/*\r
- FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.\r
All rights reserved\r
\r
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
/*\r
* Definition of the queue used by the scheduler.\r
- * Items are queued by copy, not reference.\r
+ * Items are queued by copy, not reference. See the following link for the\r
+ * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html\r
*/\r
typedef struct QueueDefinition\r
{\r
Queue_t *pxNewQueue;\r
size_t xQueueSizeInBytes;\r
QueueHandle_t xReturn = NULL;\r
+int8_t *pcAllocatedBuffer;\r
\r
/* Remove compiler warnings about unused parameters should\r
configUSE_TRACE_FACILITY not be set to 1. */\r
( void ) ucQueueType;\r
\r
- /* Allocate the new queue structure. */\r
- if( uxQueueLength > ( UBaseType_t ) 0 )\r
- {\r
- pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );\r
- if( pxNewQueue != NULL )\r
- {\r
- /* Create the list of pointers to queue items. The queue is one byte\r
- longer than asked for to make wrap checking easier/faster. */\r
- xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+ configASSERT( uxQueueLength > ( UBaseType_t ) 0 );\r
\r
- pxNewQueue->pcHead = ( int8_t * ) pvPortMalloc( xQueueSizeInBytes );\r
- if( pxNewQueue->pcHead != NULL )\r
- {\r
- /* Initialise the queue members as described above where the\r
- queue type is defined. */\r
- pxNewQueue->uxLength = uxQueueLength;\r
- pxNewQueue->uxItemSize = uxItemSize;\r
- ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );\r
+ if( uxItemSize == ( UBaseType_t ) 0 )\r
+ {\r
+ /* There is not going to be a queue storage area. */\r
+ xQueueSizeInBytes = ( size_t ) 0;\r
+ }\r
+ else\r
+ {\r
+ /* The queue is one byte longer than asked for to make wrap checking\r
+ easier/faster. */\r
+ xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+ }\r
\r
- #if ( configUSE_TRACE_FACILITY == 1 )\r
- {\r
- pxNewQueue->ucQueueType = ucQueueType;\r
- }\r
- #endif /* configUSE_TRACE_FACILITY */\r
+ /* Allocate the new queue structure and storage area. */\r
+ pcAllocatedBuffer = ( int8_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );\r
\r
- #if( configUSE_QUEUE_SETS == 1 )\r
- {\r
- pxNewQueue->pxQueueSetContainer = NULL;\r
- }\r
- #endif /* configUSE_QUEUE_SETS */\r
+ if( pcAllocatedBuffer != NULL )\r
+ {\r
+ pxNewQueue = ( Queue_t * ) pcAllocatedBuffer; /*lint !e826 MISRA The buffer cannot be to small because it was dimensioned by sizeof( Queue_t ) + xQueueSizeInBytes. */\r
\r
- traceQUEUE_CREATE( pxNewQueue );\r
- xReturn = pxNewQueue;\r
- }\r
- else\r
- {\r
- traceQUEUE_CREATE_FAILED( ucQueueType );\r
- vPortFree( pxNewQueue );\r
- }\r
+ if( uxItemSize == ( UBaseType_t ) 0 )\r
+ {\r
+ /* No RAM was allocated for the queue storage area, but PC head\r
+ cannot be set to NULL because NULL is used as a key to say the queue\r
+ is used as a mutex. Therefore just set pcHead to point to the queue\r
+ as a benign value that is known to be within the memory map. */\r
+ pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;\r
}\r
else\r
{\r
- mtCOVERAGE_TEST_MARKER();\r
+ /* Jump past the queue structure to find the location of the queue\r
+ storage area - adding the padding bytes to get a better alignment. */\r
+ pxNewQueue->pcHead = pcAllocatedBuffer + sizeof( Queue_t );\r
}\r
+\r
+ /* Initialise the queue members as described above where the queue type\r
+ is defined. */\r
+ pxNewQueue->uxLength = uxQueueLength;\r
+ pxNewQueue->uxItemSize = uxItemSize;\r
+ ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );\r
+\r
+ #if ( configUSE_TRACE_FACILITY == 1 )\r
+ {\r
+ pxNewQueue->ucQueueType = ucQueueType;\r
+ }\r
+ #endif /* configUSE_TRACE_FACILITY */\r
+\r
+ #if( configUSE_QUEUE_SETS == 1 )\r
+ {\r
+ pxNewQueue->pxQueueSetContainer = NULL;\r
+ }\r
+ #endif /* configUSE_QUEUE_SETS */\r
+\r
+ traceQUEUE_CREATE( pxNewQueue );\r
+ xReturn = pxNewQueue;\r
}\r
else\r
{\r
\r
traceCREATE_MUTEX( pxNewQueue );\r
\r
- /* Start with the semaphore in the expected state. Preload the\r
- mutex held count as calling xQueueGenericSend() will decrement the\r
- count back to 0. */\r
- vTaskIncrementMutexHeldCount();\r
