/*\r
- FreeRTOS.org V4.2.0 - Copyright (C) 2003-2007 Richard Barry.\r
-\r
- This file is part of the FreeRTOS.org distribution.\r
-\r
- FreeRTOS.org is free software; you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation; either version 2 of the License, or\r
- (at your option) any later version.\r
-\r
- FreeRTOS.org is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\r
-\r
- You should have received a copy of the GNU General Public License\r
- along with FreeRTOS.org; if not, write to the Free Software\r
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
-\r
- A special exception to the GPL can be applied should you wish to distribute\r
- a combined work that includes FreeRTOS.org, without being obliged to provide\r
- the source code for any proprietary components. See the licensing section \r
- of http://www.FreeRTOS.org for full details of how and when the exception\r
- can be applied.\r
-\r
- ***************************************************************************\r
- See http://www.FreeRTOS.org for documentation, latest information, license \r
- and contact details. Please ensure to read the configuration and relevant \r
- port sections of the online documentation.\r
- ***************************************************************************\r
+ FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * If you are: *\r
+ * *\r
+ * + New to FreeRTOS, *\r
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *\r
+ * + Looking for basic training, *\r
+ * + Wanting to improve your FreeRTOS skills and productivity *\r
+ * *\r
+ * then take a look at the FreeRTOS books - available as PDF or paperback *\r
+ * *\r
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *\r
+ * http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ * A pdf reference manual is also available. Both are usually delivered *\r
+ * to your inbox within 20 minutes to two hours when purchased between 8am *\r
+ * and 8pm GMT (although please allow up to 24 hours in case of *\r
+ * exceptional circumstances). Thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ ***NOTE*** The exception to the GPL is included to allow you to distribute\r
+ a combined work that includes FreeRTOS without being obliged to provide the\r
+ source code for proprietary components outside of the FreeRTOS kernel.\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public \r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it \r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained \r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
*/\r
\r
+#ifndef INC_FREERTOS_H\r
+ #error "#include FreeRTOS.h" must appear in source files before "#include queue.h"\r
+#endif\r
+\r
+\r
+\r
+\r
#ifndef QUEUE_H\r
#define QUEUE_H\r
\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+\r
+\r
+#include "mpu_wrappers.h"\r
+\r
+\r
typedef void * xQueueHandle;\r
\r
+\r
+/* For internal use only. */\r
+#define queueSEND_TO_BACK ( 0 )\r
+#define queueSEND_TO_FRONT ( 1 )\r
+\r
+\r
/**\r
* queue. h\r
* <pre>\r
- xQueueHandle xQueueCreate( \r
- unsigned portBASE_TYPE uxQueueLength, \r
- unsigned portBASE_TYPE uxItemSize \r
- );\r
+ xQueueHandle xQueueCreate(\r
+ unsigned portBASE_TYPE uxQueueLength,\r
+ unsigned portBASE_TYPE uxItemSize\r
+ );\r
* </pre>\r
*\r
* Creates a new queue instance. This allocates the storage required by the\r
*\r
* @param uxQueueLength The maximum number of items that the queue can contain.\r
*\r
- * @param uxItemSize The number of bytes each item in the queue will require. \r
+ * @param uxItemSize The number of bytes each item in the queue will require.\r
* Items are queued by copy, not by reference, so this is the number of bytes\r
* that will be copied for each posted item. Each item on the queue must be\r
* the same size.\r
*\r
- * @return If the queue is successfully create then a handle to the newly \r
+ * @return If the queue is successfully create then a handle to the newly\r
* created queue is returned. If the queue cannot be created then 0 is\r
* returned.\r
- * \r
+ *\r
* Example usage:\r
<pre>\r
struct AMessage\r
{\r
- portCHAR ucMessageID;\r
- portCHAR ucData[ 20 ];\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
};\r
\r
void vATask( void *pvParameters )\r
{\r
xQueueHandle xQueue1, xQueue2;\r
\r
- // Create a queue capable of containing 10 unsigned long values.\r
- xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
- if( xQueue1 == 0 )\r
- {\r
- // Queue was not created and must not be used.\r
- }\r
-\r
- // Create a queue capable of containing 10 pointers to AMessage structures.\r
- // These should be passed by pointer as they contain a lot of data.\r
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
- if( xQueue2 == 0 )\r
- {\r
- // Queue was not created and must not be used.\r
- }\r
-\r
- // ... Rest of task code.\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );\r
+ if( xQueue1 == 0 )\r
+ {\r
