2 * FreeRTOS Kernel V10.3.0
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3 * Copyright (C) 2020 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
986 const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
988 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
990 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
991 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
992 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
993 called here even though the disinherit function does not check if
\r
994 the scheduler is suspended before accessing the ready lists. */
\r
995 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
997 /* The event list is not altered if the queue is locked. This will
\r
998 be done when the queue is unlocked later. */
\r
999 if( cTxLock == queueUNLOCKED )
\r
1001 #if ( configUSE_QUEUE_SETS == 1 )
\r
1003 if( pxQueue->pxQueueSetContainer != NULL )
\r
1005 if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
\r
1007 /* Do not notify the queue set as an existing item
\r
1008 was overwritten in the queue so the number of items
\r
1009 in the queue has not changed. */
\r
1010 mtCOVERAGE_TEST_MARKER();
\r
1012 else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
1014 /* The queue is a member of a queue set, and posting
\r
1015 to the queue set caused a higher priority task to
\r
1016 unblock. A context switch is required. */
\r
1017 if( pxHigherPriorityTaskWoken != NULL )
\r
1019 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1023 mtCOVERAGE_TEST_MARKER();
\r
1028 mtCOVERAGE_TEST_MARKER();
\r
1033 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1035 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1037 /* The task waiting has a higher priority so
\r
1038 record that a context switch is required. */
\r
1039 if( pxHigherPriorityTaskWoken != NULL )
\r
1041 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1045 mtCOVERAGE_TEST_MARKER();
\r
1050 mtCOVERAGE_TEST_MARKER();
\r
1055 mtCOVERAGE_TEST_MARKER();
\r
1059 #else /* configUSE_QUEUE_SETS */
\r
1061 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1063 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1065 /* The task waiting has a higher priority so record that a
\r
1066 context switch is required. */
\r
1067 if( pxHigherPriorityTaskWoken != NULL )
\r
1069 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1073 mtCOVERAGE_TEST_MARKER();
\r
1078 mtCOVERAGE_TEST_MARKER();
\r
1083 mtCOVERAGE_TEST_MARKER();
\r
1086 /* Not used in this path. */
\r
1087 ( void ) uxPreviousMessagesWaiting;
\r
1089 #endif /* configUSE_QUEUE_SETS */
\r
1093 /* Increment the lock count so the task that unlocks the queue
\r
1094 knows that data was posted while it was locked. */
\r
1095 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1102 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1103 xReturn = errQUEUE_FULL;
\r
1106 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1110 /*-----------------------------------------------------------*/
\r
1112 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1114 BaseType_t xReturn;
\r
1115 UBaseType_t uxSavedInterruptStatus;
\r
1116 Queue_t * const pxQueue = xQueue;
\r
1118 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1119 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1120 read, instead return a flag to say whether a context switch is required or
\r
1121 not (i.e. has a task with a higher priority than us been woken by this
\r
1124 configASSERT( pxQueue );
\r
1126 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1127 if the item size is not 0. */
\r
1128 configASSERT( pxQueue->uxItemSize == 0 );
\r
1130 /* Normally a mutex would not be given from an interrupt, especially if
\r
1131 there is a mutex holder, as priority inheritance makes no sense for an
\r
1132 interrupts, only tasks. */
\r
1133 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
\r
1135 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1136 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1137 above the maximum system call priority are kept permanently enabled, even
\r
1138 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1139 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1140 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1141 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1142 assigned a priority above the configured maximum system call priority.
\r
1143 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1144 that have been assigned a priority at or (logically) below the maximum
\r
1145 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1146 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1147 More information (albeit Cortex-M specific) is provided on the following
\r
1148 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1149 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1151 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1153 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1155 /* When the queue is used to implement a semaphore no data is ever
\r
1156 moved through the queue but it is still valid to see if the queue 'has
\r
1158 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1160 const int8_t cTxLock = pxQueue->cTxLock;
\r
1162 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1164 /* A task can only have an inherited priority if it is a mutex
\r
1165 holder - and if there is a mutex holder then the mutex cannot be
\r
1166 given from an ISR. As this is the ISR version of the function it
\r
1167 can be assumed there is no mutex holder and no need to determine if
\r
1168 priority disinheritance is needed. Simply increase the count of
\r
1169 messages (semaphores) available. */
\r
1170 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1172 /* The event list is not altered if the queue is locked. This will
\r
1173 be done when the queue is unlocked later. */
\r
