X-Git-Url: https://git.sur5r.net/?a=blobdiff_plain;f=FreeRTOS%2FSource%2Finclude%2Fqueue.h;h=b8b6f028ffdf5957d19886b101700949aeeec189;hb=63777264102a4a13b3fb796358ad565926785cb4;hp=40562cfc01dc64558115e9387d13b20089f2368d;hpb=4fc98ea9360d27da61c0096a3a46abcf64ca400d;p=freertos diff --git a/FreeRTOS/Source/include/queue.h b/FreeRTOS/Source/include/queue.h index 40562cfc0..b8b6f028f 100644 --- a/FreeRTOS/Source/include/queue.h +++ b/FreeRTOS/Source/include/queue.h @@ -1,70 +1,29 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. - - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - *************************************************************************** - * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * - * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * - * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * - * * - *************************************************************************** - - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ + * FreeRTOS Kernel V10.2.1 + * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ #ifndef QUEUE_H @@ -78,39 +37,66 @@ extern "C" { #endif +#include "task.h" -#include "mpu_wrappers.h" +/** + * Type by which queues are referenced. For example, a call to xQueueCreate() + * returns an QueueHandle_t variable that can then be used as a parameter to + * xQueueSend(), xQueueReceive(), etc. + */ +struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */ +typedef struct QueueDefinition * QueueHandle_t; /** - * Type by which queues are referenced. For example, a call to xQueueCreate - * returns (via a pointer parameter) an xQueueHandle variable that can then - * be used as a parameter to xQueueSend(), xQueueReceive(), etc. + * Type by which queue sets are referenced. For example, a call to + * xQueueCreateSet() returns an xQueueSet variable that can then be used as a + * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc. */ -typedef void * xQueueHandle; +typedef struct QueueDefinition * QueueSetHandle_t; +/** + * Queue sets can contain both queues and semaphores, so the + * QueueSetMemberHandle_t is defined as a type to be used where a parameter or + * return value can be either an QueueHandle_t or an SemaphoreHandle_t. + */ +typedef struct QueueDefinition * QueueSetMemberHandle_t; /* For internal use only. */ -#define queueSEND_TO_BACK ( 0 ) -#define queueSEND_TO_FRONT ( 1 ) +#define queueSEND_TO_BACK ( ( BaseType_t ) 0 ) +#define queueSEND_TO_FRONT ( ( BaseType_t ) 1 ) +#define queueOVERWRITE ( ( BaseType_t ) 2 ) /* For internal use only. These definitions *must* match those in queue.c. */ -#define queueQUEUE_TYPE_BASE ( 0U ) -#define queueQUEUE_TYPE_MUTEX ( 1U ) -#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U ) -#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U ) -#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U ) +#define queueQUEUE_TYPE_BASE ( ( uint8_t ) 0U ) +#define queueQUEUE_TYPE_SET ( ( uint8_t ) 0U ) +#define queueQUEUE_TYPE_MUTEX ( ( uint8_t ) 1U ) +#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( uint8_t ) 2U ) +#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( uint8_t ) 3U ) +#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( uint8_t ) 4U ) /** * queue. h *
- xQueueHandle xQueueCreate( - unsigned portBASE_TYPE uxQueueLength, - unsigned portBASE_TYPE uxItemSize + QueueHandle_t xQueueCreate( + UBaseType_t uxQueueLength, + UBaseType_t uxItemSize ); ** - * Creates a new queue instance. This allocates the storage required by the - * new queue and returns a handle for the queue. + * Creates a new queue instance, and returns a handle by which the new queue + * can be referenced. + * + * Internally, within the FreeRTOS implementation, queues use two blocks of + * memory. The first block is used to hold the queue's data structures. The + * second block is used to hold items placed into the queue. If a queue is + * created using xQueueCreate() then both blocks of memory are automatically + * dynamically allocated inside the xQueueCreate() function. (see + * http://www.freertos.org/a00111.html). If a queue is created using + * xQueueCreateStatic() then the application writer must provide the memory that + * will get used by the queue. xQueueCreateStatic() therefore allows a queue to + * be created without using any dynamic memory allocation. + * + * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html * * @param uxQueueLength The maximum number of items that the queue can contain. * @@ -133,10 +119,10 @@ typedef void * xQueueHandle; void vATask( void *pvParameters ) { - xQueueHandle xQueue1, xQueue2; + QueueHandle_t xQueue1, xQueue2; - // Create a queue capable of containing 10 unsigned long values. - xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) ); + // Create a queue capable of containing 10 uint32_t values. + xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); if( xQueue1 == 0 ) { // Queue was not created and must not be used. @@ -156,19 +142,105 @@ typedef void * xQueueHandle; * \defgroup xQueueCreate xQueueCreate * \ingroup QueueManagement */ -#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( uxQueueLength, uxItemSize, queueQUEUE_TYPE_BASE ) +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) ) +#endif /** * queue. h *
- portBASE_TYPE xQueueSendToToFront( - xQueueHandle xQueue, - const void * pvItemToQueue, - portTickType xTicksToWait - ); + QueueHandle_t xQueueCreateStatic( + UBaseType_t uxQueueLength, + UBaseType_t uxItemSize, + uint8_t *pucQueueStorageBuffer, + StaticQueue_t *pxQueueBuffer + ); ** - * This is a macro that calls xQueueGenericSend(). + * Creates a new queue instance, and returns a handle by which the new queue + * can be referenced. + * + * Internally, within the FreeRTOS implementation, queues use two blocks of + * memory. The first block is used to hold the queue's data structures. The + * second block is used to hold items placed into the queue. If a queue is + * created using xQueueCreate() then both blocks of memory are automatically + * dynamically allocated inside the xQueueCreate() function. (see + * http://www.freertos.org/a00111.html). If a queue is created using + * xQueueCreateStatic() then the application writer must provide the memory that + * will get used by the queue. xQueueCreateStatic() therefore allows a queue to + * be created without using any dynamic memory allocation. + * + * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @param pucQueueStorageBuffer If uxItemSize is not zero then + * pucQueueStorageBuffer must point to a uint8_t array that is at least large + * enough to hold the maximum number of items that can be in the queue at any + * one time - which is ( uxQueueLength * uxItemsSize ) bytes. If uxItemSize is + * zero then pucQueueStorageBuffer can be NULL. + * + * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which + * will be used to hold the queue's data structure. + * + * @return If the queue is created then a handle to the created queue is + * returned. If pxQueueBuffer is NULL then NULL is returned. + * + * Example usage: +
