2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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40 #if ( configUSE_CO_ROUTINES == 1 )
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41 #include "croutine.h"
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44 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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45 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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46 for the header files above, but not in this file, in order to generate the
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47 correct privileged Vs unprivileged linkage and placement. */
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48 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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51 /* Constants used with the cRxLock and cTxLock structure members. */
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52 #define queueUNLOCKED ( ( int8_t ) -1 )
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53 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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55 /* When the Queue_t structure is used to represent a base queue its pcHead and
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56 pcTail members are used as pointers into the queue storage area. When the
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57 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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58 not necessary, and the pcHead pointer is set to NULL to indicate that the
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59 structure instead holds a pointer to the mutex holder (if any). Map alternative
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60 names to the pcHead and structure member to ensure the readability of the code
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61 is maintained. The QueuePointers_t and SemaphoreData_t types are used to form
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62 a union as their usage is mutually exclusive dependent on what the queue is
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64 #define uxQueueType pcHead
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65 #define queueQUEUE_IS_MUTEX NULL
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67 typedef struct QueuePointers
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69 int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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70 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
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73 typedef struct SemaphoreData
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75 TaskHandle_t xMutexHolder; /*< The handle of the task that holds the mutex. */
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76 UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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79 /* Semaphores do not actually store or copy data, so have an item size of
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81 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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82 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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84 #if( configUSE_PREEMPTION == 0 )
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85 /* If the cooperative scheduler is being used then a yield should not be
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86 performed just because a higher priority task has been woken. */
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87 #define queueYIELD_IF_USING_PREEMPTION()
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89 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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93 * Definition of the queue used by the scheduler.
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94 * Items are queued by copy, not reference. See the following link for the
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95 * rationale: https://www.freertos.org/Embedded-RTOS-Queues.html
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97 typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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99 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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100 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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104 QueuePointers_t xQueue; /*< Data required exclusively when this structure is used as a queue. */
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105 SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */
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108 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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109 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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111 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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112 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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113 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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115 volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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116 volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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118 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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119 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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122 #if ( configUSE_QUEUE_SETS == 1 )
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123 struct QueueDefinition *pxQueueSetContainer;
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126 #if ( configUSE_TRACE_FACILITY == 1 )
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127 UBaseType_t uxQueueNumber;
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128 uint8_t ucQueueType;
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133 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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134 name below to enable the use of older kernel aware debuggers. */
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135 typedef xQUEUE Queue_t;
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137 /*-----------------------------------------------------------*/
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140 * The queue registry is just a means for kernel aware debuggers to locate
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141 * queue structures. It has no other purpose so is an optional component.
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143 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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145 /* The type stored within the queue registry array. This allows a name
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146 to be assigned to each queue making kernel aware debugging a little
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147 more user friendly. */
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148 typedef struct QUEUE_REGISTRY_ITEM
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150 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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151 QueueHandle_t xHandle;
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152 } xQueueRegistryItem;
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154 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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155 new xQueueRegistryItem name below to enable the use of older kernel aware
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157 typedef xQueueRegistryItem QueueRegistryItem_t;
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159 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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160 The pcQueueName member of a structure being NULL is indicative of the
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161 array position being vacant. */
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162 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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164 #endif /* configQUEUE_REGISTRY_SIZE */
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167 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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168 * prevent an ISR from adding or removing items to the queue, but does prevent
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169 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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170 * queue is locked it will instead increment the appropriate queue lock count
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171 * to indicate that a task may require unblocking. When the queue in unlocked
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172 * these lock counts are inspected, and the appropriate action taken.
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174 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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177 * Uses a critical section to determine if there is any data in a queue.
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179 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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181 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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184 * Uses a critical section to determine if there is any space in a queue.
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186 * @return pdTRUE if there is no space, otherwise pdFALSE;
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188 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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191 * Copies an item into the queue, either at the front of the queue or the
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192 * back of the queue.
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194 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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197 * Copies an item out of a queue.
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199 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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201 #if ( configUSE_QUEUE_SETS == 1 )
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203 * Checks to see if a queue is a member of a queue set, and if so, notifies
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204 * the queue set that the queue contains data.
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206 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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210 * Called after a Queue_t structure has been allocated either statically or
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211 * dynamically to fill in the structure's members.
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213 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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216 * Mutexes are a special type of queue. When a mutex is created, first the
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217 * queue is created, then prvInitialiseMutex() is called to configure the queue
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220 #if( configUSE_MUTEXES == 1 )
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221 static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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224 #if( configUSE_MUTEXES == 1 )
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226 * If a task waiting for a mutex causes the mutex holder to inherit a
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227 * priority, but the waiting task times out, then the holder should
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228 * disinherit the priority - but only down to the highest priority of any
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229 * other tasks that are waiting for the same mutex. This function returns
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232 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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234 /*-----------------------------------------------------------*/
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237 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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238 * accessing the queue event lists.
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240 #define prvLockQueue( pxQueue ) \
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241 taskENTER_CRITICAL(); \
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243 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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245 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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247 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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249 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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252 taskEXIT_CRITICAL()
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253 /*-----------------------------------------------------------*/
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255 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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257 Queue_t * const pxQueue = xQueue;
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259 configASSERT( pxQueue );
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261 taskENTER_CRITICAL();
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263 pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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264 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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265 pxQueue->pcWriteTo = pxQueue->pcHead;
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266 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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267 pxQueue->cRxLock = queueUNLOCKED;
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268 pxQueue->cTxLock = queueUNLOCKED;
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270 if( xNewQueue == pdFALSE )
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272 /* If there are tasks blocked waiting to read from the queue, then
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273 the tasks will remain blocked as after this function exits the queue
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274 will still be empty. If there are tasks blocked waiting to write to
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275 the queue, then one should be unblocked as after this function exits
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276 it will be possible to write to it. */
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277 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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279 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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281 queueYIELD_IF_USING_PREEMPTION();
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285 mtCOVERAGE_TEST_MARKER();
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290 mtCOVERAGE_TEST_MARKER();
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295 /* Ensure the event queues start in the correct state. */
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296 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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297 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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300 taskEXIT_CRITICAL();
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302 /* A value is returned for calling semantic consistency with previous
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306 /*-----------------------------------------------------------*/
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308 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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310 QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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312 Queue_t *pxNewQueue;
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314 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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316 /* The StaticQueue_t structure and the queue storage area must be
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318 configASSERT( pxStaticQueue != NULL );
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320 /* A queue storage area should be provided if the item size is not 0, and
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321 should not be provided if the item size is 0. */
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322 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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323 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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325 #if( configASSERT_DEFINED == 1 )
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327 /* Sanity check that the size of the structure used to declare a
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328 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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329 the real queue and semaphore structures. */
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330 volatile size_t xSize = sizeof( StaticQueue_t );
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331 configASSERT( xSize == sizeof( Queue_t ) );
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332 ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
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334 #endif /* configASSERT_DEFINED */
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336 /* The address of a statically allocated queue was passed in, use it.