1174 if( cTxLock == queueUNLOCKED )
\r
1176 #if ( configUSE_QUEUE_SETS == 1 )
\r
1178 if( pxQueue->pxQueueSetContainer != NULL )
\r
1180 if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
1182 /* The semaphore is a member of a queue set, and
\r
1183 posting to the queue set caused a higher priority
\r
1184 task to unblock. A context switch is required. */
\r
1185 if( pxHigherPriorityTaskWoken != NULL )
\r
1187 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1191 mtCOVERAGE_TEST_MARKER();
\r
1196 mtCOVERAGE_TEST_MARKER();
\r
1201 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1203 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1205 /* The task waiting has a higher priority so
\r
1206 record that a context switch is required. */
\r
1207 if( pxHigherPriorityTaskWoken != NULL )
\r
1209 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1213 mtCOVERAGE_TEST_MARKER();
\r
1218 mtCOVERAGE_TEST_MARKER();
\r
1223 mtCOVERAGE_TEST_MARKER();
\r
1227 #else /* configUSE_QUEUE_SETS */
\r
1229 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1231 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1233 /* The task waiting has a higher priority so record that a
\r
1234 context switch is required. */
\r
1235 if( pxHigherPriorityTaskWoken != NULL )
\r
1237 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1241 mtCOVERAGE_TEST_MARKER();
\r
1246 mtCOVERAGE_TEST_MARKER();
\r
1251 mtCOVERAGE_TEST_MARKER();
\r
1254 #endif /* configUSE_QUEUE_SETS */
\r
1258 /* Increment the lock count so the task that unlocks the queue
\r
1259 knows that data was posted while it was locked. */
\r
1260 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1267 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1268 xReturn = errQUEUE_FULL;
\r
1271 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1275 /*-----------------------------------------------------------*/
\r
1277 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1279 BaseType_t xEntryTimeSet = pdFALSE;
\r
1280 TimeOut_t xTimeOut;
\r
1281 Queue_t * const pxQueue = xQueue;
\r
1283 /* Check the pointer is not NULL. */
\r
1284 configASSERT( ( pxQueue ) );
\r
1286 /* The buffer into which data is received can only be NULL if the data size
\r
1287 is zero (so no data is copied into the buffer. */
\r
1288 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1290 /* Cannot block if the scheduler is suspended. */
\r
1291 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1293 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1298 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1299 allow return statements within the function itself. This is done in the
\r
1300 interest of execution time efficiency. */
\r
1303 taskENTER_CRITICAL();
\r
1305 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1307 /* Is there data in the queue now? To be running the calling task
\r
1308 must be the highest priority task wanting to access the queue. */
\r
1309 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1311 /* Data available, remove one item. */
\r
1312 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1313 traceQUEUE_RECEIVE( pxQueue );
\r
1314 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1316 /* There is now space in the queue, were any tasks waiting to
\r
1317 post to the queue? If so, unblock the highest priority waiting
\r
1319 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1321 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1323 queueYIELD_IF_USING_PREEMPTION();
\r
1327 mtCOVERAGE_TEST_MARKER();
\r
1332 mtCOVERAGE_TEST_MARKER();
\r
1335 taskEXIT_CRITICAL();
\r
1340 if( xTicksToWait == ( TickType_t ) 0 )
\r
1342 /* The queue was empty and no block time is specified (or
\r
1343 the block time has expired) so leave now. */
\r
1344 taskEXIT_CRITICAL();
\r
1345 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1346 return errQUEUE_EMPTY;
\r
1348 else if( xEntryTimeSet == pdFALSE )
\r
1350 /* The queue was empty and a block time was specified so
\r
1351 configure the timeout structure. */
\r
1352 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1353 xEntryTimeSet = pdTRUE;
\r
1357 /* Entry time was already set. */
\r
1358 mtCOVERAGE_TEST_MARKER();
\r
1362 taskEXIT_CRITICAL();
\r
1364 /* Interrupts and other tasks can send to and receive from the queue
\r
1365 now the critical section has been exited. */
\r
1367 vTaskSuspendAll();
\r
1368 prvLockQueue( pxQueue );
\r
1370 /* Update the timeout state to see if it has expired yet. */
\r
1371 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1373 /* The timeout has not expired. If the queue is still empty place
\r
1374 the task on the list of tasks waiting to receive from the queue. */
\r
1375 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1377 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1378 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1379 prvUnlockQueue( pxQueue );
\r
1380 if( xTaskResumeAll() == pdFALSE )
\r
1382 portYIELD_WITHIN_API();
\r
1386 mtCOVERAGE_TEST_MARKER();
\r
1391 /* The queue contains data again. Loop back to try and read the
\r
1393 prvUnlockQueue( pxQueue );
\r
1394 ( void ) xTaskResumeAll();
\r
1399 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1400 back and attempt to read the data. */
\r
1401 prvUnlockQueue( pxQueue );
\r
1402 ( void ) xTaskResumeAll();
\r
1404 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1406 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1407 return errQUEUE_EMPTY;
\r
1411 mtCOVERAGE_TEST_MARKER();
\r
1414 } /*lint -restore */
\r
1416 /*-----------------------------------------------------------*/
\r
1418 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1420 BaseType_t xEntryTimeSet = pdFALSE;
\r
1421 TimeOut_t xTimeOut;
\r
1422 Queue_t * const pxQueue = xQueue;
\r
1424 #if( configUSE_MUTEXES == 1 )
\r
1425 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1428 /* Check the queue pointer is not NULL. */