+ /* Start with the semaphore in the expected state. */\r
( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );\r
}\r
else\r
taskEXIT_CRITICAL();\r
\r
return pxReturn;\r
- }\r
+ } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */\r
\r
#endif\r
/*-----------------------------------------------------------*/\r
the mutexes were given back in an order that is\r
different to that in which they were taken. */\r
queueYIELD_IF_USING_PREEMPTION();\r
- } \r
+ }\r
else\r
{\r
mtCOVERAGE_TEST_MARKER();\r
{\r
traceQUEUE_PEEK( pxQueue );\r
\r
- /* We are not removing the data, so reset our read\r
+ /* The data is not being removed, so reset our read\r
pointer. */\r
pxQueue->u.pcReadFrom = pcOriginalReadPosition;\r
\r
{\r
traceQUEUE_SEND_FROM_ISR( pxQueue );\r
\r
- if( prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ) != pdFALSE )\r
+ /* A task can only have an inherited priority if it is a mutex\r
+ holder - and if there is a mutex holder then the mutex cannot be\r
+ given from an ISR. Therefore, unlike the xQueueGenericGive()\r
+ function, there is no need to determine the need for priority\r
+ disinheritance here or to clear the mutex holder TCB member. */\r
+ ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
+\r
+ /* The event list is not altered if the queue is locked. This will\r
+ be done when the queue is unlocked later. */\r
+ if( pxQueue->xTxLock == queueUNLOCKED )\r
{\r
- /* This is a special case that can only be executed if a task\r
- holds multiple mutexes and then gives the mutexes back in an\r
- order that is different to that in which they were taken. */\r
- if( pxHigherPriorityTaskWoken != NULL )\r
+ #if ( configUSE_QUEUE_SETS == 1 )\r
{\r
- *pxHigherPriorityTaskWoken = pdTRUE;\r
+ if( pxQueue->pxQueueSetContainer != NULL )\r
+ {\r
+ if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )\r
+ {\r
+ /* The queue is a member of a queue set, and posting\r
+ to the queue set caused a higher priority task to\r
+ unblock. A context switch is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority so\r
+ record that a context switch is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
}\r
- else\r
+ #else /* configUSE_QUEUE_SETS */\r
{\r
- mtCOVERAGE_TEST_MARKER();\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority so record that a\r
+ context switch is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
+ #endif /* configUSE_QUEUE_SETS */\r
}\r
+ else\r
+ {\r
+ /* Increment the lock count so the task that unlocks the queue\r
+ knows that data was posted while it was locked. */\r
+ ++( pxQueue->xTxLock );\r
+ }\r
+\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );\r
+ xReturn = errQUEUE_FULL;\r
+ }\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xQueueGenericGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )\r
+{\r
+BaseType_t xReturn;\r
+UBaseType_t uxSavedInterruptStatus;\r
+Queue_t * const pxQueue = ( Queue_t * ) xQueue;\r
+\r
+ configASSERT( pxQueue );\r
+\r
+ /* xQueueGenericSendFromISR() should be used in the item size is not 0. */\r
+ configASSERT( pxQueue->uxItemSize == 0 );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a maximum\r
+ system call (or maximum API call) interrupt priority. Interrupts that are\r
+ above the maximum system call priority are kept permanently enabled, even\r
+ when the RTOS kernel is in a critical section, but cannot make any calls to\r
+ FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h\r
+ then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has been\r
+ assigned a priority above the configured maximum system call priority.\r
+ Only FreeRTOS functions that end in FromISR can be called from interrupts\r
+ that have been assigned a priority at or (logically) below the maximum\r
+ system call interrupt priority. FreeRTOS maintains a separate interrupt\r
+ safe API to ensure interrupt entry is as fast and as simple as possible.\r
+ More information (albeit Cortex-M specific) is provided on the following\r
+ link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ /* Similar to xQueueGenericSendFromISR() but used with semaphores where the\r
+ item size is 0. Don't directly wake a task that was blocked on a queue\r
+ read, instead return a flag to say whether a context switch is required or\r
+ not (i.e. has a task with a higher priority than us been woken by this\r
+ post). */\r
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ /* When the queue is used to implement a semaphore no data is ever\r
+ moved through the queue but it is still valid to see if the queue 'has\r
+ space'. */\r
+ if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
+ {\r
+ traceQUEUE_SEND_FROM_ISR( pxQueue );\r
+\r
+ /* A task can only have an inherited priority if it is a mutex\r
+ holder - and if there is a mutex holder then the mutex cannot be\r
+ given from an ISR. Therefore, unlike the xQueueGenericGive()\r
+ function, there is no need to determine the need for priority\r
+ disinheritance here or to clear the mutex holder TCB member. */\r
+\r
+ ++( pxQueue->uxMessagesWaiting );\r
\r
/* The event list is not altered if the queue is locked. This will\r
be done when the queue is unlocked later. */\r
{\r
if( pxQueue->pxQueueSetContainer != NULL )\r
{\r
- if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )\r
+ if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )\r
{\r
- /* The queue is a member of a queue set, and posting\r
- to the queue set caused a higher priority task to\r
- unblock. A context switch is required. */\r
+ /* The semaphore is a member of a queue set, and\r
+ posting to the queue set caused a higher priority\r
+ task to unblock. A context switch is required. */\r
if( pxHigherPriorityTaskWoken != NULL )\r
{\r
*pxHigherPriorityTaskWoken = pdTRUE;\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
- /* The task waiting has a higher priority so record that a\r
- context switch is required. */\r
+ /* The task waiting has a higher priority so\r
+ record that a context switch is required. */\r
if( pxHigherPriorityTaskWoken != NULL )\r
{\r
*pxHigherPriorityTaskWoken = pdTRUE;\r
{\r
taskENTER_CRITICAL();\r
{\r
- /* Is there data in the queue now? To be running we must be\r
- the highest priority task wanting to access the queue. */\r
+ /* Is there data in the queue now? To be running the calling task\r
+ must be the highest priority task wanting to access the queue. */\r
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )\r
{\r
/* Remember the read position in case the queue is only being\r
{\r
/* Record the information required to implement\r
priority inheritance should it become necessary. */\r
- pxQueue->pxMutexHolder = ( int8_t * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */\r
+ pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */\r
}\r
else\r
{\r
mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
- #endif\r
+ #endif /* configUSE_MUTEXES */\r
\r
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
\r
configASSERT( pxQueue );\r
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );\r
+ configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */\r
\r
/* RTOS ports that support interrupt nesting have the concept of a maximum\r
system call (or maximum API call) interrupt priority. Interrupts that are\r
vQueueUnregisterQueue( pxQueue );\r
}\r
#endif\r
- if( pxQueue->pcHead != NULL )\r
- {\r
- vPortFree( pxQueue->pcHead );\r
- }\r
vPortFree( pxQueue );\r
}\r
/*-----------------------------------------------------------*/\r
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
{\r
/* The mutex is no longer being held. */\r
- vTaskDecrementMutexHeldCount();\r
xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );\r
pxQueue->pxMutexHolder = NULL;\r
}\r
\r
static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )\r
{\r
- if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )\r
+ if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )\r
{\r
pxQueue->u.pcReadFrom += pxQueue->uxItemSize;\r
if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */\r
}\r
( 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
}\r
- else\r
- {\r
- /* A mutex was taken. */\r
- vTaskIncrementMutexHeldCount();\r
- }\r
}\r
/*-----------------------------------------------------------*/\r
\r
projects / freertos / blobdiff