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337 The address of a statically allocated storage area was also passed in
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338 but is already set. */
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339 pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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341 if( pxNewQueue != NULL )
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343 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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345 /* Queues can be allocated wither statically or dynamically, so
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346 note this queue was allocated statically in case the queue is
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348 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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350 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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352 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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356 traceQUEUE_CREATE_FAILED( ucQueueType );
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357 mtCOVERAGE_TEST_MARKER();
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363 #endif /* configSUPPORT_STATIC_ALLOCATION */
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364 /*-----------------------------------------------------------*/
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366 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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368 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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370 Queue_t *pxNewQueue;
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371 size_t xQueueSizeInBytes;
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372 uint8_t *pucQueueStorage;
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374 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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376 /* Allocate enough space to hold the maximum number of items that
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377 can be in the queue at any time. It is valid for uxItemSize to be
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378 zero in the case the queue is used as a semaphore. */
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379 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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381 /* Allocate the queue and storage area. Justification for MISRA
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382 deviation as follows: pvPortMalloc() always ensures returned memory
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383 blocks are aligned per the requirements of the MCU stack. In this case
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384 pvPortMalloc() must return a pointer that is guaranteed to meet the
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385 alignment requirements of the Queue_t structure - which in this case
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386 is an int8_t *. Therefore, whenever the stack alignment requirements
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387 are greater than or equal to the pointer to char requirements the cast
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388 is safe. In other cases alignment requirements are not strict (one or
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390 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */
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392 if( pxNewQueue != NULL )
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394 /* Jump past the queue structure to find the location of the queue
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396 pucQueueStorage = ( uint8_t * ) pxNewQueue;
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397 pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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399 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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401 /* Queues can be created either statically or dynamically, so
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402 note this task was created dynamically in case it is later
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404 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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406 #endif /* configSUPPORT_STATIC_ALLOCATION */
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408 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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412 traceQUEUE_CREATE_FAILED( ucQueueType );
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413 mtCOVERAGE_TEST_MARKER();
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419 #endif /* configSUPPORT_STATIC_ALLOCATION */
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420 /*-----------------------------------------------------------*/
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422 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
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424 /* Remove compiler warnings about unused parameters should
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425 configUSE_TRACE_FACILITY not be set to 1. */
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426 ( void ) ucQueueType;
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428 if( uxItemSize == ( UBaseType_t ) 0 )
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430 /* No RAM was allocated for the queue storage area, but PC head cannot
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431 be set to NULL because NULL is used as a key to say the queue is used as
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432 a mutex. Therefore just set pcHead to point to the queue as a benign
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433 value that is known to be within the memory map. */
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434 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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438 /* Set the head to the start of the queue storage area. */
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439 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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442 /* Initialise the queue members as described where the queue type is
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444 pxNewQueue->uxLength = uxQueueLength;
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445 pxNewQueue->uxItemSize = uxItemSize;
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446 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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448 #if ( configUSE_TRACE_FACILITY == 1 )
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450 pxNewQueue->ucQueueType = ucQueueType;
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452 #endif /* configUSE_TRACE_FACILITY */
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454 #if( configUSE_QUEUE_SETS == 1 )
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456 pxNewQueue->pxQueueSetContainer = NULL;
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458 #endif /* configUSE_QUEUE_SETS */
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460 traceQUEUE_CREATE( pxNewQueue );
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462 /*-----------------------------------------------------------*/
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464 #if( configUSE_MUTEXES == 1 )
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466 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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468 if( pxNewQueue != NULL )
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470 /* The queue create function will set all the queue structure members
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471 correctly for a generic queue, but this function is creating a
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472 mutex. Overwrite those members that need to be set differently -
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473 in particular the information required for priority inheritance. */
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474 pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
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475 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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477 /* In case this is a recursive mutex. */
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478 pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
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480 traceCREATE_MUTEX( pxNewQueue );
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482 /* Start with the semaphore in the expected state. */
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483 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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487 traceCREATE_MUTEX_FAILED();
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491 #endif /* configUSE_MUTEXES */
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492 /*-----------------------------------------------------------*/
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494 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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496 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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498 QueueHandle_t xNewQueue;
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499 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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501 xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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502 prvInitialiseMutex( ( Queue_t * ) xNewQueue );
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507 #endif /* configUSE_MUTEXES */
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508 /*-----------------------------------------------------------*/
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510 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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512 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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514 QueueHandle_t xNewQueue;
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515 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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517 /* Prevent compiler warnings about unused parameters if
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518 configUSE_TRACE_FACILITY does not equal 1. */
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519 ( void ) ucQueueType;
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521 xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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522 prvInitialiseMutex( ( Queue_t * ) xNewQueue );
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527 #endif /* configUSE_MUTEXES */
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528 /*-----------------------------------------------------------*/
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530 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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532 TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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534 TaskHandle_t pxReturn;
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535 Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
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537 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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538 be called directly. Note: This is a good way of determining if the
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539 calling task is the mutex holder, but not a good way of determining the
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540 identity of the mutex holder, as the holder may change between the
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541 following critical section exiting and the function returning. */
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542 taskENTER_CRITICAL();
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544 if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
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546 pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
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553 taskEXIT_CRITICAL();
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556 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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559 /*-----------------------------------------------------------*/
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561 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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563 TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
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565 TaskHandle_t pxReturn;
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567 configASSERT( xSemaphore );
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569 /* Mutexes cannot be used in interrupt service routines, so the mutex
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570 holder should not change in an ISR, and therefore a critical section is
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571 not required here. */
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572 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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574 pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
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582 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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585 /*-----------------------------------------------------------*/
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587 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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589 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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591 BaseType_t xReturn;
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592 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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594 configASSERT( pxMutex );
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596 /* If this is the task that holds the mutex then xMutexHolder will not
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597 change outside of this task. If this task does not hold the mutex then
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598 pxMutexHolder can never coincidentally equal the tasks handle, and as
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599 this is the only condition we are interested in it does not matter if
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600 pxMutexHolder is accessed simultaneously by another task. Therefore no
\r
601 mutual exclusion is required to test the pxMutexHolder variable. */
\r