\r
1429 configASSERT( ( pxQueue ) );
\r
1431 /* Check this really is a semaphore, in which case the item size will be
\r
1433 configASSERT( pxQueue->uxItemSize == 0 );
\r
1435 /* Cannot block if the scheduler is suspended. */
\r
1436 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1438 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1443 /*lint -save -e904 This function relaxes the coding standard somewhat to allow return
\r
1444 statements within the function itself. This is done in the interest
\r
1445 of execution time efficiency. */
\r
1448 taskENTER_CRITICAL();
\r
1450 /* Semaphores are queues with an item size of 0, and where the
\r
1451 number of messages in the queue is the semaphore's count value. */
\r
1452 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1454 /* Is there data in the queue now? To be running the calling task
\r
1455 must be the highest priority task wanting to access the queue. */
\r
1456 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1458 traceQUEUE_RECEIVE( pxQueue );
\r
1460 /* Semaphores are queues with a data size of zero and where the
\r
1461 messages waiting is the semaphore's count. Reduce the count. */
\r
1462 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1464 #if ( configUSE_MUTEXES == 1 )
\r
1466 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1468 /* Record the information required to implement
\r
1469 priority inheritance should it become necessary. */
\r
1470 pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
\r
1474 mtCOVERAGE_TEST_MARKER();
\r
1477 #endif /* configUSE_MUTEXES */
\r
1479 /* Check to see if other tasks are blocked waiting to give the
\r
1480 semaphore, and if so, unblock the highest priority such task. */
\r
1481 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1483 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1485 queueYIELD_IF_USING_PREEMPTION();
\r
1489 mtCOVERAGE_TEST_MARKER();
\r
1494 mtCOVERAGE_TEST_MARKER();
\r
1497 taskEXIT_CRITICAL();
\r
1502 if( xTicksToWait == ( TickType_t ) 0 )
\r
1504 /* For inheritance to have occurred there must have been an
\r
1505 initial timeout, and an adjusted timeout cannot become 0, as
\r
1506 if it were 0 the function would have exited. */
\r
1507 #if( configUSE_MUTEXES == 1 )
\r
1509 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1511 #endif /* configUSE_MUTEXES */
\r
1513 /* The semaphore count was 0 and no block time is specified
\r
1514 (or the block time has expired) so exit now. */
\r
1515 taskEXIT_CRITICAL();
\r
1516 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1517 return errQUEUE_EMPTY;
\r
1519 else if( xEntryTimeSet == pdFALSE )
\r
1521 /* The semaphore count was 0 and a block time was specified
\r
1522 so configure the timeout structure ready to block. */
\r
1523 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1524 xEntryTimeSet = pdTRUE;
\r
1528 /* Entry time was already set. */
\r
1529 mtCOVERAGE_TEST_MARKER();
\r
1533 taskEXIT_CRITICAL();
\r
1535 /* Interrupts and other tasks can give to and take from the semaphore
\r
1536 now the critical section has been exited. */
\r
1538 vTaskSuspendAll();
\r
1539 prvLockQueue( pxQueue );
\r
1541 /* Update the timeout state to see if it has expired yet. */
\r
1542 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1544 /* A block time is specified and not expired. If the semaphore
\r
1545 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1546 become available. As semaphores are implemented with queues the
\r
1547 queue being empty is equivalent to the semaphore count being 0. */
\r
1548 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1550 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1552 #if ( configUSE_MUTEXES == 1 )
\r
1554 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1556 taskENTER_CRITICAL();
\r
1558 xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
1560 taskEXIT_CRITICAL();
\r
1564 mtCOVERAGE_TEST_MARKER();
\r
1569 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1570 prvUnlockQueue( pxQueue );
\r
1571 if( xTaskResumeAll() == pdFALSE )
\r
1573 portYIELD_WITHIN_API();
\r
1577 mtCOVERAGE_TEST_MARKER();
\r
1582 /* There was no timeout and the semaphore count was not 0, so
\r
1583 attempt to take the semaphore again. */
\r
1584 prvUnlockQueue( pxQueue );
\r
1585 ( void ) xTaskResumeAll();
\r
1591 prvUnlockQueue( pxQueue );
\r
1592 ( void ) xTaskResumeAll();
\r
1594 /* If the semaphore count is 0 exit now as the timeout has
\r
1595 expired. Otherwise return to attempt to take the semaphore that is
\r
1596 known to be available. As semaphores are implemented by queues the
\r
1597 queue being empty is equivalent to the semaphore count being 0. */
\r
1598 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1600 #if ( configUSE_MUTEXES == 1 )
\r
1602 /* xInheritanceOccurred could only have be set if
\r
1603 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1604 test the mutex type again to check it is actually a mutex. */
\r
1605 if( xInheritanceOccurred != pdFALSE )
\r
1607 taskENTER_CRITICAL();
\r
1609 UBaseType_t uxHighestWaitingPriority;
\r
1611 /* This task blocking on the mutex caused another
\r
1612 task to inherit this task's priority. Now this task
\r
1613 has timed out the priority should be disinherited
\r
1614 again, but only as low as the next highest priority
\r
1615 task that is waiting for the same mutex. */
\r
1616 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1617 vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
\r
1619 taskEXIT_CRITICAL();
\r
1622 #endif /* configUSE_MUTEXES */
\r
1624 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1625 return errQUEUE_EMPTY;
\r
1629 mtCOVERAGE_TEST_MARKER();
\r
1632 } /*lint -restore */
\r
1634 /*-----------------------------------------------------------*/
\r
1636 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1638 BaseType_t xEntryTimeSet = pdFALSE;
