/*\r
- FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 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 it\r
- under the terms of the GNU General Public License (version 2) as published\r
- by the Free Software Foundation and modified by the FreeRTOS exception.\r
- **NOTE** The exception to the GPL is included to allow you to distribute a\r
- combined work that includes FreeRTOS.org without being obliged to provide\r
- the source code for any proprietary components. Alternative commercial\r
- license and support terms are also available upon request. See the \r
- licensing section of http://www.FreeRTOS.org for full details.\r
-\r
- FreeRTOS.org 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.\r
-\r
- You should have received a copy of the GNU General Public License along\r
- with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59\r
- Temple Place, Suite 330, Boston, MA 02111-1307 USA.\r
-\r
-\r
- ***************************************************************************\r
- * *\r
- * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * This is a concise, step by step, 'hands on' guide that describes both *\r
- * general multitasking concepts and FreeRTOS specifics. It presents and *\r
- * explains numerous examples that are written using the FreeRTOS API. *\r
- * Full source code for all the examples is provided in an accompanying *\r
- * .zip file. *\r
- * *\r
- ***************************************************************************\r
-\r
- 1 tab == 4 spaces!\r
-\r
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\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
+ 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
#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
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
+\r
/*-----------------------------------------------------------\r
* PUBLIC LIST API documented in list.h\r
*----------------------------------------------------------*/\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
* 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
+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
\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
more user friendly. */\r
typedef struct QUEUE_REGISTRY_ITEM\r
{\r
- signed portCHAR *pcQueueName;\r
+ signed char *pcQueueName;\r
xQueueHandle xHandle;\r
} xQueueRegistryItem;\r
\r
\r
/* Removes a queue from the registry by simply setting the pcQueueName\r
member to NULL. */\r
- static void vQueueUnregisterQueue( xQueueHandle xQueue );\r
- void vQueueAddToRegistry( xQueueHandle xQueue, signed portCHAR *pcQueueName );\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
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
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );\r
\r
traceQUEUE_CREATE( pxNewQueue );\r
-\r
return pxNewQueue;\r
}\r
else\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
}\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
+ else\r
+ {\r
+ traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );\r
+ }\r
}\r
\r
return xReturn;\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
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
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
- taskYIELD();\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
/* 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
is also a higher priority task in the pending ready list. */\r
if( !xTaskResumeAll() )\r
{\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\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
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
{\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
{\r
traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\r
{\r
signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
xTimeOutType xTimeOut;\r
- signed portCHAR *pcOriginalReadPosition;\r
+ signed char *pcOriginalReadPosition;\r
\r
for( ;; )\r
{\r
{\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
{\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
}\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
/* The task waiting has a higher priority than this task. */\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
\r
#endif\r
\r
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\r
{\r
signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
xTimeOutType xTimeOut;\r
-signed portCHAR *pcOriginalReadPosition;\r
+signed char *pcOriginalReadPosition;\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
{\r
taskENTER_CRITICAL();\r
{\r
- /* Is there data in the queue now? To be running we must be\r
- the highest priority task wanting to access the queue. */\r
+ /* Is there data in the queue now? To be running 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
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
{\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
}\r
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
{\r
/* The task waiting has a higher priority than this task. */\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
\r
prvUnlockQueue( pxQueue );\r
if( !xTaskResumeAll() )\r
{\r
- taskYIELD();\r
+ portYIELD_WITHIN_API();\r
}\r
}\r
else\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
\r
#if configQUEUE_REGISTRY_SIZE > 0\r
\r
- void vQueueAddToRegistry( xQueueHandle xQueue, signed portCHAR *pcQueueName )\r
+ void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )\r
{\r
unsigned portBASE_TYPE ux;\r
\r
break;\r
}\r
}\r
+\r
}\r
\r
#endif\r
projects / freertos / blobdiff