602 if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
\r
604 traceGIVE_MUTEX_RECURSIVE( pxMutex );
\r
606 /* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
\r
607 the task handle, therefore no underflow check is required. Also,
\r
608 uxRecursiveCallCount is only modified by the mutex holder, and as
\r
609 there can only be one, no mutual exclusion is required to modify the
\r
610 uxRecursiveCallCount member. */
\r
611 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )--;
\r
613 /* Has the recursive call count unwound to 0? */
\r
614 if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 )
\r
616 /* Return the mutex. This will automatically unblock any other
\r
617 task that might be waiting to access the mutex. */
\r
618 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
622 mtCOVERAGE_TEST_MARKER();
\r
629 /* The mutex cannot be given because the calling task is not the
\r
633 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
639 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
640 /*-----------------------------------------------------------*/
\r
642 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
644 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
646 BaseType_t xReturn;
\r
647 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
649 configASSERT( pxMutex );
\r
651 /* Comments regarding mutual exclusion as per those within
\r
652 xQueueGiveMutexRecursive(). */
\r
654 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
656 if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
\r
658 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
\r
663 xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
\r
665 /* pdPASS will only be returned if the mutex was successfully
\r
666 obtained. The calling task may have entered the Blocked state
\r
667 before reaching here. */
\r
668 if( xReturn != pdFAIL )
\r
670 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
\r
674 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
681 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
682 /*-----------------------------------------------------------*/
\r
684 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
686 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
688 QueueHandle_t xHandle;
\r
690 configASSERT( uxMaxCount != 0 );
\r
691 configASSERT( uxInitialCount <= uxMaxCount );
\r
693 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
695 if( xHandle != NULL )
\r
697 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
699 traceCREATE_COUNTING_SEMAPHORE();
\r
703 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
709 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
710 /*-----------------------------------------------------------*/
\r
712 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
714 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
716 QueueHandle_t xHandle;
\r
718 configASSERT( uxMaxCount != 0 );
\r
719 configASSERT( uxInitialCount <= uxMaxCount );
\r
721 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
723 if( xHandle != NULL )
\r
725 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
727 traceCREATE_COUNTING_SEMAPHORE();
\r
731 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
737 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
738 /*-----------------------------------------------------------*/
\r
740 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
742 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
743 TimeOut_t xTimeOut;
\r
744 Queue_t * const pxQueue = xQueue;
\r
746 configASSERT( pxQueue );
\r
747 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
748 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
749 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
751 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
756 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
757 allow return statements within the function itself. This is done in the
\r
758 interest of execution time efficiency. */
\r
761 taskENTER_CRITICAL();
\r
763 /* Is there room on the queue now? The running task must be the
\r
764 highest priority task wanting to access the queue. If the head item
\r
765 in the queue is to be overwritten then it does not matter if the
\r
767 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
769 traceQUEUE_SEND( pxQueue );
\r
771 #if ( configUSE_QUEUE_SETS == 1 )
\r
773 const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
775 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
777 if( pxQueue->pxQueueSetContainer != NULL )
\r
779 if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
\r
781 /* Do not notify the queue set as an existing item
\r
782 was overwritten in the queue so the number of items
\r
783 in the queue has not changed. */
\r
784 mtCOVERAGE_TEST_MARKER();
\r
786 else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
788 /* The queue is a member of a queue set, and posting
\r
789 to the queue set caused a higher priority task to
\r
790 unblock. A context switch is required. */
\r
791 queueYIELD_IF_USING_PREEMPTION();
\r
795 mtCOVERAGE_TEST_MARKER();
\r
800 /* If there was a task waiting for data to arrive on the
\r
801 queue then unblock it now. */
\r
802 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
804 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
806 /* The unblocked task has a priority higher than
\r
807 our own so yield immediately. Yes it is ok to
\r
808 do this from within the critical section - the
\r
809 kernel takes care of that. */
\r
810 queueYIELD_IF_USING_PREEMPTION();
\r
814 mtCOVERAGE_TEST_MARKER();
\r
817 else if( xYieldRequired != pdFALSE )
\r
819 /* This path is a special case that will only get
\r
820 executed if the task was holding multiple mutexes
\r
821 and the mutexes were given back in an order that is
\r
822 different to that in which they were taken. */
\r
823 queueYIELD_IF_USING_PREEMPTION();
\r
827 mtCOVERAGE_TEST_MARKER();
\r
831 #else /* configUSE_QUEUE_SETS */
\r
833 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
835 /* If there was a task waiting for data to arrive on the
\r
836 queue then unblock it now. */
\r
837 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
839 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
841 /* The unblocked task has a priority higher than
\r
842 our own so yield immediately. Yes it is ok to do
\r
843 this from within the critical section - the kernel
\r
844 takes care of that. */
\r
845 queueYIELD_IF_USING_PREEMPTION();
\r
849 mtCOVERAGE_TEST_MARKER();
\r
852 else if( xYieldRequired != pdFALSE )
\r
854 /* This path is a special case that will only get
\r
855 executed if the task was holding multiple mutexes and
\r
856 the mutexes were given back in an order that is
\r
857 different to that in which they were taken. */
\r
858 queueYIELD_IF_USING_PREEMPTION();
\r
862 mtCOVERAGE_TEST_MARKER();
\r
865 #endif /* configUSE_QUEUE_SETS */
\r
867 taskEXIT_CRITICAL();
\r
872 if( xTicksToWait == ( TickType_t ) 0 )
\r
874 /* The queue was full and no block time is specified (or
\r
875 the block time has expired) so leave now. */
\r
876 taskEXIT_CRITICAL();
\r
878 /* Return to the original privilege level before exiting
\r
880 traceQUEUE_SEND_FAILED( pxQueue );
\r
881 return errQUEUE_FULL;
\r
883 else if( xEntryTimeSet == pdFALSE )
\r
885 /* The queue was full and a block time was specified so
\r
886 configure the timeout structure. */
\r
887 vTaskInternalSetTimeOutState( &xTimeOut );
\r
888 xEntryTimeSet = pdTRUE;
\r
892 /* Entry time was already set. */
\r
893 mtCOVERAGE_TEST_MARKER();
\r
897 taskEXIT_CRITICAL();
\r
899 /* Interrupts and other tasks can send to and receive from the queue
\r
900 now the critical section has been exited. */
\r
903 prvLockQueue( pxQueue );
\r
905 /* Update the timeout state to see if it has expired yet. */
\r
906 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
908 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
910 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
911 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
913 /* Unlocking the queue means queue events can effect the
\r
914 event list. It is possible that interrupts occurring now
\r
915 remove this task from the event list again - but as the
\r
916 scheduler is suspended the task will go onto the pending
\r
917 ready last instead of the actual ready list. */
\r
918 prvUnlockQueue( pxQueue );
\r
920 /* Resuming the scheduler will move tasks from the pending
\r
921 ready list into the ready list - so it is feasible that this
\r
922 task is already in a ready list before it yields - in which
\r
923 case the yield will not cause a context switch unless there
\r
924 is also a higher priority task in the pending ready list. */
\r
925 if( xTaskResumeAll() == pdFALSE )
\r
927 portYIELD_WITHIN_API();
\r
933 prvUnlockQueue( pxQueue );
\r
934 ( void ) xTaskResumeAll();
\r
939 /* The timeout has expired. */
\r
940 prvUnlockQueue( pxQueue );
\r
941 ( void ) xTaskResumeAll();
\r
943 traceQUEUE_SEND_FAILED( pxQueue );
\r
944 return errQUEUE_FULL;
\r
946 } /*lint -restore */
\r
948 /*-----------------------------------------------------------*/
\r
950 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
952 BaseType_t xReturn;
\r
953 UBaseType_t uxSavedInterruptStatus;
\r
954 Queue_t * const pxQueue = xQueue;
\r
956 configASSERT( pxQueue );
\r
957 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
958 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
960 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
961 system call (or maximum API call) interrupt priority. Interrupts that are
\r
962 above the maximum system call priority are kept permanently enabled, even
\r
963 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
964 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
965 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
966 failure if a FreeRTOS API function is called from an interrupt that has been
\r
967 assigned a priority above the configured maximum system call priority.
\r
968 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
969 that have been assigned a priority at or (logically) below the maximum
\r
970 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
971 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
972 More information (albeit Cortex-M specific) is provided on the following
\r
973 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
974 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
976 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
977 in the queue. Also don't directly wake a task that was blocked on a queue
\r
978 read, instead return a flag to say whether a context switch is required or
\r
979 not (i.e. has a task with a higher priority than us been woken by this
\r
981 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
983 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
985 const int8_t cTxLock = pxQueue->cTxLock;
\r
987 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
989 /* The event list is not altered if the queue is locked. This will
\r
990 be done when the queue is unlocked later. */
\r
991 if( cTxLock == queueUNLOCKED )
\r
993 #if ( configUSE_QUEUE_SETS == 1 )
\r
995 const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
997 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
998 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
999 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
1000 called here even though the disinherit function does not check if
\r
1001 the scheduler is suspended before accessing the ready lists. */
\r
1002 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1004 if( pxQueue->pxQueueSetContainer != NULL )
\r
1006 if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
\r
1008 /* Do not notify the queue set as an existing item
\r
1009 was overwritten in the queue so the number of items
\r
1010 in the queue has not changed. */
\r
1011 mtCOVERAGE_TEST_MARKER();
\r
1013 else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
1015 /* The queue is a member of a queue set, and posting
\r
1016 to the queue set caused a higher priority task to
\r
1017 unblock. A context switch is required. */
\r
1018 if( pxHigherPriorityTaskWoken != NULL )
\r
1020 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1024 mtCOVERAGE_TEST_MARKER();
\r
1029 mtCOVERAGE_TEST_MARKER();
\r
1034 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1036 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1038 /* The task waiting has a higher priority so
\r
1039 record that a context switch is required. */
\r
1040 if( pxHigherPriorityTaskWoken != NULL )
\r
1042 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1046 mtCOVERAGE_TEST_MARKER();
\r
1051 mtCOVERAGE_TEST_MARKER();
\r
1056 mtCOVERAGE_TEST_MARKER();
\r
1060 #else /* configUSE_QUEUE_SETS */
\r
1062 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
1063 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
1064 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
1065 called here even though the disinherit function does not check if
\r
1066 the scheduler is suspended before accessing the ready lists. */
\r
1067 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1069 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1071 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1073 /* The task waiting has a higher priority so record that a
\r
1074 context switch is required. */
\r
1075 if( pxHigherPriorityTaskWoken != NULL )
\r
1077 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1081 mtCOVERAGE_TEST_MARKER();
\r
1086 mtCOVERAGE_TEST_MARKER();
\r
1091 mtCOVERAGE_TEST_MARKER();
\r
1094 #endif /* configUSE_QUEUE_SETS */
\r
1098 /* Increment the lock count so the task that unlocks the queue
\r
1099 knows that data was posted while it was locked. */
\r
1100 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1107 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1108 xReturn = errQUEUE_FULL;
\r
1111 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1115 /*-----------------------------------------------------------*/
\r
1117 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1119 BaseType_t xReturn;
\r
1120 UBaseType_t uxSavedInterruptStatus;
\r
1121 Queue_t * const pxQueue = xQueue;
\r
1123 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1124 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1125 read, instead return a flag to say whether a context switch is required or
\r
1126 not (i.e. has a task with a higher priority than us been woken by this
\r
1129 configASSERT( pxQueue );
\r
1131 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1132 if the item size is not 0. */
\r
1133 configASSERT( pxQueue->uxItemSize == 0 );
\r
1135 /* Normally a mutex would not be given from an interrupt, especially if
\r
1136 there is a mutex holder, as priority inheritance makes no sense for an
\r
1137 interrupts, only tasks. */
\r
1138 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
\r
1140 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1141 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1142 above the maximum system call priority are kept permanently enabled, even
\r
1143 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1144 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1145 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1146 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1147 assigned a priority above the configured maximum system call priority.