\r
1639 TimeOut_t xTimeOut;
\r
1640 int8_t *pcOriginalReadPosition;
\r
1641 Queue_t * const pxQueue = xQueue;
\r
1643 /* Check the pointer is not NULL. */
\r
1644 configASSERT( ( pxQueue ) );
\r
1646 /* The buffer into which data is received can only be NULL if the data size
\r
1647 is zero (so no data is copied into the buffer. */
\r
1648 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1650 /* Cannot block if the scheduler is suspended. */
\r
1651 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1653 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1658 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1659 allow return statements within the function itself. This is done in the
\r
1660 interest of execution time efficiency. */
\r
1663 taskENTER_CRITICAL();
\r
1665 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1667 /* Is there data in the queue now? To be running the calling task
\r
1668 must be the highest priority task wanting to access the queue. */
\r
1669 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1671 /* Remember the read position so it can be reset after the data
\r
1672 is read from the queue as this function is only peeking the
\r
1673 data, not removing it. */
\r
1674 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1676 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1677 traceQUEUE_PEEK( pxQueue );
\r
1679 /* The data is not being removed, so reset the read pointer. */
\r
1680 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1682 /* The data is being left in the queue, so see if there are
\r
1683 any other tasks waiting for the data. */
\r
1684 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1686 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1688 /* The task waiting has a higher priority than this task. */
\r
1689 queueYIELD_IF_USING_PREEMPTION();
\r
1693 mtCOVERAGE_TEST_MARKER();
\r
1698 mtCOVERAGE_TEST_MARKER();
\r
1701 taskEXIT_CRITICAL();
\r
1706 if( xTicksToWait == ( TickType_t ) 0 )
\r
1708 /* The queue was empty and no block time is specified (or
\r
1709 the block time has expired) so leave now. */
\r
1710 taskEXIT_CRITICAL();
\r
1711 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1712 return errQUEUE_EMPTY;
\r
1714 else if( xEntryTimeSet == pdFALSE )
\r
1716 /* The queue was empty and a block time was specified so
\r
1717 configure the timeout structure ready to enter the blocked
\r
1719 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1720 xEntryTimeSet = pdTRUE;
\r
1724 /* Entry time was already set. */
\r
1725 mtCOVERAGE_TEST_MARKER();
\r
1729 taskEXIT_CRITICAL();
\r
1731 /* Interrupts and other tasks can send to and receive from the queue
\r
1732 now the critical section has been exited. */
\r
1734 vTaskSuspendAll();
\r
1735 prvLockQueue( pxQueue );
\r
1737 /* Update the timeout state to see if it has expired yet. */
\r
1738 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1740 /* Timeout has not expired yet, check to see if there is data in the
\r
1741 queue now, and if not enter the Blocked state to wait for data. */
\r
1742 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1744 traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
\r
1745 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1746 prvUnlockQueue( pxQueue );
\r
1747 if( xTaskResumeAll() == pdFALSE )
\r
1749 portYIELD_WITHIN_API();
\r
1753 mtCOVERAGE_TEST_MARKER();
\r
1758 /* There is data in the queue now, so don't enter the blocked
\r
1759 state, instead return to try and obtain the data. */
\r
1760 prvUnlockQueue( pxQueue );
\r
1761 ( void ) xTaskResumeAll();
\r
1766 /* The timeout has expired. If there is still no data in the queue
\r
1767 exit, otherwise go back and try to read the data again. */
\r
1768 prvUnlockQueue( pxQueue );
\r
1769 ( void ) xTaskResumeAll();
\r
1771 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1773 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1774 return errQUEUE_EMPTY;
\r
1778 mtCOVERAGE_TEST_MARKER();
\r
1781 } /*lint -restore */
\r
1783 /*-----------------------------------------------------------*/
\r
1785 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1787 BaseType_t xReturn;
\r
1788 UBaseType_t uxSavedInterruptStatus;
\r
1789 Queue_t * const pxQueue = xQueue;
\r
1791 configASSERT( pxQueue );
\r
1792 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1794 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1795 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1796 above the maximum system call priority are kept permanently enabled, even
\r
1797 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1798 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1799 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1800 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1801 assigned a priority above the configured maximum system call priority.
\r
1802 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1803 that have been assigned a priority at or (logically) below the maximum
\r
1804 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1805 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1806 More information (albeit Cortex-M specific) is provided on the following
\r
1807 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1808 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1810 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1812 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1814 /* Cannot block in an ISR, so check there is data available. */
\r
1815 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1817 const int8_t cRxLock = pxQueue->cRxLock;
\r
1819 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1821 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1822 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1824 /* If the queue is locked the event list will not be modified.
