2316 #if ( configUSE_TIMERS == 1 )
\r
2318 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2320 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2322 /* This function should not be called by application code hence the
\r
2323 'Restricted' in its name. It is not part of the public API. It is
\r
2324 designed for use by kernel code, and has special calling requirements.
\r
2325 It can result in vListInsert() being called on a list that can only
\r
2326 possibly ever have one item in it, so the list will be fast, but even
\r
2327 so it should be called with the scheduler locked and not from a critical
\r
2330 /* Only do anything if there are no messages in the queue. This function
\r
2331 will not actually cause the task to block, just place it on a blocked
\r
2332 list. It will not block until the scheduler is unlocked - at which
\r
2333 time a yield will be performed. If an item is added to the queue while
\r
2334 the queue is locked, and the calling task blocks on the queue, then the
\r
2335 calling task will be immediately unblocked when the queue is unlocked. */
\r
2336 prvLockQueue( pxQueue );
\r
2337 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2339 /* There is nothing in the queue, block for the specified period. */
\r
2340 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2344 mtCOVERAGE_TEST_MARKER();
\r
2346 prvUnlockQueue( pxQueue );
\r
2349 #endif /* configUSE_TIMERS */
\r
2350 /*-----------------------------------------------------------*/
\r
2352 #if ( configUSE_QUEUE_SETS == 1 )
\r
2354 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2356 QueueSetHandle_t pxQueue;
\r
2358 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), NULL, NULL, queueQUEUE_TYPE_SET );
\r
2363 #endif /* configUSE_QUEUE_SETS */
\r
2364 /*-----------------------------------------------------------*/
\r
2366 #if ( configUSE_QUEUE_SETS == 1 )
\r
2368 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2370 BaseType_t xReturn;
\r
2372 taskENTER_CRITICAL();
\r
2374 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2376 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2379 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2381 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2382 items in the queue/semaphore. */
\r
2387 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2391 taskEXIT_CRITICAL();
\r
2396 #endif /* configUSE_QUEUE_SETS */
\r
2397 /*-----------------------------------------------------------*/
\r
2399 #if ( configUSE_QUEUE_SETS == 1 )
\r
2401 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2403 BaseType_t xReturn;
\r
2404 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2406 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2408 /* The queue was not a member of the set. */
\r
2411 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2413 /* It is dangerous to remove a queue from a set when the queue is
\r
2414 not empty because the queue set will still hold pending events for
\r
2420 taskENTER_CRITICAL();
\r
2422 /* The queue is no longer contained in the set. */
\r
2423 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2425 taskEXIT_CRITICAL();
\r
2430 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2432 #endif /* configUSE_QUEUE_SETS */
\r
2433 /*-----------------------------------------------------------*/
\r
2435 #if ( configUSE_QUEUE_SETS == 1 )
\r
2437 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2439 QueueSetMemberHandle_t xReturn = NULL;
\r
2441 ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2445 #endif /* configUSE_QUEUE_SETS */
\r
2446 /*-----------------------------------------------------------*/
\r
2448 #if ( configUSE_QUEUE_SETS == 1 )
\r
2450 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2452 QueueSetMemberHandle_t xReturn = NULL;
\r
2454 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2458 #endif /* configUSE_QUEUE_SETS */
\r
2459 /*-----------------------------------------------------------*/
\r
2461 #if ( configUSE_QUEUE_SETS == 1 )
\r
2463 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2465 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2466 BaseType_t xReturn = pdFALSE;
\r
2468 /* This function must be called form a critical section. */
\r
2470 configASSERT( pxQueueSetContainer );
\r
2471 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2473 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2475 traceQUEUE_SEND( pxQueueSetContainer );
\r
2477 /* The data copied is the handle of the queue that contains data. */
\r
2478 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2480 if( pxQueueSetContainer->xTxLock == queueUNLOCKED )
\r
2482 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2484 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2486 /* The task waiting has a higher priority. */
\r
2491 mtCOVERAGE_TEST_MARKER();
\r
2496 mtCOVERAGE_TEST_MARKER();
\r
2501 ( pxQueueSetContainer->xTxLock )++;
\r
2506 mtCOVERAGE_TEST_MARKER();
\r
2512 #endif /* configUSE_QUEUE_SETS */
\r