\r
1148 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1149 that have been assigned a priority at or (logically) below the maximum
\r
1150 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1151 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1152 More information (albeit Cortex-M specific) is provided on the following
\r
1153 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1154 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1156 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1158 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1160 /* When the queue is used to implement a semaphore no data is ever
\r
1161 moved through the queue but it is still valid to see if the queue 'has
\r
1163 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1165 const int8_t cTxLock = pxQueue->cTxLock;
\r
1167 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1169 /* A task can only have an inherited priority if it is a mutex
\r
1170 holder - and if there is a mutex holder then the mutex cannot be
\r
1171 given from an ISR. As this is the ISR version of the function it
\r
1172 can be assumed there is no mutex holder and no need to determine if
\r
1173 priority disinheritance is needed. Simply increase the count of
\r
1174 messages (semaphores) available. */
\r
1175 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1177 /* The event list is not altered if the queue is locked. This will
\r
1178 be done when the queue is unlocked later. */
\r
1179 if( cTxLock == queueUNLOCKED )
\r
1181 #if ( configUSE_QUEUE_SETS == 1 )
\r
1183 if( pxQueue->pxQueueSetContainer != NULL )
\r
1185 if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
1187 /* The semaphore is a member of a queue set, and
\r
1188 posting to the queue set caused a higher priority
\r
1189 task to unblock. A context switch is required. */
\r
1190 if( pxHigherPriorityTaskWoken != NULL )
\r
1192 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1196 mtCOVERAGE_TEST_MARKER();
\r
1201 mtCOVERAGE_TEST_MARKER();
\r
1206 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1208 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1210 /* The task waiting has a higher priority so
\r
1211 record that a context switch is required. */
\r
1212 if( pxHigherPriorityTaskWoken != NULL )
\r
1214 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1218 mtCOVERAGE_TEST_MARKER();
\r
1223 mtCOVERAGE_TEST_MARKER();
\r
1228 mtCOVERAGE_TEST_MARKER();
\r
1232 #else /* configUSE_QUEUE_SETS */
\r
1234 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1236 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1238 /* The task waiting has a higher priority so record that a
\r
1239 context switch is required. */
\r
1240 if( pxHigherPriorityTaskWoken != NULL )
\r
1242 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1246 mtCOVERAGE_TEST_MARKER();
\r
1251 mtCOVERAGE_TEST_MARKER();
\r
1256 mtCOVERAGE_TEST_MARKER();
\r
1259 #endif /* configUSE_QUEUE_SETS */
\r
1263 /* Increment the lock count so the task that unlocks the queue
\r
1264 knows that data was posted while it was locked. */
\r
1265 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1272 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1273 xReturn = errQUEUE_FULL;
\r
1276 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1280 /*-----------------------------------------------------------*/
\r
1282 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1284 BaseType_t xEntryTimeSet = pdFALSE;
\r
1285 TimeOut_t xTimeOut;
\r
1286 Queue_t * const pxQueue = xQueue;
\r
1288 /* Check the pointer is not NULL. */
\r
1289 configASSERT( ( pxQueue ) );
\r
1291 /* The buffer into which data is received can only be NULL if the data size
\r
1292 is zero (so no data is copied into the buffer. */
\r
1293 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1295 /* Cannot block if the scheduler is suspended. */
\r
1296 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1298 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1303 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1304 allow return statements within the function itself. This is done in the
\r
1305 interest of execution time efficiency. */
\r
1308 taskENTER_CRITICAL();
\r
1310 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1312 /* Is there data in the queue now? To be running the calling task
\r
1313 must be the highest priority task wanting to access the queue. */
\r
1314 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1316 /* Data available, remove one item. */
\r
1317 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1318 traceQUEUE_RECEIVE( pxQueue );
\r
1319 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1321 /* There is now space in the queue, were any tasks waiting to
\r
1322 post to the queue? If so, unblock the highest priority waiting
\r
1324 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1326 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1328 queueYIELD_IF_USING_PREEMPTION();
\r
1332 mtCOVERAGE_TEST_MARKER();
\r
1337 mtCOVERAGE_TEST_MARKER();
\r
1340 taskEXIT_CRITICAL();
\r
1345 if( xTicksToWait == ( TickType_t ) 0 )
\r
1347 /* The queue was empty and no block time is specified (or
\r
1348 the block time has expired) so leave now. */
\r
1349 taskEXIT_CRITICAL();
\r
1350 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1351 return errQUEUE_EMPTY;
\r
1353 else if( xEntryTimeSet == pdFALSE )
\r
1355 /* The queue was empty and a block time was specified so
\r
1356 configure the timeout structure. */
\r
1357 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1358 xEntryTimeSet = pdTRUE;
\r
1362 /* Entry time was already set. */
\r
1363 mtCOVERAGE_TEST_MARKER();
\r
1367 taskEXIT_CRITICAL();
\r
1369 /* Interrupts and other tasks can send to and receive from the queue
\r
1370 now the critical section has been exited. */
\r
1372 vTaskSuspendAll();
\r
1373 prvLockQueue( pxQueue );
\r
1375 /* Update the timeout state to see if it has expired yet. */
\r
1376 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1378 /* The timeout has not expired. If the queue is still empty place
\r
1379 the task on the list of tasks waiting to receive from the queue. */
\r
1380 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1382 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1383 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1384 prvUnlockQueue( pxQueue );
\r
1385 if( xTaskResumeAll() == pdFALSE )
\r
1387 portYIELD_WITHIN_API();
\r
1391 mtCOVERAGE_TEST_MARKER();
\r
1396 /* The queue contains data again. Loop back to try and read the
\r
1398 prvUnlockQueue( pxQueue );
\r
1399 ( void ) xTaskResumeAll();
\r
1404 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1405 back and attempt to read the data. */
\r
1406 prvUnlockQueue( pxQueue );
\r
1407 ( void ) xTaskResumeAll();
\r
1409 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1411 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1412 return errQUEUE_EMPTY;
\r
1416 mtCOVERAGE_TEST_MARKER();
\r
1419 } /*lint -restore */
\r
1421 /*-----------------------------------------------------------*/
\r
1423 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1425 BaseType_t xEntryTimeSet = pdFALSE;
\r
1426 TimeOut_t xTimeOut;
\r
1427 Queue_t * const pxQueue = xQueue;
\r
1429 #if( configUSE_MUTEXES == 1 )
\r
1430 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1433 /* Check the queue pointer is not NULL. */
\r
1434 configASSERT( ( pxQueue ) );
\r
1436 /* Check this really is a semaphore, in which case the item size will be
\r
1438 configASSERT( pxQueue->uxItemSize == 0 );
\r
1440 /* Cannot block if the scheduler is suspended. */
\r
1441 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1443 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1448 /*lint -save -e904 This function relaxes the coding standard somewhat to allow return
\r
1449 statements within the function itself. This is done in the interest
\r
1450 of execution time efficiency. */
\r
1453 taskENTER_CRITICAL();
\r
1455 /* Semaphores are queues with an item size of 0, and where the
\r
1456 number of messages in the queue is the semaphore's count value. */
\r
1457 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1459 /* Is there data in the queue now? To be running the calling task
\r
1460 must be the highest priority task wanting to access the queue. */
\r
1461 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1463 traceQUEUE_RECEIVE( pxQueue );
\r
1465 /* Semaphores are queues with a data size of zero and where the
\r
1466 messages waiting is the semaphore's count. Reduce the count. */
\r
1467 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1469 #if ( configUSE_MUTEXES == 1 )
\r
1471 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1473 /* Record the information required to implement
\r
1474 priority inheritance should it become necessary. */
\r
1475 pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
\r
1479 mtCOVERAGE_TEST_MARKER();
\r
1482 #endif /* configUSE_MUTEXES */
\r
1484 /* Check to see if other tasks are blocked waiting to give the
\r