+ struct AMessage + { + char ucMessageID; + char ucData[ 20 ]; + }; + + #define QUEUE_LENGTH 10 + #define ITEM_SIZE sizeof( uint32_t ) + + // xQueueBuffer will hold the queue structure. + StaticQueue_t xQueueBuffer; + + // ucQueueStorage will hold the items posted to the queue. Must be at least + // [(queue length) * ( queue item size)] bytes long. + uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ]; + + void vATask( void *pvParameters ) + { + QueueHandle_t xQueue1; + + // Create a queue capable of containing 10 uint32_t values. + xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold. + ITEM_SIZE // The size of each item in the queue + &( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue. + &xQueueBuffer ); // The buffer that will hold the queue structure. + + // The queue is guaranteed to be created successfully as no dynamic memory + // allocation is used. Therefore xQueue1 is now a handle to a valid queue. + + // ... Rest of task code. + } ++ * \defgroup xQueueCreateStatic xQueueCreateStatic + * \ingroup QueueManagement + */ +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) + #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) ) +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * queue. h + *
+ BaseType_t xQueueSendToToFront( + QueueHandle_t xQueue, + const void *pvItemToQueue, + TickType_t xTicksToWait + ); + ** * Post an item to the front of a queue. The item is queued by copy, not by * reference. This function must not be called from an interrupt service @@ -186,7 +258,7 @@ typedef void * xQueueHandle; * waiting for space to become available on the queue, should it already * be full. The call will return immediately if this is set to 0 and the * queue is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. + * portTICK_PERIOD_MS should be used to convert to real time if this is required. * * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. * @@ -198,15 +270,15 @@ typedef void * xQueueHandle; char ucData[ 20 ]; } xMessage; - unsigned long ulVar = 10UL; + uint32_t ulVar = 10UL; void vATask( void *pvParameters ) { - xQueueHandle xQueue1, xQueue2; + QueueHandle_t xQueue1, xQueue2; struct AMessage *pxMessage; - // Create a queue capable of containing 10 unsigned long values. - xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) ); + // Create a queue capable of containing 10 uint32_t values. + xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); // Create a queue capable of containing 10 pointers to AMessage structures. // These should be passed by pointer as they contain a lot of data. @@ -216,9 +288,9 @@ typedef void * xQueueHandle; if( xQueue1 != 0 ) { - // Send an unsigned long. Wait for 10 ticks for space to become + // Send an uint32_t. Wait for 10 ticks for space to become // available if necessary. - if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS ) + if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS ) { // Failed to post the message, even after 10 ticks. } @@ -229,7 +301,7 @@ typedef void * xQueueHandle; // Send a pointer to a struct AMessage object. Don't block if the // queue is already full. pxMessage = & xMessage; - xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 ); + xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 ); } // ... Rest of task code. @@ -243,10 +315,10 @@ typedef void * xQueueHandle; /** * queue. h *
- portBASE_TYPE xQueueSendToBack( - xQueueHandle xQueue, - const void * pvItemToQueue, - portTickType xTicksToWait + BaseType_t xQueueSendToBack( + QueueHandle_t xQueue, + const void *pvItemToQueue, + TickType_t xTicksToWait ); ** @@ -268,7 +340,7 @@ typedef void * xQueueHandle; * waiting for space to become available on the queue, should it already * be full. The call will return immediately if this is set to 0 and the queue * is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. + * portTICK_PERIOD_MS should be used to convert to real time if this is required. * * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. * @@ -280,15 +352,15 @@ typedef void * xQueueHandle; char ucData[ 20 ]; } xMessage; - unsigned long ulVar = 10UL; + uint32_t ulVar = 10UL; void vATask( void *pvParameters ) { - xQueueHandle xQueue1, xQueue2; + QueueHandle_t xQueue1, xQueue2; struct AMessage *pxMessage; - // Create a queue capable of containing 10 unsigned long values. - xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) ); + // Create a queue capable of containing 10 uint32_t values. + xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); // Create a queue capable of containing 10 pointers to AMessage structures. // These should be passed by pointer as they contain a lot of data. @@ -298,9 +370,9 @@ typedef void * xQueueHandle; if( xQueue1 != 0 ) { - // Send an unsigned long. Wait for 10 ticks for space to become + // Send an uint32_t. Wait for 10 ticks for space to become // available if necessary. - if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS ) + if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS ) { // Failed to post the message, even after 10 ticks. } @@ -311,7 +383,7 @@ typedef void * xQueueHandle; // Send a pointer to a struct AMessage object. Don't block if the // queue is already full. pxMessage = & xMessage; - xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 ); + xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 ); } // ... Rest of task code. @@ -325,10 +397,10 @@ typedef void * xQueueHandle; /** * queue. h *
- portBASE_TYPE xQueueSend( - xQueueHandle xQueue, + BaseType_t xQueueSend( + QueueHandle_t xQueue, const void * pvItemToQueue, - portTickType xTicksToWait + TickType_t xTicksToWait ); ** @@ -352,7 +424,7 @@ typedef void * xQueueHandle; * waiting for space to become available on the queue, should it already * be full. The call will return immediately if this is set to 0 and the * queue is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. + * portTICK_PERIOD_MS should be used to convert to real time if this is required. * * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. * @@ -364,15 +436,15 @@ typedef void * xQueueHandle; char ucData[ 20 ]; } xMessage; - unsigned long ulVar = 10UL; + uint32_t ulVar = 10UL; void vATask( void *pvParameters ) { - xQueueHandle xQueue1, xQueue2; + QueueHandle_t xQueue1, xQueue2; struct AMessage *pxMessage; - // Create a queue capable of containing 10 unsigned long values. - xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) ); + // Create a queue capable of containing 10 uint32_t values. + xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); // Create a queue capable of containing 10 pointers to AMessage structures. // These should be passed by pointer as they contain a lot of data. @@ -382,9 +454,9 @@ typedef void * xQueueHandle; if( xQueue1 != 0 ) { - // Send an unsigned long. Wait for 10 ticks for space to become + // Send an uint32_t. Wait for 10 ticks for space to become // available if necessary. - if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS ) + if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS ) { // Failed to post the message, even after 10 ticks. } @@ -395,7 +467,7 @@ typedef void * xQueueHandle; // Send a pointer to a struct AMessage object. Don't block if the // queue is already full. pxMessage = & xMessage; - xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 ); + xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 ); } // ... Rest of task code. @@ -406,15 +478,98 @@ typedef void * xQueueHandle; */ #define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) +/** + * queue. h + *
+ BaseType_t xQueueOverwrite( + QueueHandle_t xQueue, + const void * pvItemToQueue + ); + *+ * + * Only for use with queues that have a length of one - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * This function must not be called from an interrupt service routine. + * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle of the queue to which the data is being sent. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and + * therefore has the same return values as xQueueSendToFront(). However, pdPASS + * is the only value that can be returned because xQueueOverwrite() will write + * to the queue even when the queue is already full. + * + * Example usage: +
+ + void vFunction( void *pvParameters ) + { + QueueHandle_t xQueue; + uint32_t ulVarToSend, ulValReceived; + + // Create a queue to hold one uint32_t value. It is strongly + // recommended *not* to use xQueueOverwrite() on queues that can + // contain more than one value, and doing so will trigger an assertion + // if configASSERT() is defined. + xQueue = xQueueCreate( 1, sizeof( uint32_t ) ); + + // Write the value 10 to the queue using xQueueOverwrite(). + ulVarToSend = 10; + xQueueOverwrite( xQueue, &ulVarToSend ); + + // Peeking the queue should now return 10, but leave the value 10 in + // the queue. A block time of zero is used as it is known that the + // queue holds a value. + ulValReceived = 0; + xQueuePeek( xQueue, &ulValReceived, 0 ); + + if( ulValReceived != 10 ) + { + // Error unless the item was removed by a different task. + } + + // The queue is still full. Use xQueueOverwrite() to overwrite the + // value held in the queue with 100. + ulVarToSend = 100; + xQueueOverwrite( xQueue, &ulVarToSend ); + + // This time read from the queue, leaving the queue empty once more. + // A block time of 0 is used again. + xQueueReceive( xQueue, &ulValReceived, 0 ); + + // The value read should be the last value written, even though the + // queue was already full when the value was written. + if( ulValReceived != 100 ) + { + // Error! + } + + // ... +} ++ * \defgroup xQueueOverwrite xQueueOverwrite + * \ingroup QueueManagement + */ +#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE ) + /** * queue. h *
- portBASE_TYPE xQueueGenericSend( - xQueueHandle xQueue, + BaseType_t xQueueGenericSend( + QueueHandle_t xQueue, const void * pvItemToQueue, - portTickType xTicksToWait - portBASE_TYPE xCopyPosition + TickType_t xTicksToWait + BaseType_t xCopyPosition ); ** @@ -436,7 +591,7 @@ typedef void * xQueueHandle; * waiting for space to become available on the queue, should it already * be full. The call will return immediately if this is set to 0 and the * queue is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. + * portTICK_PERIOD_MS should be used to convert to real time if this is required. * * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the * item at the back of the queue, or queueSEND_TO_FRONT to place the item @@ -452,15 +607,15 @@ typedef void * xQueueHandle; char ucData[ 20 ]; } xMessage; - unsigned long ulVar = 10UL; + uint32_t ulVar = 10UL; void vATask( void *pvParameters ) { - xQueueHandle xQueue1, xQueue2; + QueueHandle_t xQueue1, xQueue2; struct AMessage *pxMessage; - // Create a queue capable of containing 10 unsigned long values. - xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) ); + // Create a queue capable of containing 10 uint32_t values. + xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); // Create a queue capable of containing 10 pointers to AMessage structures. // These should be passed by pointer as they contain a lot of data. @@ -470,9 +625,9 @@ typedef void * xQueueHandle; if( xQueue1 != 0 ) { - // Send an unsigned long. Wait for 10 ticks for space to become + // Send an uint32_t. Wait for 10 ticks for space to become // available if necessary. - if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS ) + if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10, queueSEND_TO_BACK ) != pdPASS ) { // Failed to post the message, even after 10 ticks. } @@ -483,7 +638,7 @@ typedef void * xQueueHandle; // Send a pointer to a struct AMessage object. Don't block if the // queue is already full. pxMessage = & xMessage; - xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK ); + xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0, queueSEND_TO_BACK ); } // ... Rest of task code. @@ -492,19 +647,17 @@ typedef void * xQueueHandle; * \defgroup xQueueSend xQueueSend * \ingroup QueueManagement */ -signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; /** * queue. h *
- portBASE_TYPE xQueuePeek( - xQueueHandle xQueue, - void *pvBuffer, - portTickType xTicksToWait + BaseType_t xQueuePeek( + QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait );* - * This is a macro that calls the xQueueGenericReceive() function. - * * Receive an item from a queue without removing the item from the queue. * The item is received by copy so a buffer of adequate size must be * provided. The number of bytes copied into the buffer was defined when @@ -513,9 +666,11 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const * Successfully received items remain on the queue so will be returned again * by the next call, or a call to xQueueReceive(). * - * This macro must not be used in an interrupt service routine. + * This macro must not be used in an interrupt service routine. See + * xQueuePeekFromISR() for an alternative that can be called from an interrupt + * service routine. * - * @param pxQueue The handle to the queue from which the item is to be + * @param xQueue The handle to the queue from which the item is to be * received. * * @param pvBuffer Pointer to the buffer into which the received item will @@ -524,7 +679,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const * @param xTicksToWait The maximum amount of time the task should block * waiting for an item to receive should the queue be empty at the time * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. + * portTICK_PERIOD_MS should be used to convert to real time if this is required. * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue * is empty. * @@ -539,7 +694,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const char ucData[ 20 ]; } xMessage; - xQueueHandle xQueue; + QueueHandle_t xQueue; // Task to create a queue and post a value. void vATask( void *pvParameters ) @@ -559,7 +714,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const // Send a pointer to a struct AMessage object. Don't block if the // queue is already full. pxMessage = & xMessage; - xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 ); + xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 ); // ... Rest of task code. } @@ -573,7 +728,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const { // Peek a message on the created queue. Block for 10 ticks if a // message is not immediately available. - if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) ) + if( xQueuePeek( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) ) { // pcRxedMessage now points to the struct AMessage variable posted // by vATask, but the item still remains on the queue. @@ -583,126 +738,63 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const // ... Rest of task code. } - * \defgroup xQueueReceive xQueueReceive + * \defgroup xQueuePeek xQueuePeek * \ingroup QueueManagement */ -#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) +BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * queue. h *
- portBASE_TYPE xQueueReceive( - xQueueHandle xQueue, - void *pvBuffer, - portTickType xTicksToWait - );+ BaseType_t xQueuePeekFromISR( + QueueHandle_t xQueue, + void *pvBuffer, + ); * - * This is a macro that calls the xQueueGenericReceive() function. - * - * Receive an item from a queue. The item is received by copy so a buffer of - * adequate size must be provided. The number of bytes copied into the buffer - * was defined when the queue was created. + * A version of xQueuePeek() that can be called from an interrupt service + * routine (ISR). * - * Successfully received items are removed from the queue. + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. * - * This function must not be used in an interrupt service routine. See - * xQueueReceiveFromISR for an alternative that can. + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). * - * @param pxQueue The handle to the queue from which the item is to be + * @param xQueue The handle to the queue from which the item is to be * received. * * @param pvBuffer Pointer to the buffer into which the received item will * be copied. * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. xQueueReceive() will return immediately if xTicksToWait - * is zero and the queue is empty. The time is defined in tick periods so the - * constant portTICK_RATE_MS should be used to convert to real time if this is - * required. - * * @return pdTRUE if an item was successfully received from the queue, * otherwise pdFALSE. * - * Example usage: -
- struct AMessage - { - char ucMessageID; - char ucData[ 20 ]; - } xMessage; - - xQueueHandle xQueue; - - // Task to create a queue and post a value. - void vATask( void *pvParameters ) - { - struct AMessage *pxMessage; - - // Create a queue capable of containing 10 pointers to AMessage structures. - // These should be passed by pointer as they contain a lot of data. - xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) ); - if( xQueue == 0 ) - { - // Failed to create the queue. - } - - // ... - - // Send a pointer to a struct AMessage object. Don't block if the - // queue is already full. - pxMessage = & xMessage; - xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 ); - - // ... Rest of task code. - } - - // Task to receive from the queue. - void vADifferentTask( void *pvParameters ) - { - struct AMessage *pxRxedMessage; - - if( xQueue != 0 ) - { - // Receive a message on the created queue. Block for 10 ticks if a - // message is not immediately available. - if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) ) - { - // pcRxedMessage now points to the struct AMessage variable posted - // by vATask. - } - } - - // ... Rest of task code. - } -- * \defgroup xQueueReceive xQueueReceive + * \defgroup xQueuePeekFromISR xQueuePeekFromISR * \ingroup QueueManagement */ -#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) - +BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION; /** * queue. h *
- portBASE_TYPE xQueueGenericReceive( - xQueueHandle xQueue, - void *pvBuffer, - portTickType xTicksToWait - portBASE_TYPE xJustPeek - );- * - * It is preferred that the macro xQueueReceive() be used rather than calling - * this function directly. + BaseType_t xQueueReceive( + QueueHandle_t xQueue, + void *pvBuffer, + TickType_t xTicksToWait + ); * * Receive an item from a queue. The item is received by copy so a buffer of * adequate size must be provided. The number of bytes copied into the buffer * was defined when the queue was created. * + * Successfully received items are removed from the queue. + * * This function must not be used in an interrupt service routine. See * xQueueReceiveFromISR for an alternative that can. * - * @param pxQueue The handle to the queue from which the item is to be + * @param xQueue The handle to the queue from which the item is to be * received. * * @param pvBuffer Pointer to the buffer into which the received item will @@ -710,15 +802,10 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const * * @param xTicksToWait The maximum amount of time the task should block * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * xQueueGenericReceive() will return immediately if the queue is empty and - * xTicksToWait is 0. - * - * @param xJustPeek When set to true, the item received from the queue is not - * actually removed from the queue - meaning a subsequent call to - * xQueueReceive() will return the same item. When set to false, the item - * being received from the queue is also removed from the queue. + * of the call. xQueueReceive() will return immediately if xTicksToWait + * is zero and the queue is empty. The time is defined in tick periods so the + * constant portTICK_PERIOD_MS should be used to convert to real time if this is + * required. * * @return pdTRUE if an item was successfully received from the queue, * otherwise pdFALSE. @@ -731,7 +818,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const char ucData[ 20 ]; } xMessage; - xQueueHandle xQueue; + QueueHandle_t xQueue; // Task to create a queue and post a value. void vATask( void *pvParameters ) @@ -751,7 +838,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const // Send a pointer to a struct AMessage object. Don't block if the // queue is already full. pxMessage = & xMessage; - xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 ); + xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 ); // ... Rest of task code. } @@ -765,7 +852,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const { // Receive a message on the created queue. Block for 10 ticks if a // message is not immediately available. - if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) ) + if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) ) { // pcRxedMessage now points to the struct AMessage variable posted // by vATask. @@ -778,11 +865,11 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const * \defgroup xQueueReceive xQueueReceive * \ingroup QueueManagement */ -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ); +BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * queue. h - *
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );+ *
UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );* * Return the number of messages stored in a queue. * @@ -790,32 +877,49 @@ signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvB * * @return The number of messages available in the queue. * - * \page uxQueueMessagesWaiting uxQueueMessagesWaiting + * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting * \ingroup QueueManagement */ -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ); +UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /** * queue. h - *
void vQueueDelete( xQueueHandle xQueue );+ *
UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );+ * + * Return the number of free spaces available in a queue. This is equal to the + * number of items that can be sent to the queue before the queue becomes full + * if no items are removed. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of spaces available in the queue. + * + * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
void vQueueDelete( QueueHandle_t xQueue );* * Delete a queue - freeing all the memory allocated for storing of items * placed on the queue. * * @param xQueue A handle to the queue to be deleted. * - * \page vQueueDelete vQueueDelete + * \defgroup vQueueDelete vQueueDelete * \ingroup QueueManagement */ -void vQueueDelete( xQueueHandle pxQueue ); +void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /** * queue. h *
- portBASE_TYPE xQueueSendToFrontFromISR( - xQueueHandle pxQueue, + BaseType_t xQueueSendToFrontFromISR( + QueueHandle_t xQueue, const void *pvItemToQueue, - portBASE_TYPE *pxHigherPriorityTaskWoken + BaseType_t *pxHigherPriorityTaskWoken );* @@ -850,7 +954,7 @@ void vQueueDelete( xQueueHandle pxQueue ); void vBufferISR( void ) { char cIn; - portBASE_TYPE xHigherPrioritTaskWoken; + BaseType_t xHigherPrioritTaskWoken; // We have not woken a task at the start of the ISR. xHigherPriorityTaskWoken = pdFALSE; @@ -877,16 +981,16 @@ void vQueueDelete( xQueueHandle pxQueue ); * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ -#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT ) +#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT ) /** * queue. h *
- portBASE_TYPE xQueueSendToBackFromISR( - xQueueHandle pxQueue, + BaseType_t xQueueSendToBackFromISR( + QueueHandle_t xQueue, const void *pvItemToQueue, - portBASE_TYPE *pxHigherPriorityTaskWoken + BaseType_t *pxHigherPriorityTaskWoken );* @@ -921,7 +1025,7 @@ void vQueueDelete( xQueueHandle pxQueue ); void vBufferISR( void ) { char cIn; - portBASE_TYPE xHigherPriorityTaskWoken; + BaseType_t xHigherPriorityTaskWoken; // We have not woken a task at the start of the ISR. xHigherPriorityTaskWoken = pdFALSE; @@ -948,15 +1052,102 @@ void vQueueDelete( xQueueHandle pxQueue ); * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ -#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) +#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) + +/** + * queue. h + *
+ BaseType_t xQueueOverwriteFromISR( + QueueHandle_t xQueue, + const void * pvItemToQueue, + BaseType_t *pxHigherPriorityTaskWoken + ); + *+ * + * A version of xQueueOverwrite() that can be used in an interrupt service + * routine (ISR). + * + * Only for use with queues that can hold a single item - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return xQueueOverwriteFromISR() is a macro that calls + * xQueueGenericSendFromISR(), and therefore has the same return values as + * xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be + * returned because xQueueOverwriteFromISR() will write to the queue even when + * the queue is already full. + * + * Example usage: +
+ + QueueHandle_t xQueue; + + void vFunction( void *pvParameters ) + { + // Create a queue to hold one uint32_t value. It is strongly + // recommended *not* to use xQueueOverwriteFromISR() on queues that can + // contain more than one value, and doing so will trigger an assertion + // if configASSERT() is defined. + xQueue = xQueueCreate( 1, sizeof( uint32_t ) ); +} + +void vAnInterruptHandler( void ) +{ +// xHigherPriorityTaskWoken must be set to pdFALSE before it is used. +BaseType_t xHigherPriorityTaskWoken = pdFALSE; +uint32_t ulVarToSend, ulValReceived; + + // Write the value 10 to the queue using xQueueOverwriteFromISR(). + ulVarToSend = 10; + xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken ); + + // The queue is full, but calling xQueueOverwriteFromISR() again will still + // pass because the value held in the queue will be overwritten with the + // new value. + ulVarToSend = 100; + xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken ); + + // Reading from the queue will now return 100. + + // ... + + if( xHigherPrioritytaskWoken == pdTRUE ) + { + // Writing to the queue caused a task to unblock and the unblocked task + // has a priority higher than or equal to the priority of the currently + // executing task (the task this interrupt interrupted). Perform a context + // switch so this interrupt returns directly to the unblocked task. + portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port. + } +} ++ * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR + * \ingroup QueueManagement + */ +#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE ) /** * queue. h *
- portBASE_TYPE xQueueSendFromISR( - xQueueHandle pxQueue, + BaseType_t xQueueSendFromISR( + QueueHandle_t xQueue, const void *pvItemToQueue, - portBASE_TYPE *pxHigherPriorityTaskWoken + BaseType_t *pxHigherPriorityTaskWoken );* @@ -994,7 +1185,7 @@ void vQueueDelete( xQueueHandle pxQueue ); void vBufferISR( void ) { char cIn; - portBASE_TYPE xHigherPriorityTaskWoken; + BaseType_t xHigherPriorityTaskWoken; // We have not woken a task at the start of the ISR. xHigherPriorityTaskWoken = pdFALSE; @@ -1014,7 +1205,7 @@ void vQueueDelete( xQueueHandle pxQueue ); if( xHigherPriorityTaskWoken ) { // Actual macro used here is port specific. - taskYIELD_FROM_ISR (); + portYIELD_FROM_ISR (); } } @@ -1022,22 +1213,23 @@ void vQueueDelete( xQueueHandle pxQueue ); * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ -#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) +#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) /** * queue. h *
- portBASE_TYPE xQueueGenericSendFromISR( - xQueueHandle pxQueue, + BaseType_t xQueueGenericSendFromISR( + QueueHandle_t xQueue, const void *pvItemToQueue, - portBASE_TYPE *pxHigherPriorityTaskWoken, - portBASE_TYPE xCopyPosition + BaseType_t *pxHigherPriorityTaskWoken, + BaseType_t xCopyPosition );* * It is preferred that the macros xQueueSendFromISR(), * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place - * of calling this function directly. + * of calling this function directly. xQueueGiveFromISR() is an + * equivalent for use by semaphores that don't actually copy any data. * * Post an item on a queue. It is safe to use this function from within an * interrupt service routine. @@ -1072,7 +1264,7 @@ void vQueueDelete( xQueueHandle pxQueue ); void vBufferISR( void ) { char cIn; - portBASE_TYPE xHigherPriorityTaskWokenByPost; + BaseType_t xHigherPriorityTaskWokenByPost; // We have not woken a task at the start of the ISR. xHigherPriorityTaskWokenByPost = pdFALSE; @@ -1092,7 +1284,7 @@ void vQueueDelete( xQueueHandle pxQueue ); // name of the yield function required is port specific. if( xHigherPriorityTaskWokenByPost ) { - taskYIELD_YIELD_FROM_ISR(); + portYIELD_FROM_ISR(); } } @@ -1100,22 +1292,23 @@ void vQueueDelete( xQueueHandle pxQueue ); * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ); +BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /** * queue. h *
- portBASE_TYPE xQueueReceiveFromISR( - xQueueHandle pxQueue, + BaseType_t xQueueReceiveFromISR( + QueueHandle_t xQueue, void *pvBuffer, - portBASE_TYPE *pxTaskWoken + BaseType_t *pxTaskWoken ); ** * Receive an item from a queue. It is safe to use this function from within an * interrupt service routine. * - * @param pxQueue The handle to the queue from which the item is to be + * @param xQueue The handle to the queue from which the item is to be * received. * * @param pvBuffer Pointer to the buffer into which the received item will @@ -1132,13 +1325,13 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * Example usage:
- xQueueHandle xQueue; + QueueHandle_t xQueue; // Function to create a queue and post some values. void vAFunction( void *pvParameters ) { char cValueToPost; - const portTickType xBlockTime = ( portTickType )0xff; + const TickType_t xTicksToWait = ( TickType_t )0xff; // Create a queue capable of containing 10 characters. xQueue = xQueueCreate( 10, sizeof( char ) ); @@ -1150,23 +1343,23 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void // ... // Post some characters that will be used within an ISR. If the queue - // is full then this task will block for xBlockTime ticks. + // is full then this task will block for xTicksToWait ticks. cValueToPost = 'a'; - xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime ); + xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait ); cValueToPost = 'b'; - xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime ); + xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait ); // ... keep posting characters ... this task may block when the queue // becomes full. cValueToPost = 'c'; - xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime ); + xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait ); } // ISR that outputs all the characters received on the queue. void vISR_Routine( void ) { - portBASE_TYPE xTaskWokenByReceive = pdFALSE; + BaseType_t xTaskWokenByReceive = pdFALSE; char cRxedChar; while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) ) @@ -1189,37 +1382,15 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR * \ingroup QueueManagement */ -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ); +BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /* * Utilities to query queues that are safe to use from an ISR. These utilities * should be used only from witin an ISR, or within a critical section. */ -signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ); -signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ); -unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ); - - -/* - * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). - * Likewise xQueueAltGenericReceive() is an alternative version of - * xQueueGenericReceive(). - * - * The source code that implements the alternative (Alt) API is much - * simpler because it executes everything from within a critical section. - * This is the approach taken by many other RTOSes, but FreeRTOS.org has the - * preferred fully featured API too. The fully featured API has more - * complex code that takes longer to execute, but makes much less use of - * critical sections. Therefore the alternative API sacrifices interrupt - * responsiveness to gain execution speed, whereas the fully featured API - * sacrifices execution speed to ensure better interrupt responsiveness. - */ -signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); -signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); -#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) -#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) -#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) -#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) +BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /* * The functions defined above are for passing data to and from tasks. The @@ -1230,34 +1401,36 @@ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const * should not be called directly from application code. Instead use the macro * wrappers defined within croutine.h. */ -signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); -signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); -signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); -signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); +BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken ); +BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxTaskWoken ); +BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait ); +BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait ); /* - * For internal use only. Use xSemaphoreCreateMutex(), - * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling + * For internal use only. Use xSemaphoreCreateMutex(), + * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling * these functions directly. */ -xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ); -xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); -void* xQueueGetMutexHolder( xQueueHandle xSemaphore ); +QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; +QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION; +QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION; +QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION; +BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; +TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; /* * For internal use only. Use xSemaphoreTakeMutexRecursive() or * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. */ -portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ); -portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ); +BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION; /* - * Reset a queue back to its original empty state. pdPASS is returned if the - * queue is successfully reset. pdFAIL is returned if the queue could not be - * reset because there are tasks blocked on the queue waiting to either - * receive from the queue or send to the queue. + * Reset a queue back to its original empty state. The return value is now + * obsolete and is always set to pdPASS. */ -#define xQueueReset( pxQueue ) xQueueGenericReset( pxQueue, pdFALSE ) +#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE ) /* * The registry is provided as a means for kernel aware debuggers to @@ -1277,21 +1450,201 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ); * handles can also be passed in here. * * @param pcName The name to be associated with the handle. This is the - * name that the kernel aware debugger will display. + * name that the kernel aware debugger will display. The queue registry only + * stores a pointer to the string - so the string must be persistent (global or + * preferably in ROM/Flash), not on the stack. */ -#if configQUEUE_REGISTRY_SIZE > 0U - void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName ); +#if( configQUEUE_REGISTRY_SIZE > 0 ) + void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /* - * Generic version of the queue creation function, which is in turn called by - * any queue, semaphore or mutex creation function or macro. + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to + * remove the queue, semaphore or mutex from the register. If you are not using + * a kernel aware debugger then this function can be ignored. + * + * @param xQueue The handle of the queue being removed from the registry. + */ +#if( configQUEUE_REGISTRY_SIZE > 0 ) + void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +#endif + +/* + * The queue registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call pcQueueGetName() to look + * up and return the name of a queue in the queue registry from the queue's + * handle. + * + * @param xQueue The handle of the queue the name of which will be returned. + * @return If the queue is in the registry then a pointer to the name of the + * queue is returned. If the queue is not in the registry then NULL is + * returned. + */ +#if( configQUEUE_REGISTRY_SIZE > 0 ) + const char *pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +#endif + +/* + * Generic version of the function used to creaet a queue using dynamic memory + * allocation. This is called by other functions and macros that create other + * RTOS objects that use the queue structure as their base. + */ +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; +#endif + +/* + * Generic version of the function used to creaet a queue using dynamic memory + * allocation. This is called by other functions and macros that create other + * RTOS objects that use the queue structure as their base. + */ +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) + QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; +#endif + +/* + * Queue sets provide a mechanism to allow a task to block (pend) on a read + * operation from multiple queues or semaphores simultaneously. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * A queue set must be explicitly created using a call to xQueueCreateSet() + * before it can be used. Once created, standard FreeRTOS queues and semaphores + * can be added to the set using calls to xQueueAddToSet(). + * xQueueSelectFromSet() is then used to determine which, if any, of the queues + * or semaphores contained in the set is in a state where a queue read or + * semaphore take operation would be successful. + * + * Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html + * for reasons why queue sets are very rarely needed in practice as there are + * simpler methods of blocking on multiple objects. + * + * Note 2: Blocking on a queue set that contains a mutex will not cause the + * mutex holder to inherit the priority of the blocked task. + * + * Note 3: An additional 4 bytes of RAM is required for each space in a every + * queue added to a queue set. Therefore counting semaphores that have a high + * maximum count value should not be added to a queue set. + * + * Note 4: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param uxEventQueueLength Queue sets store events that occur on + * the queues and semaphores contained in the set. uxEventQueueLength specifies + * the maximum number of events that can be queued at once. To be absolutely + * certain that events are not lost uxEventQueueLength should be set to the + * total sum of the length of the queues added to the set, where binary + * semaphores and mutexes have a length of 1, and counting semaphores have a + * length set by their maximum count value. Examples: + * + If a queue set is to hold a queue of length 5, another queue of length 12, + * and a binary semaphore, then uxEventQueueLength should be set to + * (5 + 12 + 1), or 18. + * + If a queue set is to hold three binary semaphores then uxEventQueueLength + * should be set to (1 + 1 + 1 ), or 3. + * + If a queue set is to hold a counting semaphore that has a maximum count of + * 5, and a counting semaphore that has a maximum count of 3, then + * uxEventQueueLength should be set to (5 + 3), or 8. + * + * @return If the queue set is created successfully then a handle to the created + * queue set is returned. Otherwise NULL is returned. + */ +QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION; + +/* + * Adds a queue or semaphore to a queue set that was previously created by a + * call to xQueueCreateSet(). + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * Note 1: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param xQueueOrSemaphore The handle of the queue or semaphore being added to + * the queue set (cast to an QueueSetMemberHandle_t type). + * + * @param xQueueSet The handle of the queue set to which the queue or semaphore + * is being added. + * + * @return If the queue or semaphore was successfully added to the queue set + * then pdPASS is returned. If the queue could not be successfully added to the + * queue set because it is already a member of a different queue set then pdFAIL + * is returned. + */ +BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; + +/* + * Removes a queue or semaphore from a queue set. A queue or semaphore can only + * be removed from a set if the queue or semaphore is empty. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * @param xQueueOrSemaphore The handle of the queue or semaphore being removed + * from the queue set (cast to an QueueSetMemberHandle_t type). + * + * @param xQueueSet The handle of the queue set in which the queue or semaphore + * is included. + * + * @return If the queue or semaphore was successfully removed from the queue set + * then pdPASS is returned. If the queue was not in the queue set, or the + * queue (or semaphore) was not empty, then pdFAIL is returned. + */ +BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; + +/* + * xQueueSelectFromSet() selects from the members of a queue set a queue or + * semaphore that either contains data (in the case of a queue) or is available + * to take (in the case of a semaphore). xQueueSelectFromSet() effectively + * allows a task to block (pend) on a read operation on all the queues and + * semaphores in a queue set simultaneously. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html + * for reasons why queue sets are very rarely needed in practice as there are + * simpler methods of blocking on multiple objects. + * + * Note 2: Blocking on a queue set that contains a mutex will not cause the + * mutex holder to inherit the priority of the blocked task. + * + * Note 3: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param xQueueSet The queue set on which the task will (potentially) block. + * + * @param xTicksToWait The maximum time, in ticks, that the calling task will + * remain in the Blocked state (with other tasks executing) to wait for a member + * of the queue set to be ready for a successful queue read or semaphore take + * operation. + * + * @return xQueueSelectFromSet() will return the handle of a queue (cast to + * a QueueSetMemberHandle_t type) contained in the queue set that contains data, + * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained + * in the queue set that is available, or NULL if no such queue or semaphore + * exists before before the specified block time expires. + */ +QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * A version of xQueueSelectFromSet() that can be used from an ISR. */ -xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ); +QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; /* Not public API functions. */ -void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ); -portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ); +void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION; +void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION; +UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; #ifdef __cplusplus