\r
1825 Instead update the lock count so the task that unlocks the queue
\r
1826 will know that an ISR has removed data while the queue was
\r
1828 if( cRxLock == queueUNLOCKED )
\r
1830 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1832 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1834 /* The task waiting has a higher priority than us so
\r
1835 force a context switch. */
\r
1836 if( pxHigherPriorityTaskWoken != NULL )
\r
1838 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1842 mtCOVERAGE_TEST_MARKER();
\r
1847 mtCOVERAGE_TEST_MARKER();
\r
1852 mtCOVERAGE_TEST_MARKER();
\r
1857 /* Increment the lock count so the task that unlocks the queue
\r
1858 knows that data was removed while it was locked. */
\r
1859 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1867 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1870 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1874 /*-----------------------------------------------------------*/
\r
1876 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1878 BaseType_t xReturn;
\r
1879 UBaseType_t uxSavedInterruptStatus;
\r
1880 int8_t *pcOriginalReadPosition;
\r
1881 Queue_t * const pxQueue = xQueue;
\r
1883 configASSERT( pxQueue );
\r
1884 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1885 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1887 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1888 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1889 above the maximum system call priority are kept permanently enabled, even
\r
1890 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1891 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1892 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1893 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1894 assigned a priority above the configured maximum system call priority.
\r
1895 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1896 that have been assigned a priority at or (logically) below the maximum
\r
1897 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1898 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1899 More information (albeit Cortex-M specific) is provided on the following
\r
1900 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1901 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1903 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1905 /* Cannot block in an ISR, so check there is data available. */
\r
1906 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1908 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1910 /* Remember the read position so it can be reset as nothing is
\r
1911 actually being removed from the queue. */
\r
1912 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1913 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1914 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1921 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1924 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1928 /*-----------------------------------------------------------*/
\r
1930 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1932 UBaseType_t uxReturn;
\r
1934 configASSERT( xQueue );
\r
1936 taskENTER_CRITICAL();
\r
1938 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1940 taskEXIT_CRITICAL();
\r
1943 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1944 /*-----------------------------------------------------------*/
\r
1946 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1948 UBaseType_t uxReturn;
\r
1949 Queue_t * const pxQueue = xQueue;
\r
1951 configASSERT( pxQueue );
\r
1953 taskENTER_CRITICAL();
\r
1955 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1957 taskEXIT_CRITICAL();
\r
1960 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1961 /*-----------------------------------------------------------*/
\r
1963 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1965 UBaseType_t uxReturn;
\r
1966 Queue_t * const pxQueue = xQueue;
\r
1968 configASSERT( pxQueue );
\r
1969 uxReturn = pxQueue->uxMessagesWaiting;
\r
1972 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1973 /*-----------------------------------------------------------*/
\r
1975 void vQueueDelete( QueueHandle_t xQueue )
\r
1977 Queue_t * const pxQueue = xQueue;
\r
1979 configASSERT( pxQueue );
\r
1980 traceQUEUE_DELETE( pxQueue );
\r
1982 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1984 vQueueUnregisterQueue( pxQueue );
\r
1988 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1990 /* The queue can only have been allocated dynamically - free it
\r
1992 vPortFree( pxQueue );
\r
1994 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1996 /* The queue could have been allocated statically or dynamically, so
\r
1997 check before attempting to free the memory. */
\r
1998 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
2000 vPortFree( pxQueue );
\r
2004 mtCOVERAGE_TEST_MARKER();
\r
2009 /* The queue must have been statically allocated, so is not going to be
\r
2010 deleted. Avoid compiler warnings about the unused parameter. */
\r
2013 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2015 /*-----------------------------------------------------------*/
\r
2017 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2019 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2021 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2024 #endif /* configUSE_TRACE_FACILITY */
\r
2025 /*-----------------------------------------------------------*/
\r
2027 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2029 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2031 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2034 #endif /* configUSE_TRACE_FACILITY */
\r
2035 /*-----------------------------------------------------------*/
\r
2037 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2039 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2041 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2044 #endif /* configUSE_TRACE_FACILITY */
\r
2045 /*-----------------------------------------------------------*/
\r
2047 #if( configUSE_MUTEXES == 1 )
\r
2049 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2051 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2053 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2054 priority, but the waiting task times out, then the holder should
\r
2055 disinherit the priority - but only down to the highest priority of any
\r
2056 other tasks that are waiting for the same mutex. For this purpose,
\r
2057 return the priority of the highest priority task that is waiting for the
\r
2059 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
\r
2061 uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2065 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2068 return uxHighestPriorityOfWaitingTasks;
\r
2071 #endif /* configUSE_MUTEXES */
\r
2072 /*-----------------------------------------------------------*/
\r
2074 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2076 BaseType_t xReturn = pdFALSE;
\r
2077 UBaseType_t uxMessagesWaiting;
\r
2079 /* This function is called from a critical section. */
\r
2081 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2083 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2085 #if ( configUSE_MUTEXES == 1 )