1485 semaphore, and if so, unblock the highest priority such task. */
\r
1486 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1488 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1490 queueYIELD_IF_USING_PREEMPTION();
\r
1494 mtCOVERAGE_TEST_MARKER();
\r
1499 mtCOVERAGE_TEST_MARKER();
\r
1502 taskEXIT_CRITICAL();
\r
1507 if( xTicksToWait == ( TickType_t ) 0 )
\r
1509 /* For inheritance to have occurred there must have been an
\r
1510 initial timeout, and an adjusted timeout cannot become 0, as
\r
1511 if it were 0 the function would have exited. */
\r
1512 #if( configUSE_MUTEXES == 1 )
\r
1514 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1516 #endif /* configUSE_MUTEXES */
\r
1518 /* The semaphore count was 0 and no block time is specified
\r
1519 (or the block time has expired) so exit now. */
\r
1520 taskEXIT_CRITICAL();
\r
1521 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1522 return errQUEUE_EMPTY;
\r
1524 else if( xEntryTimeSet == pdFALSE )
\r
1526 /* The semaphore count was 0 and a block time was specified
\r
1527 so configure the timeout structure ready to block. */
\r
1528 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1529 xEntryTimeSet = pdTRUE;
\r
1533 /* Entry time was already set. */
\r
1534 mtCOVERAGE_TEST_MARKER();
\r
1538 taskEXIT_CRITICAL();
\r
1540 /* Interrupts and other tasks can give to and take from the semaphore
\r
1541 now the critical section has been exited. */
\r
1543 vTaskSuspendAll();
\r
1544 prvLockQueue( pxQueue );
\r
1546 /* Update the timeout state to see if it has expired yet. */
\r
1547 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1549 /* A block time is specified and not expired. If the semaphore
\r
1550 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1551 become available. As semaphores are implemented with queues the
\r
1552 queue being empty is equivalent to the semaphore count being 0. */
\r
1553 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1555 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1557 #if ( configUSE_MUTEXES == 1 )
\r
1559 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1561 taskENTER_CRITICAL();
\r
1563 xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
1565 taskEXIT_CRITICAL();
\r
1569 mtCOVERAGE_TEST_MARKER();
\r
1574 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1575 prvUnlockQueue( pxQueue );
\r
1576 if( xTaskResumeAll() == pdFALSE )
\r
1578 portYIELD_WITHIN_API();
\r
1582 mtCOVERAGE_TEST_MARKER();
\r
1587 /* There was no timeout and the semaphore count was not 0, so
\r
1588 attempt to take the semaphore again. */
\r
1589 prvUnlockQueue( pxQueue );
\r
1590 ( void ) xTaskResumeAll();
\r
1596 prvUnlockQueue( pxQueue );
\r
1597 ( void ) xTaskResumeAll();
\r
1599 /* If the semaphore count is 0 exit now as the timeout has
\r
1600 expired. Otherwise return to attempt to take the semaphore that is
\r
1601 known to be available. As semaphores are implemented by queues the
\r
1602 queue being empty is equivalent to the semaphore count being 0. */
\r
1603 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1605 #if ( configUSE_MUTEXES == 1 )
\r
1607 /* xInheritanceOccurred could only have be set if
\r
1608 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1609 test the mutex type again to check it is actually a mutex. */
\r
1610 if( xInheritanceOccurred != pdFALSE )
\r
1612 taskENTER_CRITICAL();
\r
1614 UBaseType_t uxHighestWaitingPriority;
\r
1616 /* This task blocking on the mutex caused another
\r
1617 task to inherit this task's priority. Now this task
\r
1618 has timed out the priority should be disinherited
\r
1619 again, but only as low as the next highest priority
\r
1620 task that is waiting for the same mutex. */
\r
1621 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1622 vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
\r
1624 taskEXIT_CRITICAL();
\r
1627 #endif /* configUSE_MUTEXES */
\r
1629 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1630 return errQUEUE_EMPTY;
\r
1634 mtCOVERAGE_TEST_MARKER();
\r
1637 } /*lint -restore */
\r
1639 /*-----------------------------------------------------------*/
\r
1641 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1643 BaseType_t xEntryTimeSet = pdFALSE;
\r
1644 TimeOut_t xTimeOut;
\r
1645 int8_t *pcOriginalReadPosition;
\r
1646 Queue_t * const pxQueue = xQueue;
\r
1648 /* Check the pointer is not NULL. */
\r
1649 configASSERT( ( pxQueue ) );
\r
1651 /* The buffer into which data is received can only be NULL if the data size
\r
1652 is zero (so no data is copied into the buffer. */
\r
1653 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1655 /* Cannot block if the scheduler is suspended. */
\r
1656 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1658 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1663 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1664 allow return statements within the function itself. This is done in the
\r
1665 interest of execution time efficiency. */
\r
1668 taskENTER_CRITICAL();
\r
1670 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1672 /* Is there data in the queue now? To be running the calling task
\r
1673 must be the highest priority task wanting to access the queue. */
\r
1674 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1676 /* Remember the read position so it can be reset after the data
\r
1677 is read from the queue as this function is only peeking the
\r
1678 data, not removing it. */
\r
1679 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1681 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1682 traceQUEUE_PEEK( pxQueue );
\r
1684 /* The data is not being removed, so reset the read pointer. */
\r
1685 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1687 /* The data is being left in the queue, so see if there are
\r
1688 any other tasks waiting for the data. */
\r
1689 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1691 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1693 /* The task waiting has a higher priority than this task. */
\r
1694 queueYIELD_IF_USING_PREEMPTION();
\r
1698 mtCOVERAGE_TEST_MARKER();
\r
1703 mtCOVERAGE_TEST_MARKER();
\r
1706 taskEXIT_CRITICAL();
\r
1711 if( xTicksToWait == ( TickType_t ) 0 )
\r
1713 /* The queue was empty and no block time is specified (or
\r
1714 the block time has expired) so leave now. */
\r
1715 taskEXIT_CRITICAL();
\r
1716 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1717 return errQUEUE_EMPTY;
\r
1719 else if( xEntryTimeSet == pdFALSE )
\r
1721 /* The queue was empty and a block time was specified so
\r
1722 configure the timeout structure ready to enter the blocked
\r
1724 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1725 xEntryTimeSet = pdTRUE;
\r
1729 /* Entry time was already set. */
\r
1730 mtCOVERAGE_TEST_MARKER();
\r
1734 taskEXIT_CRITICAL();
\r
1736 /* Interrupts and other tasks can send to and receive from the queue
\r
1737 now the critical section has been exited. */
\r
1739 vTaskSuspendAll();
\r
1740 prvLockQueue( pxQueue );
\r
1742 /* Update the timeout state to see if it has expired yet. */
\r
1743 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1745 /* Timeout has not expired yet, check to see if there is data in the
\r
1746 queue now, and if not enter the Blocked state to wait for data. */
\r
1747 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1749 traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
\r
1750 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1751 prvUnlockQueue( pxQueue );
\r
1752 if( xTaskResumeAll() == pdFALSE )
\r
1754 portYIELD_WITHIN_API();
\r
1758 mtCOVERAGE_TEST_MARKER();
\r
1763 /* There is data in the queue now, so don't enter the blocked
\r
1764 state, instead return to try and obtain the data. */
\r
1765 prvUnlockQueue( pxQueue );
\r
1766 ( void ) xTaskResumeAll();
\r
1771 /* The timeout has expired. If there is still no data in the queue
\r
1772 exit, otherwise go back and try to read the data again. */
\r
1773 prvUnlockQueue( pxQueue );
\r
1774 ( void ) xTaskResumeAll();
\r
1776 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1778 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1779 return errQUEUE_EMPTY;
\r
1783 mtCOVERAGE_TEST_MARKER();
\r
1786 } /*lint -restore */
\r
1788 /*-----------------------------------------------------------*/
\r
1790 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1792 BaseType_t xReturn;
\r
1793 UBaseType_t uxSavedInterruptStatus;
\r
1794 Queue_t * const pxQueue = xQueue;
\r
1796 configASSERT( pxQueue );
\r
1797 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1799 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1800 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1801 above the maximum system call priority are kept permanently enabled, even
\r
1802 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1803 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1804 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1805 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1806 assigned a priority above the configured maximum system call priority.