+ // Queue was not created and must not be used.\r
+ }\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue2 == 0 )\r
+ {\r
+ // Queue was not created and must not be used.\r
+ }\r
+\r
+ // ... Rest of task code.\r
}\r
</pre>\r
* \defgroup xQueueCreate xQueueCreate\r
/**\r
* queue. h\r
* <pre>\r
- portBASE_TYPE xQueueSend( \r
- xQueueHandle xQueue, \r
- const void * pvItemToQueue, \r
- portTickType xTicksToWait \r
- );\r
+ portBASE_TYPE xQueueSendToToFront(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ );\r
+ * </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSend().\r
+ *\r
+ * Post an item to the front of a queue. The item is queued by copy, not by\r
+ * reference. This function must not be called from an interrupt service\r
+ * routine. See xQueueSendFromISR () for an alternative which may be used\r
+ * in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0 and the\r
+ * queue is full. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned long ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendToBack(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ );\r
+ * </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSend().\r
+ *\r
+ * Post an item to the back of a queue. The item is queued by copy, not by\r
+ * reference. This function must not be called from an interrupt service\r
+ * routine. See xQueueSendFromISR () for an alternative which may be used\r
+ * in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0 and the queue\r
+ * is full. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned long ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSend(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ );\r
* </pre>\r
*\r
+ * This is a macro that calls xQueueGenericSend(). It is included for\r
+ * backward compatibility with versions of FreeRTOS.org that did not\r
+ * include the xQueueSendToFront() and xQueueSendToBack() macros. It is\r
+ * equivalent to xQueueSendToBack().\r
+ *\r
* Post an item on a queue. The item is queued by copy, not by reference.\r
* This function must not be called from an interrupt service routine.\r
* See xQueueSendFromISR () for an alternative which may be used in an ISR.\r
*\r
* @param xQueue The handle to the queue on which the item is to be posted.\r
- * \r
- * @param pvItemToQueue A pointer to the item that is to be placed on the \r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
* queue. The size of the items the queue will hold was defined when the\r
* queue was created, so this many bytes will be copied from pvItemToQueue\r
* into the queue storage area.\r
*\r
* @param xTicksToWait The maximum amount of time the task should block\r
* waiting for space to become available on the queue, should it already\r
- * be full. The call will return immediately if this is set to 0. The\r
- * time is defined in tick periods so the constant portTICK_RATE_MS \r
- * should be used to convert to real time if this is required.\r
+ * be full. The call will return immediately if this is set to 0 and the\r
+ * queue is full. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
*\r
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
*\r
<pre>\r
struct AMessage\r
{\r
- portCHAR ucMessageID;\r
- portCHAR ucData[ 20 ];\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
} xMessage;\r
\r
- unsigned portLONG ulVar = 10UL;\r
+ unsigned long ulVar = 10UL;\r
\r
void vATask( void *pvParameters )\r
{\r
xQueueHandle xQueue1, xQueue2;\r
struct AMessage *pxMessage;\r
\r
- // Create a queue capable of containing 10 unsigned long values.\r
- xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
-\r
- // Create a queue capable of containing 10 pointers to AMessage structures.\r
- // These should be passed by pointer as they contain a lot of data.\r
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
-\r
- // ...\r
-\r
- if( xQueue1 != 0 )\r
- {\r
- // Send an unsigned long. Wait for 10 ticks for space to become \r
- // available if necessary.\r
- if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
- {\r
- // Failed to post the message, even after 10 ticks.\r
- }\r
- }\r
-\r
- if( xQueue2 != 0 )\r
- {\r
- // Send a pointer to a struct AMessage object. Don't block if the\r
- // queue is already full.\r
- pxMessage = & xMessage;\r
- xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
- }\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ }\r
\r
// ... Rest of task code.\r
}\r
* \defgroup xQueueSend xQueueSend\r
* \ingroup QueueManagement\r
*/\r
-signed portBASE_TYPE xQueueSend( xQueueHandle xQueue, const void * pvItemToQueue, portTickType xTicksToWait );\r
+#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueGenericSend(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ portBASE_TYPE xCopyPosition\r
+ );\r
+ * </pre>\r
+ *\r
+ * It is preferred that the macros xQueueSend(), xQueueSendToFront() and\r
+ * xQueueSendToBack() are used in place of calling this function directly.\r
+ *\r
+ * Post an item on a queue. The item is queued by copy, not by reference.\r
+ * This function must not be called from an interrupt service routine.\r
+ * See xQueueSendFromISR () for an alternative which may be used in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0 and the\r
+ * queue is full. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ *\r
+ * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the\r
+ * item at the back of the queue, or queueSEND_TO_FRONT to place the item\r
+ * at the front of the queue (for high priority messages).\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned long ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueuePeek(\r
+ xQueueHandle xQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait\r
+ );</pre>\r
+ *\r
+ * This is a macro that calls the xQueueGenericReceive() function.\r
+ *\r
+ * Receive an item from a queue without removing the item from the queue.\r
+ * The item is received by copy so a buffer of adequate size must be\r
+ * provided. The number of bytes copied into the buffer was defined when\r
+ * the queue was created.\r
+ *\r
+ * Successfully received items remain on the queue so will be returned again\r
+ * by the next call, or a call to xQueueReceive().\r
+ *\r
+ * This macro must not be used in an interrupt service routine.\r
+ *\r
+ * @param pxQueue The handle to the queue from which the item is to be\r
+ * received.\r
+ *\r
+ * @param pvBuffer Pointer to the buffer into which the received item will\r
+ * be copied.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for an item to receive should the queue be empty at the time\r
+ * of the call. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue\r
+ * is empty.\r
+ *\r
+ * @return pdTRUE if an item was successfully received from the queue,\r
+ * otherwise pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ xQueueHandle xQueue;\r
+\r
+ // Task to create a queue and post a value.\r
+ void vATask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+\r
+ // ... Rest of task code.\r
+ }\r
+\r
+ // Task to peek the data from the queue.\r
+ void vADifferentTask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxRxedMessage;\r
+\r
+ if( xQueue != 0 )\r
+ {\r
+ // Peek a message on the created queue. Block for 10 ticks if a\r
+ // message is not immediately available.\r
+ if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
+ {\r
+ // pcRxedMessage now points to the struct AMessage variable posted\r
+ // by vATask, but the item still remains on the queue.\r
+ }\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueReceive xQueueReceive\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )\r
\r
/**\r
* queue. h\r
* <pre>\r
- portBASE_TYPE xQueueReceive( \r
- xQueueHandle xQueue, \r
- void *pvBuffer, \r
- portTickType xTicksToWait \r
- );</pre>\r
+ portBASE_TYPE xQueueReceive(\r
+ xQueueHandle xQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait\r
+ );</pre>\r
+ *\r
+ * This is a macro that calls the xQueueGenericReceive() function.\r
*\r
- * Receive an item from a queue. The item is received by copy so a buffer of \r
+ * Receive an item from a queue. The item is received by copy so a buffer of\r
* adequate size must be provided. The number of bytes copied into the buffer\r
* was defined when the queue was created.\r
*\r
+ * Successfully received items are removed from the queue.\r
+ *\r
* This function must not be used in an interrupt service routine. See\r
* xQueueReceiveFromISR for an alternative that can.\r
*\r
*\r
* @param pvBuffer Pointer to the buffer into which the received item will\r
* be copied.\r
- * \r
+ *\r
* @param xTicksToWait The maximum amount of time the task should block\r
* waiting for an item to receive should the queue be empty at the time\r
- * of the call. The time is defined in tick periods so the constant \r
+ * of the call. xQueueReceive() will return immediately if xTicksToWait\r
+ * is zero and the queue is empty. The time is defined in tick periods so the\r
+ * constant portTICK_RATE_MS should be used to convert to real time if this is\r
+ * required.\r
+ *\r
+ * @return pdTRUE if an item was successfully received from the queue,\r
+ * otherwise pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ xQueueHandle xQueue;\r
+\r
+ // Task to create a queue and post a value.\r
+ void vATask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+\r
+ // ... Rest of task code.\r
+ }\r
+\r
+ // Task to receive from the queue.\r
+ void vADifferentTask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxRxedMessage;\r
+\r
+ if( xQueue != 0 )\r
+ {\r
+ // Receive a message on the created queue. Block for 10 ticks if a\r
+ // message is not immediately available.\r
+ if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
+ {\r
+ // pcRxedMessage now points to the struct AMessage variable posted\r
+ // by vATask.\r
+ }\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueReceive xQueueReceive\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueGenericReceive(\r
+ xQueueHandle xQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait\r
+ portBASE_TYPE xJustPeek\r
+ );</pre>\r
+ *\r
+ * It is preferred that the macro xQueueReceive() be used rather than calling\r
+ * this function directly.\r
+ *\r
+ * Receive an item from a queue. The item is received by copy so a buffer of\r
+ * adequate size must be provided. The number of bytes copied into the buffer\r
+ * was defined when the queue was created.\r
+ *\r
+ * This function must not be used in an interrupt service routine. See\r
+ * xQueueReceiveFromISR for an alternative that can.\r
+ *\r
+ * @param pxQueue The handle to the queue from which the item is to be\r
+ * received.\r
+ *\r
+ * @param pvBuffer Pointer to the buffer into which the received item will\r
+ * be copied.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for an item to receive should the queue be empty at the time\r
+ * of the call. The time is defined in tick periods so the constant\r
* portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ * xQueueGenericReceive() will return immediately if the queue is empty and\r
+ * xTicksToWait is 0.\r
+ *\r
+ * @param xJustPeek When set to true, the item received from the queue is not\r
+ * actually removed from the queue - meaning a subsequent call to\r
+ * xQueueReceive() will return the same item. When set to false, the item\r
+ * being received from the queue is also removed from the queue.\r
*\r
* @return pdTRUE if an item was successfully received from the queue,\r
* otherwise pdFALSE.\r
<pre>\r
struct AMessage\r
{\r
- portCHAR ucMessageID;\r
- portCHAR ucData[ 20 ];\r
+ char ucMessageID;\r
+ char ucData[ 20 ];\r
} xMessage;\r
\r
xQueueHandle xQueue;\r
- \r
+\r
// Task to create a queue and post a value.\r
void vATask( void *pvParameters )\r
{\r
struct AMessage *pxMessage;\r
\r
- // Create a queue capable of containing 10 pointers to AMessage structures.\r
- // These should be passed by pointer as they contain a lot of data.\r
- xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
- if( xQueue == 0 )\r
- {\r
- // Failed to create the queue.\r
- }\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
\r
- // ...\r
+ // ...\r
\r
- // Send a pointer to a struct AMessage object. Don't block if the\r
- // queue is already full.\r
- pxMessage = & xMessage;\r
- xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
\r
// ... Rest of task code.\r
}\r
{\r
struct AMessage *pxRxedMessage;\r
\r
- if( xQueue != 0 )\r
- {\r
- // Receive a message on the created queue. Block for 10 ticks if a\r
- // message is not immediately available.\r
- if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
- {\r
- // pcRxedMessage now points to the struct AMessage variable posted\r
- // by vATask.\r
- }\r
- }\r
+ if( xQueue != 0 )\r
+ {\r
+ // Receive a message on the created queue. Block for 10 ticks if a\r
+ // message is not immediately available.\r
+ if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
+ {\r
+ // pcRxedMessage now points to the struct AMessage variable posted\r
+ // by vATask.\r
+ }\r
+ }\r
\r
// ... Rest of task code.\r
}\r
* \defgroup xQueueReceive xQueueReceive\r
* \ingroup QueueManagement\r
*/\r
-signed portBASE_TYPE xQueueReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait );\r
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek );\r
\r
/**\r
* queue. h\r
- * <pre>unsigned portBASE_TYPE uxQueueMessagesWaiting( xQueueHandle xQueue );</pre>\r
+ * <pre>unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );</pre>\r
*\r
* Return the number of messages stored in a queue.\r
*\r
* @param xQueue A handle to the queue being queried.\r
- * \r
+ *\r
* @return The number of messages available in the queue.\r
*\r
* \page uxQueueMessagesWaiting uxQueueMessagesWaiting\r
* \ingroup QueueManagement\r
*/\r
-unsigned portBASE_TYPE uxQueueMessagesWaiting( xQueueHandle xQueue );\r
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );\r
\r
/**\r
* queue. h\r
*\r
* Delete a queue - freeing all the memory allocated for storing of items\r
* placed on the queue.\r
- * \r
+ *\r
* @param xQueue A handle to the queue to be deleted.\r
*\r
* \page vQueueDelete vQueueDelete\r
/**\r
* queue. h\r
* <pre>\r
- portBASE_TYPE xQueueSendFromISR( \r
- xQueueHandle pxQueue, \r
- const void *pvItemToQueue, \r
- portBASE_TYPE xTaskPreviouslyWoken \r
- );\r
+ portBASE_TYPE xQueueSendToFrontFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE *pxHigherPriorityTaskWoken\r
+ );\r
+ </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSendFromISR().\r
+ *\r
+ * Post an item to the front of a queue. It is safe to use this macro from\r
+ * within an interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set\r
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task\r
+ * to unblock, and the unblocked task has a priority higher than the currently\r
+ * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then\r
+ * a context switch should be requested before the interrupt is exited.\r
+ *\r
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise\r
+ * errQUEUE_FULL.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ char cIn;\r
+ portBASE_TYPE xHigherPrioritTaskWoken;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ xHigherPriorityTaskWoken = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );\r
+\r
+ // Post the byte.\r
+ xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( xHigherPriorityTaskWoken )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_FRONT )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendToBackFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE *pxHigherPriorityTaskWoken\r
+ );\r
+ </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSendFromISR().\r
+ *\r
+ * Post an item to the back of a queue. It is safe to use this macro from\r
+ * within an interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set\r
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task\r
+ * to unblock, and the unblocked task has a priority higher than the currently\r
+ * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then\r
+ * a context switch should be requested before the interrupt is exited.\r
+ *\r
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise\r
+ * errQUEUE_FULL.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ char cIn;\r
+ portBASE_TYPE xHigherPriorityTaskWoken;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ xHigherPriorityTaskWoken = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );\r
+\r
+ // Post the byte.\r
+ xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( xHigherPriorityTaskWoken )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE *pxHigherPriorityTaskWoken\r
+ );\r
</pre>\r
*\r
+ * This is a macro that calls xQueueGenericSendFromISR(). It is included\r
+ * for backward compatibility with versions of FreeRTOS.org that did not\r
+ * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()\r
+ * macros.\r
+ *\r
+ * Post an item to the back of a queue. It is safe to use this function from\r
+ * within an interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set\r
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task\r
+ * to unblock, and the unblocked task has a priority higher than the currently\r
+ * running task. If xQueueSendFromISR() sets this value to pdTRUE then\r
+ * a context switch should be requested before the interrupt is exited.\r
+ *\r
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise\r
+ * errQUEUE_FULL.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ char cIn;\r
+ portBASE_TYPE xHigherPriorityTaskWoken;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ xHigherPriorityTaskWoken = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );\r
+\r
+ // Post the byte.\r
+ xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( xHigherPriorityTaskWoken )\r
+ {\r
+ // Actual macro used here is port specific.\r
+ taskYIELD_FROM_ISR ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueGenericSendFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE *pxHigherPriorityTaskWoken,\r
+ portBASE_TYPE xCopyPosition\r
+ );\r
+ </pre>\r
+ *\r
+ * It is preferred that the macros xQueueSendFromISR(),\r
+ * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place\r
+ * of calling this function directly.\r
+ *\r
* Post an item on a queue. It is safe to use this function from within an\r
* interrupt service routine.\r
*\r
* it would be preferable to store a pointer to the item being queued.\r
*\r
* @param xQueue The handle to the queue on which the item is to be posted.\r
- * \r
- * @param pvItemToQueue A pointer to the item that is to be placed on the \r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
* queue. The size of the items the queue will hold was defined when the\r
* queue was created, so this many bytes will be copied from pvItemToQueue\r
* into the queue storage area.\r
*\r
- * @param cTaskPreviouslyWoken This is included so an ISR can post onto\r
- * the same queue multiple times from a single interrupt. The first call\r
- * should always pass in pdFALSE. Subsequent calls should pass in\r
- * the value returned from the previous call. See the file serial .c in the\r
- * PC port for a good example of this mechanism.\r
+ * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set\r
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task\r
+ * to unblock, and the unblocked task has a priority higher than the currently\r
+ * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then\r
+ * a context switch should be requested before the interrupt is exited.\r
*\r
- * @return pdTRUE if a task was woken by posting onto the queue. This is \r
- * used by the ISR to determine if a context switch may be required following\r
- * the ISR.\r
+ * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the\r
+ * item at the back of the queue, or queueSEND_TO_FRONT to place the item\r
+ * at the front of the queue (for high priority messages).\r
+ *\r
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise\r
+ * errQUEUE_FULL.\r
*\r
* Example usage for buffered IO (where the ISR can obtain more than one value\r
* per call):\r
<pre>\r
void vBufferISR( void )\r
{\r
- portCHAR cIn;\r
- portBASE_TYPE xTaskWokenByPost;\r
-\r
- // We have not woken a task at the start of the ISR.\r
- cTaskWokenByPost = pdFALSE;\r
-\r
- // Loop until the buffer is empty.\r
- do\r
- {\r
- // Obtain a byte from the buffer.\r
- cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS ); \r
-\r
- // Post the byte. The first time round the loop cTaskWokenByPost\r
- // will be pdFALSE. If the queue send causes a task to wake we do\r
- // not want the task to run until we have finished the ISR, so\r
- // xQueueSendFromISR does not cause a context switch. Also we \r
- // don't want subsequent posts to wake any other tasks, so we store\r
- // the return value back into cTaskWokenByPost so xQueueSendFromISR\r
- // knows not to wake any task the next iteration of the loop.\r
- xTaskWokenByPost = xQueueSendFromISR( xRxQueue, &cIn, cTaskWokenByPost );\r
-\r
- } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
-\r
- // Now the buffer is empty we can switch context if necessary.\r
- if( cTaskWokenByPost )\r
- {\r
- taskYIELD ();\r
- }\r
+ char cIn;\r
+ portBASE_TYPE xHigherPriorityTaskWokenByPost;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ xHigherPriorityTaskWokenByPost = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );\r
+\r
+ // Post each byte.\r
+ xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary. Note that the\r
+ // name of the yield function required is port specific.\r
+ if( xHigherPriorityTaskWokenByPost )\r
+ {\r
+ taskYIELD_YIELD_FROM_ISR();\r
+ }\r
}\r
</pre>\r
*\r
* \defgroup xQueueSendFromISR xQueueSendFromISR\r
* \ingroup QueueManagement\r
*/\r
-signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken );\r
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );\r
\r
/**\r
* queue. h\r
* <pre>\r
- portBASE_TYPE xQueueReceiveFromISR( \r
- xQueueHandle pxQueue, \r
- void *pvBuffer, \r
- portBASE_TYPE *pxTaskWoken \r
- ); \r
+ portBASE_TYPE xQueueReceiveFromISR(\r
+ xQueueHandle pxQueue,\r
+ void *pvBuffer,\r
+ portBASE_TYPE *pxTaskWoken\r
+ );\r
* </pre>\r
*\r
* Receive an item from a queue. It is safe to use this function from within an\r
*\r
* @param pvBuffer Pointer to the buffer into which the received item will\r
* be copied.\r
- * \r
+ *\r
* @param pxTaskWoken A task may be blocked waiting for space to become\r
* available on the queue. If xQueueReceiveFromISR causes such a task to\r
* unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will\r
*\r
* Example usage:\r
<pre>\r
- \r
+\r
xQueueHandle xQueue;\r
- \r
+\r
// Function to create a queue and post some values.\r
void vAFunction( void *pvParameters )\r
{\r
- portCHAR cValueToPost;\r
+ char cValueToPost;\r
const portTickType xBlockTime = ( portTickType )0xff;\r
\r
- // Create a queue capable of containing 10 characters.\r
- xQueue = xQueueCreate( 10, sizeof( portCHAR ) );\r
- if( xQueue == 0 )\r
- {\r
- // Failed to create the queue.\r
- }\r
+ // Create a queue capable of containing 10 characters.\r
+ xQueue = xQueueCreate( 10, sizeof( char ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
\r
- // ...\r
+ // ...\r
\r
- // Post some characters that will be used within an ISR. If the queue\r
- // is full then this task will block for xBlockTime ticks.\r
- cValueToPost = 'a';\r
- xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
- cValueToPost = 'b';\r
- xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
+ // Post some characters that will be used within an ISR. If the queue\r
+ // is full then this task will block for xBlockTime ticks.\r
+ cValueToPost = 'a';\r
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
+ cValueToPost = 'b';\r
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
\r
- // ... keep posting characters ... this task may block when the queue\r
- // becomes full.\r
+ // ... keep posting characters ... this task may block when the queue\r
+ // becomes full.\r
\r
- cValueToPost = 'c';\r
- xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
+ cValueToPost = 'c';\r
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
}\r
\r
- // ISR that outputs all the characters received on the queue. \r
+ // ISR that outputs all the characters received on the queue.\r
void vISR_Routine( void )\r
{\r
portBASE_TYPE xTaskWokenByReceive = pdFALSE;\r
- portCHAR cRxedChar;\r
-\r
- while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )\r
- {\r
- // A character was received. Output the character now.\r