\r
2087 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2089 /* The mutex is no longer being held. */
\r
2090 xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
2091 pxQueue->u.xSemaphore.xMutexHolder = NULL;
\r
2095 mtCOVERAGE_TEST_MARKER();
\r
2098 #endif /* configUSE_MUTEXES */
\r
2100 else if( xPosition == queueSEND_TO_BACK )
\r
2102 ( 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
2103 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
2104 if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2106 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2110 mtCOVERAGE_TEST_MARKER();
\r
2115 ( 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
2116 pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
\r
2117 if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2119 pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
\r
2123 mtCOVERAGE_TEST_MARKER();
\r
2126 if( xPosition == queueOVERWRITE )
\r
2128 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2130 /* An item is not being added but overwritten, so subtract
\r
2131 one from the recorded number of items in the queue so when
\r
2132 one is added again below the number of recorded items remains
\r
2134 --uxMessagesWaiting;
\r
2138 mtCOVERAGE_TEST_MARKER();
\r
2143 mtCOVERAGE_TEST_MARKER();
\r
2147 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2151 /*-----------------------------------------------------------*/
\r
2153 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2155 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2157 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
2158 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
2160 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2164 mtCOVERAGE_TEST_MARKER();
\r
2166 ( 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
2169 /*-----------------------------------------------------------*/
\r
2171 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2173 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2175 /* The lock counts contains the number of extra data items placed or
\r
2176 removed from the queue while the queue was locked. When a queue is
\r
2177 locked items can be added or removed, but the event lists cannot be
\r
2179 taskENTER_CRITICAL();
\r
2181 int8_t cTxLock = pxQueue->cTxLock;
\r
2183 /* See if data was added to the queue while it was locked. */
\r
2184 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2186 /* Data was posted while the queue was locked. Are any tasks
\r
2187 blocked waiting for data to become available? */
\r
2188 #if ( configUSE_QUEUE_SETS == 1 )
\r
2190 if( pxQueue->pxQueueSetContainer != NULL )
\r
2192 if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
2194 /* The queue is a member of a queue set, and posting to
\r
2195 the queue set caused a higher priority task to unblock.
\r
2196 A context switch is required. */
\r
2197 vTaskMissedYield();
\r
2201 mtCOVERAGE_TEST_MARKER();
\r
2206 /* Tasks that are removed from the event list will get
\r
2207 added to the pending ready list as the scheduler is still
\r
2209 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2211 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2213 /* The task waiting has a higher priority so record that a
\r
2214 context switch is required. */
\r
2215 vTaskMissedYield();
\r
2219 mtCOVERAGE_TEST_MARKER();
\r
2228 #else /* configUSE_QUEUE_SETS */
\r
2230 /* Tasks that are removed from the event list will get added to
\r
2231 the pending ready list as the scheduler is still suspended. */
\r
2232 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2234 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2236 /* The task waiting has a higher priority so record that
\r
2237 a context switch is required. */
\r
2238 vTaskMissedYield();
\r
2242 mtCOVERAGE_TEST_MARKER();
\r
2250 #endif /* configUSE_QUEUE_SETS */
\r
2255 pxQueue->cTxLock = queueUNLOCKED;
\r
2257 taskEXIT_CRITICAL();
\r
2259 /* Do the same for the Rx lock. */
\r
2260 taskENTER_CRITICAL();
\r
2262 int8_t cRxLock = pxQueue->cRxLock;
\r
2264 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2266 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2268 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2270 vTaskMissedYield();
\r
2274 mtCOVERAGE_TEST_MARKER();
\r
2285 pxQueue->cRxLock = queueUNLOCKED;
\r
2287 taskEXIT_CRITICAL();
\r
2289 /*-----------------------------------------------------------*/
\r
2291 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2293 BaseType_t xReturn;
\r
2295 taskENTER_CRITICAL();
\r
2297 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2303 xReturn = pdFALSE;
\r
2306 taskEXIT_CRITICAL();
\r
2310 /*-----------------------------------------------------------*/
\r
2312 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2314 BaseType_t xReturn;
\r
2315 Queue_t * const pxQueue = xQueue;
\r
2317 configASSERT( pxQueue );
\r
2318 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2324 xReturn = pdFALSE;
\r
2328 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2329 /*-----------------------------------------------------------*/
\r
2331 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2333 BaseType_t xReturn;
\r
2335 taskENTER_CRITICAL();
\r
2337 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2343 xReturn = pdFALSE;
\r
2346 taskEXIT_CRITICAL();
\r
2350 /*-----------------------------------------------------------*/
\r
2352 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2354 BaseType_t xReturn;
\r
2355 Queue_t * const pxQueue = xQueue;
\r
2357 configASSERT( pxQueue );
\r
2358 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2364 xReturn = pdFALSE;
\r
2368 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2369 /*-----------------------------------------------------------*/
\r
2371 #if ( configUSE_CO_ROUTINES == 1 )
\r
2373 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2375 BaseType_t xReturn;
\r
2376 Queue_t * const pxQueue = xQueue;
\r
2378 /* If the queue is already full we may have to block. A critical section
\r
2379 is required to prevent an interrupt removing something from the queue
\r
2380 between the check to see if the queue is full and blocking on the queue. */
\r
2381 portDISABLE_INTERRUPTS();
\r
2383 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2385 /* The queue is full - do we want to block or just leave without
\r
2387 if( xTicksToWait > ( TickType_t ) 0 )
\r
2389 /* As this is called from a coroutine we cannot block directly, but
\r
2390 return indicating that we need to block. */
\r
2391 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2392 portENABLE_INTERRUPTS();
\r
2393 return errQUEUE_BLOCKED;
\r
2397 portENABLE_INTERRUPTS();
\r
2398 return errQUEUE_FULL;
\r
2402 portENABLE_INTERRUPTS();
\r
2404 portDISABLE_INTERRUPTS();
\r
2406 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2408 /* There is room in the queue, copy the data into the queue. */
\r
2409 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2412 /* Were any co-routines waiting for data to become available? */
\r
2413 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2415 /* In this instance the co-routine could be placed directly
\r
2416 into the ready list as we are within a critical section.