\r
1807 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1808 that have been assigned a priority at or (logically) below the maximum
\r
1809 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1810 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1811 More information (albeit Cortex-M specific) is provided on the following
\r
1812 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1813 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1815 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1817 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1819 /* Cannot block in an ISR, so check there is data available. */
\r
1820 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1822 const int8_t cRxLock = pxQueue->cRxLock;
\r
1824 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1826 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1827 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1829 /* If the queue is locked the event list will not be modified.
\r
1830 Instead update the lock count so the task that unlocks the queue
\r
1831 will know that an ISR has removed data while the queue was
\r
1833 if( cRxLock == queueUNLOCKED )
\r
1835 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1837 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1839 /* The task waiting has a higher priority than us so
\r
1840 force a context switch. */
\r
1841 if( pxHigherPriorityTaskWoken != NULL )
\r
1843 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1847 mtCOVERAGE_TEST_MARKER();
\r
1852 mtCOVERAGE_TEST_MARKER();
\r
1857 mtCOVERAGE_TEST_MARKER();
\r
1862 /* Increment the lock count so the task that unlocks the queue
\r
1863 knows that data was removed while it was locked. */
\r
1864 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1872 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1875 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1879 /*-----------------------------------------------------------*/
\r
1881 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1883 BaseType_t xReturn;
\r
1884 UBaseType_t uxSavedInterruptStatus;
\r
1885 int8_t *pcOriginalReadPosition;
\r
1886 Queue_t * const pxQueue = xQueue;
\r
1888 configASSERT( pxQueue );
\r
1889 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1890 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1892 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1893 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1894 above the maximum system call priority are kept permanently enabled, even
\r
1895 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1896 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1897 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1898 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1899 assigned a priority above the configured maximum system call priority.
\r
1900 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1901 that have been assigned a priority at or (logically) below the maximum
\r
1902 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1903 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1904 More information (albeit Cortex-M specific) is provided on the following
\r
1905 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1906 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1908 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1910 /* Cannot block in an ISR, so check there is data available. */
\r
1911 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1913 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1915 /* Remember the read position so it can be reset as nothing is
\r
1916 actually being removed from the queue. */
\r
1917 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1918 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1919 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1926 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1929 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1933 /*-----------------------------------------------------------*/
\r
1935 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1937 UBaseType_t uxReturn;
\r
1939 configASSERT( xQueue );
\r
1941 taskENTER_CRITICAL();
\r
1943 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1945 taskEXIT_CRITICAL();
\r
1948 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1949 /*-----------------------------------------------------------*/
\r
1951 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1953 UBaseType_t uxReturn;
\r
1954 Queue_t * const pxQueue = xQueue;
\r
1956 configASSERT( pxQueue );
\r
1958 taskENTER_CRITICAL();
\r
1960 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1962 taskEXIT_CRITICAL();
\r
1965 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1966 /*-----------------------------------------------------------*/
\r
1968 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1970 UBaseType_t uxReturn;
\r
1971 Queue_t * const pxQueue = xQueue;
\r
1973 configASSERT( pxQueue );
\r
1974 uxReturn = pxQueue->uxMessagesWaiting;
\r
1977 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1978 /*-----------------------------------------------------------*/
\r
1980 void vQueueDelete( QueueHandle_t xQueue )
\r
1982 Queue_t * const pxQueue = xQueue;
\r
1984 configASSERT( pxQueue );
\r
1985 traceQUEUE_DELETE( pxQueue );
\r
1987 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1989 vQueueUnregisterQueue( pxQueue );
\r
1993 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1995 /* The queue can only have been allocated dynamically - free it
\r
1997 vPortFree( pxQueue );
\r
1999 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
2001 /* The queue could have been allocated statically or dynamically, so
\r
2002 check before attempting to free the memory. */
\r
2003 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
2005 vPortFree( pxQueue );
\r
2009 mtCOVERAGE_TEST_MARKER();
\r
2014 /* The queue must have been statically allocated, so is not going to be
\r
2015 deleted. Avoid compiler warnings about the unused parameter. */
\r
2018 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2020 /*-----------------------------------------------------------*/
\r
2022 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2024 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2026 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2029 #endif /* configUSE_TRACE_FACILITY */
\r
2030 /*-----------------------------------------------------------*/
\r
2032 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2034 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2036 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2039 #endif /* configUSE_TRACE_FACILITY */
\r
2040 /*-----------------------------------------------------------*/
\r
2042 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2044 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2046 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2049 #endif /* configUSE_TRACE_FACILITY */
\r
2050 /*-----------------------------------------------------------*/
\r
2052 #if( configUSE_MUTEXES == 1 )
\r
2054 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2056 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2058 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2059 priority, but the waiting task times out, then the holder should
\r
2060 disinherit the priority - but only down to the highest priority of any
\r
2061 other tasks that are waiting for the same mutex. For this purpose,
\r
2062 return the priority of the highest priority task that is waiting for the
\r
2064 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
\r
2066 uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2070 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2073 return uxHighestPriorityOfWaitingTasks;
\r
2076 #endif /* configUSE_MUTEXES */
\r
2077 /*-----------------------------------------------------------*/
\r
2079 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2081 BaseType_t xReturn = pdFALSE;
\r
2082 UBaseType_t uxMessagesWaiting;
\r
2084 /* This function is called from a critical section. */
\r
2086 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2088 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2090 #if ( configUSE_MUTEXES == 1 )
\r
2092 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2094 /* The mutex is no longer being held. */
\r
2095 xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
2096 pxQueue->u.xSemaphore.xMutexHolder = NULL;
\r
2100 mtCOVERAGE_TEST_MARKER();
\r
2103 #endif /* configUSE_MUTEXES */
\r
2105 else if( xPosition == queueSEND_TO_BACK )
\r
2107 ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
\r
2108 pxQueue->pcWriteTo += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
\r
2109 if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2111 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2115 mtCOVERAGE_TEST_MARKER();
\r
2120 ( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e9087 !e418 MISRA exception as the casts are only redundant for some ports. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. Assert checks null pointer only used when length is 0. */
\r
2121 pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
\r
2122 if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2124 pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
\r
2128 mtCOVERAGE_TEST_MARKER();
\r
2131 if( xPosition == queueOVERWRITE )
\r
2133 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2135 /* An item is not being added but overwritten, so subtract
\r
2136 one from the recorded number of items in the queue so when
\r
2137 one is added again below the number of recorded items remains
\r
2139 --uxMessagesWaiting;
\r
2143 mtCOVERAGE_TEST_MARKER();
\r
2148 mtCOVERAGE_TEST_MARKER();
\r
2152 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2156 /*-----------------------------------------------------------*/
\r
2158 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2160 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2162 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
\r
2163 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
2165 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2169 mtCOVERAGE_TEST_MARKER();
\r
2171 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
\r
2174 /*-----------------------------------------------------------*/
\r
2176 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2178 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2180 /* The lock counts contains the number of extra data items placed or
\r
2181 removed from the queue while the queue was locked. When a queue is
\r
2182 locked items can be added or removed, but the event lists cannot be
\r
2184 taskENTER_CRITICAL();
\r
2186 int8_t cTxLock = pxQueue->cTxLock;
\r
2188 /* See if data was added to the queue while it was locked. */
\r
2189 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2191 /* Data was posted while the queue was locked. Are any tasks
\r
2192 blocked waiting for data to become available? */
\r
2193 #if ( configUSE_QUEUE_SETS == 1 )
\r
2195 if( pxQueue->pxQueueSetContainer != NULL )
\r
2197 if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
2199 /* The queue is a member of a queue set, and posting to
\r
2200 the queue set caused a higher priority task to unblock.
\r
2201 A context switch is required. */
\r
2202 vTaskMissedYield();
\r
2206 mtCOVERAGE_TEST_MARKER();
\r
2211 /* Tasks that are removed from the event list will get
\r
2212 added to the pending ready list as the scheduler is still
\r
2214 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2216 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2218 /* The task waiting has a higher priority so record that a
\r
2219 context switch is required. */
\r
2220 vTaskMissedYield();
\r
2224 mtCOVERAGE_TEST_MARKER();
\r
2233 #else /* configUSE_QUEUE_SETS */
\r
2235 /* Tasks that are removed from the event list will get added to
\r
2236 the pending ready list as the scheduler is still suspended. */
\r
2237 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2239 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2241 /* The task waiting has a higher priority so record that
\r
2242 a context switch is required. */
\r
2243 vTaskMissedYield();
\r
2247 mtCOVERAGE_TEST_MARKER();
\r
2255 #endif /* configUSE_QUEUE_SETS */
\r
2260 pxQueue->cTxLock = queueUNLOCKED;
\r
2262 taskEXIT_CRITICAL();
\r
2264 /* Do the same for the Rx lock. */
\r
2265 taskENTER_CRITICAL();
\r
2267 int8_t cRxLock = pxQueue->cRxLock;
\r
2269 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2271 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2273 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2275 vTaskMissedYield();
\r
2279 mtCOVERAGE_TEST_MARKER();
\r
2290 pxQueue->cRxLock = queueUNLOCKED;
\r
2292 taskEXIT_CRITICAL();
\r
2294 /*-----------------------------------------------------------*/
\r
2296 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2298 BaseType_t xReturn;
\r
2300 taskENTER_CRITICAL();
\r
2302 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2308 xReturn = pdFALSE;
\r
2311 taskEXIT_CRITICAL();
\r
2315 /*-----------------------------------------------------------*/
\r
2317 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2319 BaseType_t xReturn;
\r
2320 Queue_t * const pxQueue = xQueue;
\r
2322 configASSERT( pxQueue );
\r
2323 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2329 xReturn = pdFALSE;
\r
2333 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2334 /*-----------------------------------------------------------*/
\r
2336 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2338 BaseType_t xReturn;
\r
2340 taskENTER_CRITICAL();
\r
2342 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2348 xReturn = pdFALSE;
\r
2351 taskEXIT_CRITICAL();
\r
2355 /*-----------------------------------------------------------*/
\r
2357 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2359 BaseType_t xReturn;
\r
2360 Queue_t * const pxQueue = xQueue;
\r
2362 configASSERT( pxQueue );
\r
2363 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2369 xReturn = pdFALSE;
\r
2373 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2374 /*-----------------------------------------------------------*/
\r
2376 #if ( configUSE_CO_ROUTINES == 1 )
\r
2378 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2380 BaseType_t xReturn;
\r
2381 Queue_t * const pxQueue = xQueue;
\r
2383 /* If the queue is already full we may have to block. A critical section
\r
2384 is required to prevent an interrupt removing something from the queue
\r
2385 between the check to see if the queue is full and blocking on the queue. */
\r
2386 portDISABLE_INTERRUPTS();
\r
2388 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2390 /* The queue is full - do we want to block or just leave without
\r
2392 if( xTicksToWait > ( TickType_t ) 0 )
\r
2394 /* As this is called from a coroutine we cannot block directly, but
\r
2395 return indicating that we need to block. */
\r
2396 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2397 portENABLE_INTERRUPTS();
\r
2398 return errQUEUE_BLOCKED;
\r
2402 portENABLE_INTERRUPTS();
\r
2403 return errQUEUE_FULL;
\r
2407 portENABLE_INTERRUPTS();
\r
2409 portDISABLE_INTERRUPTS();
\r
2411 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2413 /* There is room in the queue, copy the data into the queue. */
\r
2414 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2417 /* Were any co-routines waiting for data to become available? */
\r
2418 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2420 /* In this instance the co-routine could be placed directly
\r
2421 into the ready list as we are within a critical section.
\r
2422 Instead the same pending ready list mechanism is used as if
\r
2423 the event were caused from within an interrupt. */
\r
2424 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2426 /* The co-routine waiting has a higher priority so record
\r
2427 that a yield might be appropriate. */
\r
2428 xReturn = errQUEUE_YIELD;
\r
2432 mtCOVERAGE_TEST_MARKER();
\r
2437 mtCOVERAGE_TEST_MARKER();
\r
2442 xReturn = errQUEUE_FULL;
\r
2445 portENABLE_INTERRUPTS();
\r
2450 #endif /* configUSE_CO_ROUTINES */
\r
2451 /*-----------------------------------------------------------*/
\r
2453 #if ( configUSE_CO_ROUTINES == 1 )
\r
2455 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2457 BaseType_t xReturn;
\r
2458 Queue_t * const pxQueue = xQueue;
\r
2460 /* If the queue is already empty we may have to block. A critical section
\r
2461 is required to prevent an interrupt adding something to the queue
\r
2462 between the check to see if the queue is empty and blocking on the queue. */
\r
2463 portDISABLE_INTERRUPTS();
\r
2465 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2467 /* There are no messages in the queue, do we want to block or just
\r
2468 leave with nothing? */
\r
2469 if( xTicksToWait > ( TickType_t ) 0 )
\r
2471 /* As this is a co-routine we cannot block directly, but return
\r
2472 indicating that we need to block. */
\r
2473 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2474 portENABLE_INTERRUPTS();
\r
2475 return errQUEUE_BLOCKED;
\r
2479 portENABLE_INTERRUPTS();
\r
2480 return errQUEUE_FULL;
\r
2485 mtCOVERAGE_TEST_MARKER();
\r
2488 portENABLE_INTERRUPTS();
\r
2490 portDISABLE_INTERRUPTS();
\r
2492 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2494 /* Data is available from the queue. */
\r
2495 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2496 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2498 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2502 mtCOVERAGE_TEST_MARKER();
\r
2504 --( pxQueue->uxMessagesWaiting );
\r
2505 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2509 /* Were any co-routines waiting for space to become available? */
\r
2510 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2512 /* In this instance the co-routine could be placed directly
\r
2513 into the ready list as we are within a critical section.
\r
2514 Instead the same pending ready list mechanism is used as if
\r
2515 the event were caused from within an interrupt. */
\r
2516 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2518 xReturn = errQUEUE_YIELD;
\r
2522 mtCOVERAGE_TEST_MARKER();
\r
2527 mtCOVERAGE_TEST_MARKER();
\r
2535 portENABLE_INTERRUPTS();
\r
2540 #endif /* configUSE_CO_ROUTINES */
\r
2541 /*-----------------------------------------------------------*/
\r
2543 #if ( configUSE_CO_ROUTINES == 1 )
\r
2545 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2547 Queue_t * const pxQueue = xQueue;
\r
2549 /* Cannot block within an ISR so if there is no space on the queue then
\r
2550 exit without doing anything. */
\r
2551 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2553 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2555 /* We only want to wake one co-routine per ISR, so check that a
\r
2556 co-routine has not already been woken. */
\r
2557 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2559 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2561 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2567 mtCOVERAGE_TEST_MARKER();
\r
2572 mtCOVERAGE_TEST_MARKER();
\r
2577 mtCOVERAGE_TEST_MARKER();
\r
2582 mtCOVERAGE_TEST_MARKER();
\r
2585 return xCoRoutinePreviouslyWoken;
\r
2588 #endif /* configUSE_CO_ROUTINES */
\r
2589 /*-----------------------------------------------------------*/
\r
2591 #if ( configUSE_CO_ROUTINES == 1 )
\r
2593 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2595 BaseType_t xReturn;
\r
2596 Queue_t * const pxQueue = xQueue;
\r
2598 /* We cannot block from an ISR, so check there is data available. If
\r
2599 not then just leave without doing anything. */
\r
2600 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2602 /* Copy the data from the queue. */
\r
2603 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2604 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2606 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2610 mtCOVERAGE_TEST_MARKER();
\r
2612 --( pxQueue->uxMessagesWaiting );
\r
2613 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2615 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2617 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2619 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2621 *pxCoRoutineWoken = pdTRUE;
\r
2625 mtCOVERAGE_TEST_MARKER();
\r
2630 mtCOVERAGE_TEST_MARKER();
\r
2635 mtCOVERAGE_TEST_MARKER();
\r
2648 #endif /* configUSE_CO_ROUTINES */
\r
2649 /*-----------------------------------------------------------*/
\r
2651 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2653 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2657 /* See if there is an empty space in the registry. A NULL name denotes
\r
2659 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2661 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2663 /* Store the information on this queue. */
\r
2664 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2665 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2667 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2672 mtCOVERAGE_TEST_MARKER();
\r
2677 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2678 /*-----------------------------------------------------------*/
\r
2680 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2682 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2685 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2687 /* Note there is nothing here to protect against another task adding or
\r
2688 removing entries from the registry while it is being searched. */
\r
2689 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2691 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2693 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2698 mtCOVERAGE_TEST_MARKER();
\r
2703 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2705 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2706 /*-----------------------------------------------------------*/
\r
2708 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2710 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2714 /* See if the handle of the queue being unregistered in actually in the
\r
2716 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2718 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2720 /* Set the name to NULL to show that this slot if free again. */
\r
2721 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2723 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2724 appear in the registry twice if it is added, removed, then
\r
2726 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2731 mtCOVERAGE_TEST_MARKER();
\r
2735 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2737 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2738 /*-----------------------------------------------------------*/
\r
2740 #if ( configUSE_TIMERS == 1 )
\r
2742 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2744 Queue_t * const pxQueue = xQueue;
\r
2746 /* This function should not be called by application code hence the
\r
2747 'Restricted' in its name. It is not part of the public API. It is
\r
2748 designed for use by kernel code, and has special calling requirements.
\r
2749 It can result in vListInsert() being called on a list that can only
\r
2750 possibly ever have one item in it, so the list will be fast, but even
\r
2751 so it should be called with the scheduler locked and not from a critical
\r
2754 /* Only do anything if there are no messages in the queue. This function
\r
2755 will not actually cause the task to block, just place it on a blocked
\r
2756 list. It will not block until the scheduler is unlocked - at which
\r
2757 time a yield will be performed. If an item is added to the queue while
\r
2758 the queue is locked, and the calling task blocks on the queue, then the
\r
2759 calling task will be immediately unblocked when the queue is unlocked. */
\r
2760 prvLockQueue( pxQueue );
\r
2761 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2763 /* There is nothing in the queue, block for the specified period. */
\r
2764 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2768 mtCOVERAGE_TEST_MARKER();
\r
2770 prvUnlockQueue( pxQueue );
\r
2773 #endif /* configUSE_TIMERS */
\r
2774 /*-----------------------------------------------------------*/
\r
2776 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2778 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2780 QueueSetHandle_t pxQueue;
\r
2782 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2787 #endif /* configUSE_QUEUE_SETS */
\r
2788 /*-----------------------------------------------------------*/
\r
2790 #if ( configUSE_QUEUE_SETS == 1 )
\r
2792 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2794 BaseType_t xReturn;
\r
2796 taskENTER_CRITICAL();
\r
2798 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2800 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2803 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2805 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2806 items in the queue/semaphore. */
\r
2811 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2815 taskEXIT_CRITICAL();
\r
2820 #endif /* configUSE_QUEUE_SETS */
\r
2821 /*-----------------------------------------------------------*/
\r
2823 #if ( configUSE_QUEUE_SETS == 1 )
\r
2825 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2827 BaseType_t xReturn;
\r
2828 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2830 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2832 /* The queue was not a member of the set. */
\r
2835 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2837 /* It is dangerous to remove a queue from a set when the queue is
\r
2838 not empty because the queue set will still hold pending events for
\r
2844 taskENTER_CRITICAL();
\r
2846 /* The queue is no longer contained in the set. */
\r
2847 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2849 taskEXIT_CRITICAL();
\r
2854 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2856 #endif /* configUSE_QUEUE_SETS */
\r
2857 /*-----------------------------------------------------------*/
\r
2859 #if ( configUSE_QUEUE_SETS == 1 )
\r
2861 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2863 QueueSetMemberHandle_t xReturn = NULL;
\r
2865 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2869 #endif /* configUSE_QUEUE_SETS */
\r
2870 /*-----------------------------------------------------------*/
\r
2872 #if ( configUSE_QUEUE_SETS == 1 )
\r
2874 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2876 QueueSetMemberHandle_t xReturn = NULL;
\r
2878 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2882 #endif /* configUSE_QUEUE_SETS */
\r
2883 /*-----------------------------------------------------------*/
\r
2885 #if ( configUSE_QUEUE_SETS == 1 )
\r
2887 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
\r
2889 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2890 BaseType_t xReturn = pdFALSE;
\r
2892 /* This function must be called form a critical section. */
\r
2894 configASSERT( pxQueueSetContainer );
\r
2895 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2897 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2899 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2901 traceQUEUE_SEND( pxQueueSetContainer );
\r
2903 /* The data copied is the handle of the queue that contains data. */
\r
2904 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
\r
2906 if( cTxLock == queueUNLOCKED )
\r
2908 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2910 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2912 /* The task waiting has a higher priority. */
\r
2917 mtCOVERAGE_TEST_MARKER();
\r
2922 mtCOVERAGE_TEST_MARKER();
\r
2927 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2932 mtCOVERAGE_TEST_MARKER();
\r
2938 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob