/*\r
- FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.\r
-\r
- This file is part of the FreeRTOS.org distribution.\r
+ FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \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
+ FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:\r
+ Atollic AB - Atollic provides professional embedded systems development \r
+ tools for C/C++ development, code analysis and test automation. \r
+ See http://www.atollic.com\r
+ \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
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
+ ***************************************************************************\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
+ This file is part of the FreeRTOS distribution.\r
\r
- ***************************************************************************\r
- ***************************************************************************\r
- * *\r
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
- * and even write all or part of your application on your behalf. *\r
- * See http://www.OpenRTOS.com for details of the services we provide to *\r
- * expedite your project. *\r
- * *\r
- ***************************************************************************\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 modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or 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
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\r
+ 1 tab == 4 spaces!\r
\r
- http://www.FreeRTOS.org - Documentation, latest information, license and \r
- contact details.\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
+ 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
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
*/\r
\r
#include <stdlib.h>\r
#include <string.h>\r
+\r
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining\r
+all the API functions to use the MPU wrappers. That should only be done when\r
+task.h is included from an application file. */\r
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
+\r
#include "FreeRTOS.h"\r
#include "task.h"\r
-#include "croutine.h"\r
+\r
+#if ( configUSE_CO_ROUTINES == 1 )\r
+ #include "croutine.h"\r
+#endif\r
+\r
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
\r
/*-----------------------------------------------------------\r
* PUBLIC LIST API documented in list.h\r
*----------------------------------------------------------*/\r
\r
/* Constants used with the cRxLock and cTxLock structure members. */\r
-#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )\r
-#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 )\r
+#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )\r
+#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 )\r
\r
-#define queueERRONEOUS_UNBLOCK ( -1 )\r
+#define queueERRONEOUS_UNBLOCK ( -1 )\r
\r
/* For internal use only. */\r
-#define queueSEND_TO_BACK ( 0 )\r
-#define queueSEND_TO_FRONT ( 1 )\r
+#define queueSEND_TO_BACK ( 0 )\r
+#define queueSEND_TO_FRONT ( 1 )\r
\r
/* Effectively make a union out of the xQUEUE structure. */\r
-#define pxMutexHolder pcTail\r
-#define uxQueueType pcHead\r
-#define uxRecursiveCallCount pcReadFrom\r
-#define queueQUEUE_IS_MUTEX NULL\r
+#define pxMutexHolder pcTail\r
+#define uxQueueType pcHead\r
+#define uxRecursiveCallCount pcReadFrom\r
+#define queueQUEUE_IS_MUTEX NULL\r
\r
/* Semaphores do not actually store or copy data, so have an items size of\r
zero. */\r
-#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )\r
-#define queueDONT_BLOCK ( ( portTickType ) 0 )\r
-#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 )\r
+#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )\r
+#define queueDONT_BLOCK ( ( portTickType ) 0U )\r
+#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U )\r
+\r
/*\r
* Definition of the queue used by the scheduler.\r
* Items are queued by copy, not reference.\r
*/\r
typedef struct QueueDefinition\r
{\r
- signed portCHAR *pcHead; /*< Points to the beginning of the queue storage area. */\r
- signed portCHAR *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. */\r
+ signed char *pcHead; /*< Points to the beginning of the queue storage area. */\r
+ signed char *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */\r
\r
- signed portCHAR *pcWriteTo; /*< Points to the free next place in the storage area. */\r
- signed portCHAR *pcReadFrom; /*< Points to the last place that a queued item was read from. */\r
+ signed char *pcWriteTo; /*< Points to the free next place in the storage area. */\r
+ signed char *pcReadFrom; /*< Points to the last place that a queued item was read from. */\r
\r
xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */\r
xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */\r
\r
signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */\r
signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */\r
+\r
} xQUEUE;\r
/*-----------------------------------------------------------*/\r
\r
* include the API header file (as it defines xQueueHandle differently). These\r
* functions are documented in the API header file.\r
*/\r
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );\r
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue );\r
-void vQueueDelete( xQueueHandle xQueue );\r