\r
2417 Instead the same pending ready list mechanism is used as if
\r
2418 the event were caused from within an interrupt. */
\r
2419 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2421 /* The co-routine waiting has a higher priority so record
\r
2422 that a yield might be appropriate. */
\r
2423 xReturn = errQUEUE_YIELD;
\r
2427 mtCOVERAGE_TEST_MARKER();
\r
2432 mtCOVERAGE_TEST_MARKER();
\r
2437 xReturn = errQUEUE_FULL;
\r
2440 portENABLE_INTERRUPTS();
\r
2445 #endif /* configUSE_CO_ROUTINES */
\r
2446 /*-----------------------------------------------------------*/
\r
2448 #if ( configUSE_CO_ROUTINES == 1 )
\r
2450 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2452 BaseType_t xReturn;
\r
2453 Queue_t * const pxQueue = xQueue;
\r
2455 /* If the queue is already empty we may have to block. A critical section
\r
2456 is required to prevent an interrupt adding something to the queue
\r
2457 between the check to see if the queue is empty and blocking on the queue. */
\r
2458 portDISABLE_INTERRUPTS();
\r
2460 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2462 /* There are no messages in the queue, do we want to block or just
\r
2463 leave with nothing? */
\r
2464 if( xTicksToWait > ( TickType_t ) 0 )
\r
2466 /* As this is a co-routine we cannot block directly, but return
\r
2467 indicating that we need to block. */
\r
2468 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2469 portENABLE_INTERRUPTS();
\r
2470 return errQUEUE_BLOCKED;
\r
2474 portENABLE_INTERRUPTS();
\r
2475 return errQUEUE_FULL;
\r
2480 mtCOVERAGE_TEST_MARKER();
\r
2483 portENABLE_INTERRUPTS();
\r
2485 portDISABLE_INTERRUPTS();
\r
2487 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2489 /* Data is available from the queue. */
\r
2490 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2491 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2493 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2497 mtCOVERAGE_TEST_MARKER();
\r
2499 --( pxQueue->uxMessagesWaiting );
\r
2500 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2504 /* Were any co-routines waiting for space to become available? */
\r
2505 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2507 /* In this instance the co-routine could be placed directly
\r
2508 into the ready list as we are within a critical section.
\r
2509 Instead the same pending ready list mechanism is used as if
\r
2510 the event were caused from within an interrupt. */
\r
2511 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2513 xReturn = errQUEUE_YIELD;
\r
2517 mtCOVERAGE_TEST_MARKER();
\r
2522 mtCOVERAGE_TEST_MARKER();
\r
2530 portENABLE_INTERRUPTS();
\r
2535 #endif /* configUSE_CO_ROUTINES */
\r
2536 /*-----------------------------------------------------------*/
\r
2538 #if ( configUSE_CO_ROUTINES == 1 )
\r
2540 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2542 Queue_t * const pxQueue = xQueue;
\r
2544 /* Cannot block within an ISR so if there is no space on the queue then
\r
2545 exit without doing anything. */
\r
2546 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2548 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2550 /* We only want to wake one co-routine per ISR, so check that a
\r
2551 co-routine has not already been woken. */
\r
2552 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2554 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2556 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2562 mtCOVERAGE_TEST_MARKER();
\r
2567 mtCOVERAGE_TEST_MARKER();
\r
2572 mtCOVERAGE_TEST_MARKER();
\r
2577 mtCOVERAGE_TEST_MARKER();
\r
2580 return xCoRoutinePreviouslyWoken;
\r
2583 #endif /* configUSE_CO_ROUTINES */
\r
2584 /*-----------------------------------------------------------*/
\r
2586 #if ( configUSE_CO_ROUTINES == 1 )
\r
2588 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2590 BaseType_t xReturn;
\r
2591 Queue_t * const pxQueue = xQueue;
\r
2593 /* We cannot block from an ISR, so check there is data available. If
\r
2594 not then just leave without doing anything. */
\r
2595 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2597 /* Copy the data from the queue. */
\r
2598 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2599 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2601 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2605 mtCOVERAGE_TEST_MARKER();
\r
2607 --( pxQueue->uxMessagesWaiting );
\r
2608 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2610 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2612 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2614 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2616 *pxCoRoutineWoken = pdTRUE;
\r
2620 mtCOVERAGE_TEST_MARKER();
\r
2625 mtCOVERAGE_TEST_MARKER();
\r
2630 mtCOVERAGE_TEST_MARKER();
\r
2643 #endif /* configUSE_CO_ROUTINES */
\r
2644 /*-----------------------------------------------------------*/
\r
2646 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2648 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2652 /* See if there is an empty space in the registry. A NULL name denotes
\r
2654 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2656 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2658 /* Store the information on this queue. */
\r
2659 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2660 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2662 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2667 mtCOVERAGE_TEST_MARKER();
\r
2672 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2673 /*-----------------------------------------------------------*/
\r
2675 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2677 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2680 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2682 /* Note there is nothing here to protect against another task adding or
\r
2683 removing entries from the registry while it is being searched. */
\r
2684 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2686 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2688 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2693 mtCOVERAGE_TEST_MARKER();
\r
2698 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2700 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2701 /*-----------------------------------------------------------*/
\r
2703 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2705 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2709 /* See if the handle of the queue being unregistered in actually in the
\r
2711 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2713 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2715 /* Set the name to NULL to show that this slot if free again. */
\r
2716 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2718 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2719 appear in the registry twice if it is added, removed, then
\r
2721 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2726 mtCOVERAGE_TEST_MARKER();
\r
2730 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2732 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2733 /*-----------------------------------------------------------*/
\r
2735 #if ( configUSE_TIMERS == 1 )
\r
2737 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2739 Queue_t * const pxQueue = xQueue;
\r
2741 /* This function should not be called by application code hence the
\r
2742 'Restricted' in its name. It is not part of the public API. It is
\r
2743 designed for use by kernel code, and has special calling requirements.
\r
2744 It can result in vListInsert() being called on a list that can only
\r
2745 possibly ever have one item in it, so the list will be fast, but even
\r
2746 so it should be called with the scheduler locked and not from a critical
\r
2749 /* Only do anything if there are no messages in the queue. This function
\r
2750 will not actually cause the task to block, just place it on a blocked
\r
2751 list. It will not block until the scheduler is unlocked - at which
\r
2752 time a yield will be performed. If an item is added to the queue while
\r
2753 the queue is locked, and the calling task blocks on the queue, then the
\r
2754 calling task will be immediately unblocked when the queue is unlocked. */
\r
2755 prvLockQueue( pxQueue );
\r
2756 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2758 /* There is nothing in the queue, block for the specified period. */
\r
2759 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2763 mtCOVERAGE_TEST_MARKER();
\r
2765 prvUnlockQueue( pxQueue );
\r
2768 #endif /* configUSE_TIMERS */
\r
2769 /*-----------------------------------------------------------*/
\r
2771 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2773 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2775 QueueSetHandle_t pxQueue;
\r
2777 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2782 #endif /* configUSE_QUEUE_SETS */
\r
2783 /*-----------------------------------------------------------*/
\r
2785 #if ( configUSE_QUEUE_SETS == 1 )
\r
2787 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2789 BaseType_t xReturn;
\r
2791 taskENTER_CRITICAL();
\r
2793 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2795 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2798 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2800 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2801 items in the queue/semaphore. */
\r
2806 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2810 taskEXIT_CRITICAL();
\r
2815 #endif /* configUSE_QUEUE_SETS */
\r
2816 /*-----------------------------------------------------------*/
\r
2818 #if ( configUSE_QUEUE_SETS == 1 )
\r
2820 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2822 BaseType_t xReturn;
\r
2823 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2825 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2827 /* The queue was not a member of the set. */
\r
2830 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2832 /* It is dangerous to remove a queue from a set when the queue is
\r
2833 not empty because the queue set will still hold pending events for
\r
2839 taskENTER_CRITICAL();
\r
2841 /* The queue is no longer contained in the set. */
\r
2842 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2844 taskEXIT_CRITICAL();
\r
2849 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2851 #endif /* configUSE_QUEUE_SETS */
\r
2852 /*-----------------------------------------------------------*/
\r
2854 #if ( configUSE_QUEUE_SETS == 1 )
\r
2856 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2858 QueueSetMemberHandle_t xReturn = NULL;
\r
2860 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2864 #endif /* configUSE_QUEUE_SETS */
\r
2865 /*-----------------------------------------------------------*/
\r
2867 #if ( configUSE_QUEUE_SETS == 1 )
\r
2869 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2871 QueueSetMemberHandle_t xReturn = NULL;
\r
2873 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2877 #endif /* configUSE_QUEUE_SETS */
\r
2878 /*-----------------------------------------------------------*/
\r
2880 #if ( configUSE_QUEUE_SETS == 1 )
\r
2882 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
\r
2884 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2885 BaseType_t xReturn = pdFALSE;
\r
2887 /* This function must be called form a critical section. */
\r
2889 configASSERT( pxQueueSetContainer );
\r
2890 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2892 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2894 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2896 traceQUEUE_SEND( pxQueueSetContainer );
\r
2898 /* The data copied is the handle of the queue that contains data. */
\r
2899 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
\r
2901 if( cTxLock == queueUNLOCKED )
\r
2903 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2905 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2907 /* The task waiting has a higher priority. */
\r
2912 mtCOVERAGE_TEST_MARKER();
\r
2917 mtCOVERAGE_TEST_MARKER();
\r
2922 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2927 mtCOVERAGE_TEST_MARKER();
\r
2933 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob