X-Git-Url: https://git.sur5r.net/?a=blobdiff_plain;f=FreeRTOS%2FSource%2Finclude%2Fqueue.h;h=b8b6f028ffdf5957d19886b101700949aeeec189;hb=63777264102a4a13b3fb796358ad565926785cb4;hp=bb4a0ff772f3fd48a28c0005639dbf7410128600;hpb=69644b6878075d157a1dcface6a6136d1fce91c2;p=freertos
diff --git a/FreeRTOS/Source/include/queue.h b/FreeRTOS/Source/include/queue.h
index bb4a0ff77..b8b6f028f 100644
--- a/FreeRTOS/Source/include/queue.h
+++ b/FreeRTOS/Source/include/queue.h
@@ -1,76 +1,29 @@
/*
- FreeRTOS V7.4.0 - Copyright (C) 2013 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 itcan be
- viewed here: http://www.freertos.org/a00114.html and also obtained by
- writing to Real Time Engineers Ltd., 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, books, training, latest versions,
- license and Real Time Engineers Ltd. contact details.
-
- http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
- including FreeRTOS+Trace - an indispensable productivity tool, and our new
- fully thread aware and reentrant UDP/IP stack.
-
- http://www.OpenRTOS.com - 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.SafeRTOS.com - High Integrity Systems also provide a safety
- engineered and independently SIL3 certified version for use in safety and
- mission critical applications that require provable dependability.
-*/
+ * 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
@@ -84,53 +37,66 @@
extern "C" {
#endif
-
-#include "mpu_wrappers.h"
+#include "task.h"
/**
* Type by which queues are referenced. For example, a call to xQueueCreate()
- * returns an xQueueHandle variable that can then be used as a parameter to
+ * returns an QueueHandle_t variable that can then be used as a parameter to
* xQueueSend(), xQueueReceive(), etc.
*/
-typedef void * xQueueHandle;
+struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */
+typedef struct QueueDefinition * QueueHandle_t;
/**
* 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 * xQueueSetHandle;
+typedef struct QueueDefinition * QueueSetHandle_t;
/**
* Queue sets can contain both queues and semaphores, so the
- * xQueueSetMemberHandle is defined as a type to be used where a parameter or
- * return value can be either an xQueueHandle or an xSemaphoreHandle.
+ * 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 void * xQueueSetMemberHandle;
+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_SET ( 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.
*
@@ -153,10 +119,10 @@ typedef void * xQueueSetMemberHandle;
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.
@@ -176,19 +142,105 @@ typedef void * xQueueSetMemberHandle;
* \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
@@ -206,7 +258,7 @@ typedef void * xQueueSetMemberHandle;
* 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.
*
@@ -218,15 +270,15 @@ typedef void * xQueueSetMemberHandle;
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.
@@ -236,9 +288,9 @@ typedef void * xQueueSetMemberHandle;
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.
}
@@ -249,7 +301,7 @@ typedef void * xQueueSetMemberHandle;
// 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.
@@ -263,10 +315,10 @@ typedef void * xQueueSetMemberHandle;
/**
* queue. h
*
- portBASE_TYPE xQueueSendToBack(
- xQueueHandle xQueue,
- const void * pvItemToQueue,
- portTickType xTicksToWait
+ BaseType_t xQueueSendToBack(
+ QueueHandle_t xQueue,
+ const void *pvItemToQueue,
+ TickType_t xTicksToWait
);
*
*
@@ -288,7 +340,7 @@ typedef void * xQueueSetMemberHandle;
* 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.
*
@@ -300,15 +352,15 @@ typedef void * xQueueSetMemberHandle;
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.
@@ -318,9 +370,9 @@ typedef void * xQueueSetMemberHandle;
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.
}
@@ -331,7 +383,7 @@ typedef void * xQueueSetMemberHandle;
// 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.
@@ -345,10 +397,10 @@ typedef void * xQueueSetMemberHandle;
/**
* queue. h
*
- portBASE_TYPE xQueueSend(
- xQueueHandle xQueue,
+ BaseType_t xQueueSend(
+ QueueHandle_t xQueue,
const void * pvItemToQueue,
- portTickType xTicksToWait
+ TickType_t xTicksToWait
);
*
*
@@ -372,7 +424,7 @@ typedef void * xQueueSetMemberHandle;
* 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.
*
@@ -384,15 +436,15 @@ typedef void * xQueueSetMemberHandle;
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.
@@ -402,9 +454,9 @@ typedef void * xQueueSetMemberHandle;
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.
}
@@ -415,7 +467,7 @@ typedef void * xQueueSetMemberHandle;
// 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.
@@ -426,15 +478,98 @@ typedef void * xQueueSetMemberHandle;
*/
#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
);
*
*
@@ -456,7 +591,7 @@ typedef void * xQueueSetMemberHandle;
* 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
@@ -472,15 +607,15 @@ typedef void * xQueueSetMemberHandle;
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.
@@ -490,9 +625,9 @@ typedef void * xQueueSetMemberHandle;
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.
}
@@ -503,7 +638,7 @@ typedef void * xQueueSetMemberHandle;
// 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.
@@ -512,19 +647,17 @@ typedef void * xQueueSetMemberHandle;
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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
@@ -533,7 +666,9 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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 xQueue The handle to the queue from which the item is to be
* received.
@@ -544,7 +679,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
*
@@ -559,7 +694,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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 )
@@ -579,7 +714,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
}
@@ -593,7 +728,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
@@ -603,30 +738,29 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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
- );
- *
- * This is a macro that calls the xQueueGenericReceive() function.
+ BaseType_t xQueuePeekFromISR(
+ QueueHandle_t xQueue,
+ void *pvBuffer,
+ );
*
- * 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 xQueue The handle to the queue from which the item is to be
* received.
@@ -634,91 +768,29 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
* @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.
*
@@ -730,15 +802,10 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
@@ -751,7 +818,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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 )
@@ -771,7 +838,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
}
@@ -785,7 +852,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
@@ -798,11 +865,11 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, 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.
*
@@ -810,32 +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 xQueue );
+void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
/**
* queue. h
*
- portBASE_TYPE xQueueSendToFrontFromISR(
- xQueueHandle xQueue,
+ BaseType_t xQueueSendToFrontFromISR(
+ QueueHandle_t xQueue,
const void *pvItemToQueue,
- portBASE_TYPE *pxHigherPriorityTaskWoken
+ BaseType_t *pxHigherPriorityTaskWoken
);
*
@@ -870,7 +954,7 @@ void vQueueDelete( xQueueHandle xQueue );
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;
@@ -903,10 +987,10 @@ void vQueueDelete( xQueueHandle xQueue );
/**
* queue. h
*
- portBASE_TYPE xQueueSendToBackFromISR(
- xQueueHandle xQueue,
+ BaseType_t xQueueSendToBackFromISR(
+ QueueHandle_t xQueue,
const void *pvItemToQueue,
- portBASE_TYPE *pxHigherPriorityTaskWoken
+ BaseType_t *pxHigherPriorityTaskWoken
);
*
@@ -941,7 +1025,7 @@ void vQueueDelete( xQueueHandle xQueue );
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;
@@ -973,10 +1057,97 @@ void vQueueDelete( xQueueHandle xQueue );
/**
* queue. h
*
- portBASE_TYPE xQueueSendFromISR(
- xQueueHandle xQueue,
+ 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
+ *
+ BaseType_t xQueueSendFromISR(
+ QueueHandle_t xQueue,
const void *pvItemToQueue,
- portBASE_TYPE *pxHigherPriorityTaskWoken
+ BaseType_t *pxHigherPriorityTaskWoken
);
*
@@ -1014,7 +1185,7 @@ void vQueueDelete( xQueueHandle xQueue );
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;
@@ -1034,7 +1205,7 @@ void vQueueDelete( xQueueHandle xQueue );
if( xHigherPriorityTaskWoken )
{
// Actual macro used here is port specific.
- taskYIELD_FROM_ISR ();
+ portYIELD_FROM_ISR ();
}
}
@@ -1047,17 +1218,18 @@ void vQueueDelete( xQueueHandle xQueue );
/**
* queue. h
*
- portBASE_TYPE xQueueGenericSendFromISR(
- xQueueHandle xQueue,
+ 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.
@@ -1092,7 +1264,7 @@ void vQueueDelete( xQueueHandle xQueue );
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;
@@ -1112,7 +1284,7 @@ void vQueueDelete( xQueueHandle xQueue );
// name of the yield function required is port specific.
if( xHigherPriorityTaskWokenByPost )
{
- taskYIELD_YIELD_FROM_ISR();
+ portYIELD_FROM_ISR();
}
}
@@ -1120,15 +1292,16 @@ void vQueueDelete( xQueueHandle xQueue );
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, 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 xQueue,
+ BaseType_t xQueueReceiveFromISR(
+ QueueHandle_t xQueue,
void *pvBuffer,
- portBASE_TYPE *pxTaskWoken
+ BaseType_t *pxTaskWoken
);
*
*
@@ -1152,13 +1325,13 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, 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 ) );
@@ -1170,23 +1343,23 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, 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) )
@@ -1209,37 +1382,15 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void *
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
* \ingroup QueueManagement
*/
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, 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 xQueue );
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue );
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue );
-
-
-/*
- * 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 xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, 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
@@ -1250,32 +1401,34 @@ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const
* should not be called directly from application code. Instead use the macro
* wrappers defined within croutine.h.
*/
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
-signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait );
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, 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
* 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 xMutex, 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( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
@@ -1297,17 +1450,60 @@ 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 > 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
+
+/*
+ * 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 > 0U
- void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName );
+#if( configQUEUE_REGISTRY_SIZE > 0 )
+ void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
#endif
/*
- * Generic version of the queue creation function, which is in turn called by
- * any queue, semaphore or mutex creation function or macro.
+ * 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.
*/
-xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType );
+#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
@@ -1324,7 +1520,7 @@ xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned
* 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
+ * 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
@@ -1357,7 +1553,7 @@ xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned
* @return If the queue set is created successfully then a handle to the created
* queue set is returned. Otherwise NULL is returned.
*/
-xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength );
+QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
/*
* Adds a queue or semaphore to a queue set that was previously created by a
@@ -1371,7 +1567,7 @@ xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength );
* 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 xQueueSetMemberHandle type).
+ * 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.
@@ -1381,17 +1577,17 @@ xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength );
* queue set because it is already a member of a different queue set then pdFAIL
* is returned.
*/
-portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
+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
+ * 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 xQueueSetMemberHandle type).
+ * 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.
@@ -1400,7 +1596,7 @@ portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSet
* 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.
*/
-portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
+BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
/*
* xQueueSelectFromSet() selects from the members of a queue set a queue or
@@ -1413,7 +1609,7 @@ portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQue
* 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
+ * 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
@@ -1425,29 +1621,30 @@ portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQue
*
* @param xQueueSet The queue set on which the task will (potentially) block.
*
- * @param xBlockTimeTicks The maximum time, in ticks, that the calling task will
+ * @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 xQueueSetMemberHandle type) contained in the queue set that contains data,
- * or the handle of a semaphore (cast to a xQueueSetMemberHandle type) contained
+ * 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.
*/
-xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks );
+QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/*
* A version of xQueueSelectFromSet() that can be used from an ISR.
*/
-xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet );
+QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
/* Not public API functions. */
-void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait );
-portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue );
-void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
-unsigned char ucQueueGetQueueType( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+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