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );\r
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );\r
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
-xQueueHandle xQueueCreateMutex( void );\r
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );\r
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );\r
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );\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
-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
+xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;\r
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
+void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;\r
+xQueueHandle xQueueCreateMutex( void ) PRIVILEGED_FUNCTION;\r
+xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;\r
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;\r
+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
+void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;\r
\r
+/*\r
+ * Co-routine queue functions differ from task queue functions. Co-routines are\r
+ * an optional component.\r
+ */\r
#if configUSE_CO_ROUTINES == 1\r
- signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );\r
- signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
- signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );\r
- signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );\r
+ signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION;\r
+ signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;\r
+ signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;\r
+ signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;\r
+#endif\r
+\r
+/*\r
+ * The queue registry is just a means for kernel aware debuggers to locate\r
+ * queue structures. It has no other purpose so is an optional component.\r
+ */\r
+#if configQUEUE_REGISTRY_SIZE > 0\r
+\r
+ /* The type stored within the queue registry array. This allows a name\r
+ to be assigned to each queue making kernel aware debugging a little\r
+ more user friendly. */\r
+ typedef struct QUEUE_REGISTRY_ITEM\r
+ {\r
+ signed char *pcQueueName;\r
+ xQueueHandle xHandle;\r
+ } xQueueRegistryItem;\r
+\r
+ /* The queue registry is simply an array of xQueueRegistryItem structures.\r
+ The pcQueueName member of a structure being NULL is indicative of the\r
+ array position being vacant. */\r
+ xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];\r
+\r
+ /* Removes a queue from the registry by simply setting the pcQueueName\r
+ member to NULL. */\r
+ static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;\r
+ void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION;\r
#endif\r
\r
/*\r
* to indicate that a task may require unblocking. When the queue in unlocked\r
* these lock counts are inspected, and the appropriate action taken.\r
*/\r
-static void prvUnlockQueue( xQueueHandle pxQueue );\r
+static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Uses a critical section to determine if there is any data in a queue.\r
*\r
* @return pdTRUE if the queue contains no items, otherwise pdFALSE.\r
*/\r
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue );\r
+static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Uses a critical section to determine if there is any space in a queue.\r
*\r
* @return pdTRUE if there is no space, otherwise pdFALSE;\r
*/\r
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue );\r
+static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Copies an item into the queue, either at the front of the queue or the\r
* back of the queue.\r
*/\r
-static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition );\r
+static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Copies an item out of a queue.\r
*/\r
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer );\r
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;\r
/*-----------------------------------------------------------*/\r
\r
/*\r
* Macro to mark a queue as locked. Locking a queue prevents an ISR from\r
* accessing the queue event lists.\r
*/\r
-#define prvLockQueue( pxQueue ) \\r
-{ \\r
- taskENTER_CRITICAL(); \\r
- { \\r
- if( pxQueue->xRxLock == queueUNLOCKED ) \\r
- { \\r
- pxQueue->xRxLock = queueLOCKED_UNMODIFIED; \\r
- } \\r
- if( pxQueue->xTxLock == queueUNLOCKED ) \\r
- { \\r
- pxQueue->xTxLock = queueLOCKED_UNMODIFIED; \\r
- } \\r
- } \\r
- taskEXIT_CRITICAL(); \\r
-}\r
+#define prvLockQueue( pxQueue ) \\r
+ taskENTER_CRITICAL(); \\r
+ { \\r
+ if( ( pxQueue )->xRxLock == queueUNLOCKED ) \\r
+ { \\r
+ ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \\r
+ } \\r
+ if( ( pxQueue )->xTxLock == queueUNLOCKED ) \\r
+ { \\r
+ ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \\r
+ } \\r
+ } \\r
+ taskEXIT_CRITICAL()\r
/*-----------------------------------------------------------*/\r
\r
\r
{\r
xQUEUE *pxNewQueue;\r
size_t xQueueSizeInBytes;\r
+xQueueHandle xReturn = NULL;\r
\r
/* Allocate the new queue structure. */\r
if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )\r
longer than asked for to make wrap checking easier/faster. */\r
xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;\r
\r
- pxNewQueue->pcHead = ( signed portCHAR * ) pvPortMalloc( xQueueSizeInBytes );\r
+ pxNewQueue->pcHead = ( signed char * ) 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->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize );\r
- pxNewQueue->uxMessagesWaiting = 0;\r
+ pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;\r
pxNewQueue->pcWriteTo = pxNewQueue->pcHead;\r
- pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize );\r
+ pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - ( unsigned portBASE_TYPE ) 1U ) * uxItemSize );\r
pxNewQueue->uxLength = uxQueueLength;\r
pxNewQueue->uxItemSize = uxItemSize;\r
pxNewQueue->xRxLock = queueUNLOCKED;\r
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );\r
\r
traceQUEUE_CREATE( pxNewQueue );\r
-\r
- return pxNewQueue;\r
+ xReturn = pxNewQueue;\r
}\r
else\r
{\r
}\r
}\r
\r
- /* Will only reach here if we could not allocate enough memory or no memory\r
- was required. */\r
- return NULL;\r
+ configASSERT( xReturn );\r
+\r
+ return xReturn;\r
}\r
/*-----------------------------------------------------------*/\r
\r
xQueueHandle xQueueCreateMutex( void )\r
{\r
xQUEUE *pxNewQueue;\r
- \r
+\r
/* Allocate the new queue structure. */\r
pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );\r
if( pxNewQueue != NULL )\r
/* Information required for priority inheritance. */\r
pxNewQueue->pxMutexHolder = NULL;\r
pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;\r
- \r
+\r
/* Queues used as a mutex no data is actually copied into or out\r
of the queue. */\r
pxNewQueue->pcWriteTo = NULL;\r
pxNewQueue->pcReadFrom = NULL;\r
- \r
+\r
/* Each mutex has a length of 1 (like a binary semaphore) and\r
an item size of 0 as nothing is actually copied into or out\r
of the mutex. */\r
- pxNewQueue->uxMessagesWaiting = 0;\r
- pxNewQueue->uxLength = 1;\r
- pxNewQueue->uxItemSize = 0;\r
+ pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;\r
+ pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U;\r
+ pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U;\r
pxNewQueue->xRxLock = queueUNLOCKED;\r
pxNewQueue->xTxLock = queueUNLOCKED;\r
- \r
+\r
/* Ensure the event queues start with the correct state. */\r
vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );\r
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );\r
\r
/* Start with the semaphore in the expected state. */\r
- xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK );\r
+ xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );\r
\r
traceCREATE_MUTEX( pxNewQueue );\r
}\r
{\r
traceCREATE_MUTEX_FAILED();\r
}\r
- \r
+\r
+ configASSERT( pxNewQueue );\r
return pxNewQueue;\r
}\r
\r
{\r
portBASE_TYPE xReturn;\r
\r
+ configASSERT( pxMutex );\r
+\r
/* If this is the task that holds the mutex then pxMutexHolder will not\r
change outside of this task. If this task does not hold the mutex then\r
pxMutexHolder can never coincidentally equal the tasks handle, and as\r
{\r
/* Return the mutex. This will automatically unblock any other\r
task that might be waiting to access the mutex. */\r
- xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );\r
+ xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );\r
}\r
\r
- xReturn = pdPASS; \r
+ xReturn = pdPASS;\r
}\r
else\r
{\r
{\r
portBASE_TYPE xReturn;\r
\r
+ configASSERT( pxMutex );\r
+\r
/* Comments regarding mutual exclusion as per those within\r
xQueueGiveMutexRecursive(). */\r
\r
}\r
else\r
{\r
- xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );\r
+ xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );\r
\r
/* pdPASS will only be returned if we successfully obtained the mutex,\r
we may have blocked to reach here. */\r
{\r
( pxMutex->uxRecursiveCallCount )++;\r
}\r
- } \r
+ else\r
+ {\r
+ traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );\r
+ }\r
+ }\r
\r
return xReturn;\r
}\r
xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )\r
{\r
xQueueHandle pxHandle;\r
- \r
+\r
pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH );\r
\r
if( pxHandle != NULL )\r
traceCREATE_COUNTING_SEMAPHORE_FAILED();\r
}\r
\r
+ configASSERT( pxHandle );\r
return pxHandle;\r
}\r
\r
\r
signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )\r
{\r
-signed portBASE_TYPE xReturn = pdTRUE;\r
+signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
xTimeOutType xTimeOut;\r
\r
- do\r
- {\r
- /* If xTicksToWait is zero then we are not going to block even\r
- if there is no room in the queue to post. */\r
- if( xTicksToWait > ( portTickType ) 0 )\r
- {\r
- vTaskSuspendAll();\r
- prvLockQueue( pxQueue );\r
+ configASSERT( pxQueue );\r
+ configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
\r
- if( xReturn == pdTRUE )\r
- {\r
- /* This is the first time through - we need to capture the\r
- time while the scheduler is locked to ensure we attempt to\r
- block at least once. */\r
- vTaskSetTimeOutState( &xTimeOut );\r
- }\r
-\r
- if( prvIsQueueFull( pxQueue ) )\r
- {\r
- /* Need to call xTaskCheckForTimeout again as time could\r
- have passed since it was last called if this is not the\r
- first time around this loop. */\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
- {\r
- traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
- \r
- /* Unlocking the queue means queue events can effect the\r
- event list. It is possible that interrupts occurring now\r
- remove this task from the event list again - but as the\r
- scheduler is suspended the task will go onto the pending\r
- ready last instead of the actual ready list. */\r
- prvUnlockQueue( pxQueue );\r
- \r
- /* Resuming the scheduler will move tasks from the pending\r
- ready list into the ready list - so it is feasible that this\r
- task is already in a ready list before it yields - in which\r
- case the yield will not cause a context switch unless there\r
- is also a higher priority task in the pending ready list. */\r
- if( !xTaskResumeAll() )\r
- {\r
- taskYIELD();\r
- }\r
- }\r
- else\r
- {\r
- prvUnlockQueue( pxQueue );\r
- ( void ) xTaskResumeAll();\r
- }\r
- }\r
- else\r
- {\r
- /* The queue was not full so we can just unlock the\r
- scheduler and queue again before carrying on. */\r
- prvUnlockQueue( pxQueue );\r
- ( void ) xTaskResumeAll();\r
- }\r
- }\r
- \r
- /* Higher priority tasks and interrupts can execute during\r
- this time and could possible refill the queue - even if we\r
- unblocked because space became available. */\r
- \r
+ /* This function relaxes the coding standard somewhat to allow return\r
+ statements within the function itself. This is done in the interest\r
+ of execution time efficiency. */\r
+ for( ;; )\r
+ {\r
taskENTER_CRITICAL();\r
{\r
- /* Is there room on the queue now? To be running we must be\r
- the highest priority task wanting to access the queue. */\r
+ /* Is there room on the queue now? To be running we must be\r
+ the highest priority task wanting to access the queue. */\r
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
{\r
traceQUEUE_SEND( pxQueue );\r
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
- xReturn = pdPASS;\r
- \r
+\r
/* If there was a task waiting for data to arrive on the\r
queue then unblock it now. */\r
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )\r
{\r
- /* The unblocked task has a priority higher than\r
- our own so yield immediately. */\r
- taskYIELD();\r
+ /* The unblocked task has a priority higher than\r
+ our own so yield immediately. Yes it is ok to do\r
+ this from within the critical section - the kernel\r
+ takes care of that. */\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
+\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* Return to the original privilege level before exiting the\r
+ function. */\r
+ return pdPASS;\r
}\r
else\r
{\r
- /* Setting xReturn to errQUEUE_FULL will force its timeout\r
- to be re-evaluated. This is necessary in case interrupts\r
- and higher priority tasks accessed the queue between this\r
- task being unblocked and subsequently attempting to write\r
- to the queue. */\r
- xReturn = errQUEUE_FULL;\r
+ if( xTicksToWait == ( portTickType ) 0 )\r
+ {\r
+ /* The queue was full and no block time is specified (or\r
+ the block time has expired) so leave now. */\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* Return to the original privilege level before exiting\r
+ the function. */\r
+ traceQUEUE_SEND_FAILED( pxQueue );\r
+ return errQUEUE_FULL;\r
+ }\r
+ else if( xEntryTimeSet == pdFALSE )\r
+ {\r
+ /* The queue was full and a block time was specified so\r
+ configure the timeout structure. */\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+ xEntryTimeSet = pdTRUE;\r
+ }\r
}\r
}\r
taskEXIT_CRITICAL();\r
\r
- if( xReturn == errQUEUE_FULL )\r
+ /* Interrupts and other tasks can send to and receive from the queue\r
+ now the critical section has been exited. */\r
+\r
+ vTaskSuspendAll();\r
+ prvLockQueue( pxQueue );\r
+\r
+ /* Update the timeout state to see if it has expired yet. */\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
{\r
- if( xTicksToWait > ( portTickType ) 0 )\r
+ if( prvIsQueueFull( pxQueue ) != pdFALSE )\r
{\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
+ traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
+\r
+ /* Unlocking the queue means queue events can effect the\r
+ event list. It is possible that interrupts occurring now\r
+ remove this task from the event list again - but as the\r
+ scheduler is suspended the task will go onto the pending\r
+ ready last instead of the actual ready list. */\r
+ prvUnlockQueue( pxQueue );\r
+\r
+ /* Resuming the scheduler will move tasks from the pending\r
+ ready list into the ready list - so it is feasible that this\r
+ task is already in a ready list before it yields - in which\r
+ case the yield will not cause a context switch unless there\r
+ is also a higher priority task in the pending ready list. */\r
+ if( xTaskResumeAll() == pdFALSE )\r
{\r
- xReturn = queueERRONEOUS_UNBLOCK;\r
- }\r
- else\r
- {\r
- traceQUEUE_SEND_FAILED( pxQueue );\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\r
{\r
- traceQUEUE_SEND_FAILED( pxQueue );\r
+ /* Try again. */\r
+ prvUnlockQueue( pxQueue );\r
+ ( void ) xTaskResumeAll();\r
}\r
}\r
+ else\r
+ {\r
+ /* The timeout has expired. */\r
+ prvUnlockQueue( pxQueue );\r
+ ( void ) xTaskResumeAll();\r
+\r
+ /* Return to the original privilege level before exiting the\r
+ function. */\r
+ traceQUEUE_SEND_FAILED( pxQueue );\r
+ return errQUEUE_FULL;\r
+ }\r
}\r
- while( xReturn == queueERRONEOUS_UNBLOCK );\r
-\r
- return xReturn;\r
}\r
/*-----------------------------------------------------------*/\r
\r
\r
signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )\r
{\r
- signed portBASE_TYPE xReturn = pdPASS;\r
+ signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
xTimeOutType xTimeOut;\r
\r
- /* The source code that implements the alternative (Alt) API is\r
- simpler because it makes more use of critical sections. This is \r
- 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 less use of\r
- critical sections. */\r
+ configASSERT( pxQueue );\r
+ configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
\r
- do\r
+ for( ;; )\r
{\r
- /* If xTicksToWait is zero then we are not going to block even\r
- if there is no room in the queue to post. */\r
- if( xTicksToWait > ( portTickType ) 0 )\r
- {\r
- portENTER_CRITICAL();\r
- {\r
- if( xReturn == pdPASS )\r
- {\r
- /* This is the first time through - capture the time\r
- inside the critical section to ensure we attempt to\r
- block at least once. */\r
- vTaskSetTimeOutState( &xTimeOut );\r
- }\r
- \r
- if( prvIsQueueFull( pxQueue ) )\r
- {\r
- /* Need to call xTaskCheckForTimeout again as time could\r
- have passed since it was last called if this is not the\r
- first time around this loop. */\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
- {\r
- traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
-\r
- /* This will exit the critical section, then re-enter when\r
- the task next runs. */\r
- taskYIELD();\r
- }\r
- }\r
- }\r
- portEXIT_CRITICAL();\r
- }\r
- \r
- /* Higher priority tasks and interrupts can execute during\r
- this time and could possible refill the queue - even if we\r
- unblocked because space became available. */\r
- \r
taskENTER_CRITICAL();\r
{\r
- /* Is there room on the queue now? To be running we must be\r
- the highest priority task wanting to access the queue. */\r
+ /* Is there room on the queue now? To be running we must be\r
+ the highest priority task wanting to access the queue. */\r
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
{\r
traceQUEUE_SEND( pxQueue );\r
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
- xReturn = pdPASS;\r
- \r
+\r
/* If there was a task waiting for data to arrive on the\r
queue then unblock it now. */\r
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
/* The unblocked task has a priority higher than\r
our own so yield immediately. */\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
+\r
+ taskEXIT_CRITICAL();\r
+ return pdPASS;\r
}\r
else\r
{\r
- /* Setting xReturn to errQUEUE_FULL will force its timeout\r
- to be re-evaluated. This is necessary in case interrupts\r
- and higher priority tasks accessed the queue between this\r
- task being unblocked and subsequently attempting to write\r
- to the queue. */\r
- xReturn = errQUEUE_FULL;\r
+ if( xTicksToWait == ( portTickType ) 0 )\r
+ {\r
+ taskEXIT_CRITICAL();\r
+ return errQUEUE_FULL;\r
+ }\r
+ else if( xEntryTimeSet == pdFALSE )\r
+ {\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+ xEntryTimeSet = pdTRUE;\r
+ }\r
}\r
}\r
taskEXIT_CRITICAL();\r
\r
- if( xReturn == errQUEUE_FULL )\r
+ taskENTER_CRITICAL();\r
{\r
- if( xTicksToWait > ( portTickType ) 0 )\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
{\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
- {\r
- xReturn = queueERRONEOUS_UNBLOCK;\r
- }\r
- else\r
+ if( prvIsQueueFull( pxQueue ) != pdFALSE )\r
{\r
- traceQUEUE_SEND_FAILED( pxQueue );\r
+ traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\r
{\r
+ taskEXIT_CRITICAL();\r
traceQUEUE_SEND_FAILED( pxQueue );\r
+ return errQUEUE_FULL;\r
}\r
}\r
+ taskEXIT_CRITICAL();\r
}\r
- while( xReturn == queueERRONEOUS_UNBLOCK );\r
-\r
- return xReturn;\r
}\r
\r
#endif /* configUSE_ALTERNATIVE_API */\r
\r
signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )\r
{\r
- signed portBASE_TYPE xReturn = pdTRUE;\r
+ signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
xTimeOutType xTimeOut;\r
- signed portCHAR *pcOriginalReadPosition;\r
+ signed char *pcOriginalReadPosition;\r
\r
- /* The source code that implements the alternative (Alt) API is\r
- simpler because it makes more use of critical sections. This is \r
- 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 less use of\r
- critical sections. */\r
+ configASSERT( pxQueue );\r
+ configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
\r
- do\r
+ for( ;; )\r
{\r
- /* If there are no messages in the queue we may have to block. */\r
- if( xTicksToWait > ( portTickType ) 0 )\r
- {\r
- portENTER_CRITICAL();\r
- {\r
- if( xReturn == pdPASS )\r
- {\r
- /* This is the first time through - capture the time\r
- inside the critical section to ensure we attempt to\r
- block at least once. */\r
- vTaskSetTimeOutState( &xTimeOut );\r
- }\r
- \r
- if( prvIsQueueEmpty( pxQueue ) )\r
- {\r
- /* Need to call xTaskCheckForTimeout again as time could\r
- have passed since it was last called if this is not the\r
- first time around this loop. */\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
- {\r
- traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );\r
-\r
- #if ( configUSE_MUTEXES == 1 )\r
- {\r
- if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
- {\r
- vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
- }\r
- }\r
- #endif\r
-\r
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
- taskYIELD();\r
- }\r
- }\r
- }\r
- portEXIT_CRITICAL();\r
- }\r
- \r
taskENTER_CRITICAL();\r
{\r
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
}\r
}\r
#endif\r
- \r
+\r
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
{\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
}\r
\r
/* The data is being left in the queue, so see if there are\r
any other tasks waiting for the data. */\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
/* Tasks that are removed from the event list will get added to\r
the pending ready list as the scheduler is still suspended. */\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
- /* The task waiting has a higher priority that this task. */\r
- taskYIELD();\r
+ /* The task waiting has a higher priority than this task. */\r
+ portYIELD_WITHIN_API();\r
}\r
- } \r
+ }\r
\r
}\r
- \r
- xReturn = pdPASS; \r
+\r
+ taskEXIT_CRITICAL();\r
+ return pdPASS;\r
}\r
else\r
{\r
- xReturn = errQUEUE_EMPTY;\r
+ if( xTicksToWait == ( portTickType ) 0 )\r
+ {\r
+ taskEXIT_CRITICAL();\r
+ traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ return errQUEUE_EMPTY;\r
+ }\r
+ else if( xEntryTimeSet == pdFALSE )\r
+ {\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+ xEntryTimeSet = pdTRUE;\r
+ }\r
}\r
}\r
taskEXIT_CRITICAL();\r
\r
- if( xReturn == errQUEUE_EMPTY )\r
+ taskENTER_CRITICAL();\r
{\r
- if( xTicksToWait > ( portTickType ) 0 )\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
{\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
- {\r
- xReturn = queueERRONEOUS_UNBLOCK;\r
- }\r
- else\r
+ if( prvIsQueueEmpty( pxQueue ) != pdFALSE )\r
{\r
- traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ portENTER_CRITICAL();\r
+ vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
+ portEXIT_CRITICAL();\r
+ }\r
+ }\r
+ #endif\r
+\r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\r
{\r
+ taskEXIT_CRITICAL();\r
traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ return errQUEUE_EMPTY;\r
}\r
}\r
- } while( xReturn == queueERRONEOUS_UNBLOCK );\r
-\r
- return xReturn;\r
+ taskEXIT_CRITICAL();\r
+ }\r
}\r
\r
\r
signed portBASE_TYPE xReturn;\r
unsigned portBASE_TYPE uxSavedInterruptStatus;\r
\r
+ configASSERT( pxQueue );\r
+ configASSERT( pxHigherPriorityTaskWoken );\r
+ configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
+\r
/* Similar to xQueueGenericSend, except we don't block if there is no room\r
in the queue. Also we don't directly wake a task that was blocked on a\r
queue read, instead we return a flag to say whether a context switch is\r
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
{\r
traceQUEUE_SEND_FROM_ISR( pxQueue );\r
- \r
+\r
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
- \r
+\r
/* If the queue is locked we do not alter the event list. This will\r
be done when the queue is unlocked later. */\r
if( pxQueue->xTxLock == queueUNLOCKED )\r
{\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
knows that data was posted while it was locked. */\r
++( pxQueue->xTxLock );\r
}\r
- \r
+\r
xReturn = pdPASS;\r
}\r
else\r
\r
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )\r
{\r
-signed portBASE_TYPE xReturn = pdTRUE;\r
+signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
xTimeOutType xTimeOut;\r
-signed portCHAR *pcOriginalReadPosition;\r
-\r
- do\r
- {\r
- /* If there are no messages in the queue we may have to block. */\r
- if( xTicksToWait > ( portTickType ) 0 )\r
- {\r
- vTaskSuspendAll();\r
- prvLockQueue( pxQueue );\r
-\r
- if( xReturn == pdTRUE )\r
- {\r
- /* This is the first time through - we need to capture the\r
- time while the scheduler is locked to ensure we attempt to\r
- block at least once. */\r
- vTaskSetTimeOutState( &xTimeOut );\r
- }\r
+signed char *pcOriginalReadPosition;\r
\r
- if( prvIsQueueEmpty( pxQueue ) )\r
- {\r
- /* Need to call xTaskCheckForTimeout again as time could\r
- have passed since it was last called if this is not the\r
- first time around this loop. */\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
- {\r
- traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );\r
+ configASSERT( pxQueue );\r
+ configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
\r
- #if ( configUSE_MUTEXES == 1 )\r
- {\r
- if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
- {\r
- portENTER_CRITICAL();\r
- vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
- portEXIT_CRITICAL();\r
- }\r
- }\r
- #endif\r
+ /* This function relaxes the coding standard somewhat to allow return\r
+ statements within the function itself. This is done in the interest\r
+ of execution time efficiency. */\r
\r
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
- prvUnlockQueue( pxQueue );\r
- if( !xTaskResumeAll() )\r
- {\r
- taskYIELD();\r
- }\r
- }\r
- else\r
- {\r
- prvUnlockQueue( pxQueue );\r
- ( void ) xTaskResumeAll();\r
- }\r
- }\r
- else\r
- {\r
- prvUnlockQueue( pxQueue );\r
- ( void ) xTaskResumeAll();\r
- }\r
- }\r
- \r
+ for( ;; )\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
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
{\r
/* Remember our read position in case we are just peeking. */\r
}\r
}\r
#endif\r
- \r
+\r
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
{\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
}\r
\r
/* The data is being left in the queue, so see if there are\r
any other tasks waiting for the data. */\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
/* Tasks that are removed from the event list will get added to\r
the pending ready list as the scheduler is still suspended. */\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
- /* The task waiting has a higher priority that this task. */\r
- taskYIELD();\r
+ /* The task waiting has a higher priority than this task. */\r
+ portYIELD_WITHIN_API();\r
}\r
- } \r
+ }\r
\r
}\r
- \r
- xReturn = pdPASS; \r
+\r
+ taskEXIT_CRITICAL();\r
+ return pdPASS;\r
}\r
else\r
{\r
- xReturn = errQUEUE_EMPTY;\r
+ if( xTicksToWait == ( portTickType ) 0 )\r
+ {\r
+ /* The queue was empty and no block time is specified (or\r
+ the block time has expired) so leave now. */\r
+ taskEXIT_CRITICAL();\r
+ traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ return errQUEUE_EMPTY;\r
+ }\r
+ else if( xEntryTimeSet == pdFALSE )\r
+ {\r
+ /* The queue was empty and a block time was specified so\r
+ configure the timeout structure. */\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+ xEntryTimeSet = pdTRUE;\r
+ }\r
}\r
}\r
taskEXIT_CRITICAL();\r
\r
- if( xReturn == errQUEUE_EMPTY )\r
+ /* Interrupts and other tasks can send to and receive from the queue\r
+ now the critical section has been exited. */\r
+\r
+ vTaskSuspendAll();\r
+ prvLockQueue( pxQueue );\r
+\r
+ /* Update the timeout state to see if it has expired yet. */\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
{\r
- if( xTicksToWait > ( portTickType ) 0 )\r
+ if( prvIsQueueEmpty( pxQueue ) != pdFALSE )\r
{\r
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
+ traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
{\r
- xReturn = queueERRONEOUS_UNBLOCK;\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ portENTER_CRITICAL();\r
+ {\r
+ vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
+ }\r
+ portEXIT_CRITICAL();\r
+ }\r
}\r
- else\r
+ #endif\r
+\r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
+ prvUnlockQueue( pxQueue );\r
+ if( xTaskResumeAll() == pdFALSE )\r
{\r
- traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\r
{\r
- traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ /* Try again. */\r
+ prvUnlockQueue( pxQueue );\r
+ ( void ) xTaskResumeAll();\r
}\r
}\r
- } while( xReturn == queueERRONEOUS_UNBLOCK );\r
-\r
- return xReturn;\r
+ else\r
+ {\r
+ prvUnlockQueue( pxQueue );\r
+ ( void ) xTaskResumeAll();\r
+ traceQUEUE_RECEIVE_FAILED( pxQueue );\r
+ return errQUEUE_EMPTY;\r
+ }\r
+ }\r
}\r
/*-----------------------------------------------------------*/\r
\r
signed portBASE_TYPE xReturn;\r
unsigned portBASE_TYPE uxSavedInterruptStatus;\r
\r
+ configASSERT( pxQueue );\r
+ configASSERT( pxTaskWoken );\r
+ configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
+\r
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
{\r
/* We cannot block from an ISR, so check there is data available. */\r
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
{\r
traceQUEUE_RECEIVE_FROM_ISR( pxQueue );\r
- \r
+\r
prvCopyDataFromQueue( pxQueue, pvBuffer );\r
--( pxQueue->uxMessagesWaiting );\r
- \r
+\r
/* If the queue is locked we will not modify the event list. Instead\r
we update the lock count so the task that unlocks the queue will know\r
that an ISR has removed data while the queue was locked. */\r
if( pxQueue->xRxLock == queueUNLOCKED )\r
{\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
{\r
knows that data was removed while it was locked. */\r
++( pxQueue->xRxLock );\r
}\r
- \r
+\r
xReturn = pdPASS;\r
}\r
else\r
{\r
unsigned portBASE_TYPE uxReturn;\r
\r
+ configASSERT( pxQueue );\r
+\r
taskENTER_CRITICAL();\r
uxReturn = pxQueue->uxMessagesWaiting;\r
taskEXIT_CRITICAL();\r
{\r
unsigned portBASE_TYPE uxReturn;\r
\r
+ configASSERT( pxQueue );\r
+\r
uxReturn = pxQueue->uxMessagesWaiting;\r
\r
return uxReturn;\r
\r
void vQueueDelete( xQueueHandle pxQueue )\r
{\r
- traceQUEUE_DELETE( pxQueue );\r
+ configASSERT( pxQueue );\r
\r
+ traceQUEUE_DELETE( pxQueue );\r
+ vQueueUnregisterQueue( pxQueue );\r
vPortFree( pxQueue->pcHead );\r
vPortFree( pxQueue );\r
}\r
{\r
/* The mutex is no longer being held. */\r
vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );\r
- pxQueue->pxMutexHolder = NULL;\r
+ pxQueue->pxMutexHolder = NULL;\r
}\r
}\r
#endif\r
if( pxQueue->pcReadFrom < pxQueue->pcHead )\r
{\r
pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );\r
- } \r
+ }\r
}\r
\r
++( pxQueue->uxMessagesWaiting );\r
pxQueue->pcReadFrom = pxQueue->pcHead;\r
}\r
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
- } \r
+ }\r
}\r
/*-----------------------------------------------------------*/\r
\r
{\r
/* Data was posted while the queue was locked. Are any tasks\r
blocked waiting for data to become available? */\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
/* Tasks that are removed from the event list will get added to\r
the pending ready list as the scheduler is still suspended. */\r
{\r
while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )\r
{\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
{\r
{\r
signed portBASE_TYPE xReturn;\r
\r
+ configASSERT( pxQueue );\r
xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );\r
\r
return xReturn;\r
{\r
signed portBASE_TYPE xReturn;\r
\r
+ configASSERT( pxQueue );\r
xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );\r
\r
return xReturn;\r
signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )\r
{\r
signed portBASE_TYPE xReturn;\r
- \r
+\r
/* If the queue is already full we may have to block. A critical section\r
is required to prevent an interrupt removing something from the queue\r
between the check to see if the queue is full and blocking on the queue. */\r
portDISABLE_INTERRUPTS();\r
{\r
- if( prvIsQueueFull( pxQueue ) )\r
+ if( prvIsQueueFull( pxQueue ) != pdFALSE )\r
{\r
/* The queue is full - do we want to block or just leave without\r
posting? */\r
{\r
/* As this is called from a coroutine we cannot block directly, but\r
return indicating that we need to block. */\r
- vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); \r
+ vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );\r
portENABLE_INTERRUPTS();\r
return errQUEUE_BLOCKED;\r
}\r
}\r
}\r
portENABLE_INTERRUPTS();\r
- \r
+\r
portNOP();\r
\r
portDISABLE_INTERRUPTS();\r
{\r
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
{\r
- /* There is room in the queue, copy the data into the queue. */ \r
+ /* There is room in the queue, copy the data into the queue. */\r
prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );\r
xReturn = pdPASS;\r
\r
/* Were any co-routines waiting for data to become available? */\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
/* In this instance the co-routine could be placed directly\r
into the ready list as we are within a critical section.\r
if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )\r
{\r
/* There are no messages in the queue, do we want to block or just\r
- leave with nothing? */ \r
+ leave with nothing? */\r
if( xTicksToWait > ( portTickType ) 0 )\r
{\r
/* As this is a co-routine we cannot block directly, but return\r
xReturn = pdPASS;\r
\r
/* Were any co-routines waiting for space to become available? */\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
/* In this instance the co-routine could be placed directly\r
into the ready list as we are within a critical section.\r
{\r
xReturn = errQUEUE_YIELD;\r
}\r
- } \r
+ }\r
}\r
else\r
{\r
\r
/* We only want to wake one co-routine per ISR, so check that a\r
co-routine has not already been woken. */\r
- if( !xCoRoutinePreviouslyWoken ) \r
+ if( xCoRoutinePreviouslyWoken == pdFALSE )\r
{\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
{\r
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
--( pxQueue->uxMessagesWaiting );\r
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
\r
- if( !( *pxCoRoutineWoken ) )\r
+ if( ( *pxCoRoutineWoken ) == pdFALSE )\r
{\r
- if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
{\r
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
{\r
#endif\r
/*-----------------------------------------------------------*/\r
\r
+#if configQUEUE_REGISTRY_SIZE > 0\r
+\r
+ void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )\r
+ {\r
+ unsigned portBASE_TYPE ux;\r
+\r
+ /* See if there is an empty space in the registry. A NULL name denotes\r
+ a free slot. */\r
+ for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )\r
+ {\r
+ if( xQueueRegistry[ ux ].pcQueueName == NULL )\r
+ {\r
+ /* Store the information on this queue. */\r
+ xQueueRegistry[ ux ].pcQueueName = pcQueueName;\r
+ xQueueRegistry[ ux ].xHandle = xQueue;\r
+ break;\r
+ }\r
+ }\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configQUEUE_REGISTRY_SIZE > 0\r
+\r
+ static void vQueueUnregisterQueue( xQueueHandle xQueue )\r
+ {\r
+ unsigned portBASE_TYPE ux;\r
+\r
+ /* See if the handle of the queue being unregistered in actually in the\r
+ registry. */\r
+ for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )\r
+ {\r
+ if( xQueueRegistry[ ux ].xHandle == xQueue )\r
+ {\r
+ /* Set the name to NULL to show that this slot if free again. */\r
+ xQueueRegistry[ ux ].pcQueueName = NULL;\r
+ break;\r
+ }\r
+ }\r
+\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_TIMERS == 1\r
+\r
+ void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait )\r
+ {\r
+ /* This function should not be called by application code hence the\r
+ 'Restricted' in its name. It is not part of the public API. It is\r
+ designed for use by kernel code, and has special calling requirements.\r
+ It can result in vListInsert() being called on a list that can only\r
+ possibly ever have one item in it, so the list will be fast, but even\r
+ so it should be called with the scheduler locked and not from a critical\r
+ section. */\r
+\r
+ /* Only do anything if there are no messages in the queue. This function\r
+ will not actually cause the task to block, just place it on a blocked\r
+ list. It will not block until the scheduler is unlocked - at which\r
+ time a yield will be performed. If an item is added to the queue while\r
+ the queue is locked, and the calling task blocks on the queue, then the\r
+ calling task will be immediately unblocked when the queue is unlocked. */\r
+ prvLockQueue( pxQueue );\r
+ if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U )\r
+ {\r
+ /* There is nothing in the queue, block for the specified period. */\r
+ vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
+ }\r
+ prvUnlockQueue( pxQueue );\r
+ }\r
+\r
+#endif\r
+\r
projects / freertos / blobdiff