- vOutputCharacter( cRxedChar );\r
-\r
- // If removing the character from the queue woke the task that was \r
- // posting onto the queue cTaskWokenByReceive will have been set to\r
- // pdTRUE. No matter how many times this loop iterates only one\r
- // task will be woken.\r
- }\r
-\r
- if( cTaskWokenByPost != ( portCHAR ) pdFALSE;\r
- {\r
- taskYIELD ();\r
- }\r
+ char cRxedChar;\r
+\r
+ while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )\r
+ {\r
+ // A character was received. Output the character now.\r
+ vOutputCharacter( cRxedChar );\r
+\r
+ // If removing the character from the queue woke the task that was\r
+ // posting onto the queue cTaskWokenByReceive will have been set to\r
+ // pdTRUE. No matter how many times this loop iterates only one\r
+ // task will be woken.\r
+ }\r
+\r
+ if( cTaskWokenByPost != ( char ) pdFALSE;\r
+ {\r
+ taskYIELD ();\r
+ }\r
}\r
</pre>\r
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR\r
* \ingroup QueueManagement\r
*/\r
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
+\r
+/*\r
+ * Utilities to query queue that are safe to use from an ISR. These utilities\r
+ * should be used only from witin an ISR, or within a critical section.\r
+ */\r
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue );\r
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue );\r
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue );\r
\r
\r
-/* \r
- * The functions defined above are for passing data to and from tasks. The \r
- * functions below are the equivalents for passing data to and from \r
- * co-rtoutines.\r
+/*\r
+ * xQueueAltGenericSend() is an alternative version of xQueueGenericSend().\r
+ * Likewise xQueueAltGenericReceive() is an alternative version of\r
+ * xQueueGenericReceive().\r
+ *\r
+ * The source code that implements the alternative (Alt) API is much\r
+ * simpler because it executes everything from within a critical section.\r
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the\r
+ * preferred fully featured API too. The fully featured API has more\r
+ * complex code that takes longer to execute, but makes much less use of\r
+ * critical sections. Therefore the alternative API sacrifices interrupt\r
+ * responsiveness to gain execution speed, whereas the fully featured API\r
+ * sacrifices execution speed to ensure better interrupt responsiveness.\r
+ */\r
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );\r
+#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )\r
+#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )\r
+#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )\r
+#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )\r
+\r
+/*\r
+ * The functions defined above are for passing data to and from tasks. The\r
+ * functions below are the equivalents for passing data to and from\r
+ * co-routines.\r
*\r
* These functions are called from the co-routine macro implementation and\r
* should not be called directly from application code. Instead use the macro\r
signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );\r
signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );\r
\r
+/*\r
+ * For internal use only. Use xSemaphoreCreateMutex() or\r
+ * xSemaphoreCreateCounting() instead of calling these functions directly.\r
+ */\r
+xQueueHandle xQueueCreateMutex( void );\r
+xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );\r
+\r
+/*\r
+ * For internal use only. Use xSemaphoreTakeMutexRecursive() or\r
+ * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.\r
+ */\r
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );\r
+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );\r
+\r
+/*\r
+ * The registry is provided as a means for kernel aware debuggers to\r
+ * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add\r
+ * a queue, semaphore or mutex handle to the registry if you want the handle\r
+ * to be available to a kernel aware debugger. If you are not using a kernel\r
+ * aware debugger then this function can be ignored.\r
+ *\r
+ * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the\r
+ * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0\r
+ * within FreeRTOSConfig.h for the registry to be available. Its value\r
+ * does not effect the number of queues, semaphores and mutexes that can be\r
+ * created - just the number that the registry can hold.\r
+ *\r
+ * @param xQueue The handle of the queue being added to the registry. This\r
+ * is the handle returned by a call to xQueueCreate(). Semaphore and mutex\r
+ * handles can also be passed in here.\r
+ *\r
+ * @param pcName The name to be associated with the handle. This is the\r
+ * name that the kernel aware debugger will display.\r
+ */\r
+#if configQUEUE_REGISTRY_SIZE > 0\r
+ void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName );\r
#endif\r
\r
+\r
+\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif /* QUEUE_H */\r
+\r
projects / freertos / blobdiff