2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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40 #if ( configUSE_CO_ROUTINES == 1 )
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41 #include "croutine.h"
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44 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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45 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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46 for the header files above, but not in this file, in order to generate the
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47 correct privileged Vs unprivileged linkage and placement. */
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48 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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51 /* Constants used with the cRxLock and cTxLock structure members. */
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52 #define queueUNLOCKED ( ( int8_t ) -1 )
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53 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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55 /* When the Queue_t structure is used to represent a base queue its pcHead and
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56 pcTail members are used as pointers into the queue storage area. When the
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57 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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58 not necessary, and the pcHead pointer is set to NULL to indicate that the
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59 structure instead holds a pointer to the mutex holder (if any). Map alternative
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60 names to the pcHead and structure member to ensure the readability of the code
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61 is maintained. The QueuePointers_t and SemaphoreData_t types are used to form
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62 a union as their usage is mutually exclusive dependent on what the queue is
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64 #define uxQueueType pcHead
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65 #define queueQUEUE_IS_MUTEX NULL
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67 typedef struct QueuePointers
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69 int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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70 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
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73 typedef struct SemaphoreData
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75 TaskHandle_t xMutexHolder; /*< The handle of the task that holds the mutex. */
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76 UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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79 /* Semaphores do not actually store or copy data, so have an item size of
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81 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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82 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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84 #if( configUSE_PREEMPTION == 0 )
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85 /* If the cooperative scheduler is being used then a yield should not be
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86 performed just because a higher priority task has been woken. */
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87 #define queueYIELD_IF_USING_PREEMPTION()
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89 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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93 * Definition of the queue used by the scheduler.
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94 * Items are queued by copy, not reference. See the following link for the
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95 * rationale: https://www.freertos.org/Embedded-RTOS-Queues.html
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97 typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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99 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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100 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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104 QueuePointers_t xQueue; /*< Data required exclusively when this structure is used as a queue. */
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105 SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */
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108 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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109 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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111 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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112 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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113 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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115 volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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116 volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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118 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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119 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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122 #if ( configUSE_QUEUE_SETS == 1 )
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123 struct QueueDefinition *pxQueueSetContainer;
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126 #if ( configUSE_TRACE_FACILITY == 1 )
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127 UBaseType_t uxQueueNumber;
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128 uint8_t ucQueueType;
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133 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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134 name below to enable the use of older kernel aware debuggers. */
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135 typedef xQUEUE Queue_t;
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137 /*-----------------------------------------------------------*/
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140 * The queue registry is just a means for kernel aware debuggers to locate
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141 * queue structures. It has no other purpose so is an optional component.
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143 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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145 /* The type stored within the queue registry array. This allows a name
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146 to be assigned to each queue making kernel aware debugging a little
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147 more user friendly. */
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148 typedef struct QUEUE_REGISTRY_ITEM
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150 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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151 QueueHandle_t xHandle;
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152 } xQueueRegistryItem;
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154 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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155 new xQueueRegistryItem name below to enable the use of older kernel aware
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157 typedef xQueueRegistryItem QueueRegistryItem_t;
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159 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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160 The pcQueueName member of a structure being NULL is indicative of the
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161 array position being vacant. */
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162 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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164 #endif /* configQUEUE_REGISTRY_SIZE */
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167 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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168 * prevent an ISR from adding or removing items to the queue, but does prevent
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169 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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170 * queue is locked it will instead increment the appropriate queue lock count
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171 * to indicate that a task may require unblocking. When the queue in unlocked
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172 * these lock counts are inspected, and the appropriate action taken.
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174 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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177 * Uses a critical section to determine if there is any data in a queue.
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179 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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181 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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184 * Uses a critical section to determine if there is any space in a queue.
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186 * @return pdTRUE if there is no space, otherwise pdFALSE;
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188 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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191 * Copies an item into the queue, either at the front of the queue or the
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192 * back of the queue.
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194 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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197 * Copies an item out of a queue.
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199 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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201 #if ( configUSE_QUEUE_SETS == 1 )
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203 * Checks to see if a queue is a member of a queue set, and if so, notifies
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204 * the queue set that the queue contains data.
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206 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) 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 if( uxItemSize == ( UBaseType_t ) 0 )
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378 /* There is not going to be a queue storage area. */
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379 xQueueSizeInBytes = ( size_t ) 0;
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383 /* Allocate enough space to hold the maximum number of items that
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384 can be in the queue at any time. */
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385 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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388 /* Allocate the queue and storage area. Justification for MISRA
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389 deviation as follows: pvPortMalloc() always ensures returned memory
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390 blocks are aligned per the requirements of the MCU stack. In this case
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391 pvPortMalloc() must return a pointer that is guaranteed to meet the
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392 alignment requirements of the Queue_t structure - which in this case
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393 is an int8_t *. Therefore, whenever the stack alignment requirements
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394 are greater than or equal to the pointer to char requirements the cast
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395 is safe. In other cases alignment requirements are not strict (one or
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397 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */
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399 if( pxNewQueue != NULL )
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401 /* Jump past the queue structure to find the location of the queue
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403 pucQueueStorage = ( uint8_t * ) pxNewQueue;
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404 pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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406 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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408 /* Queues can be created either statically or dynamically, so
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409 note this task was created dynamically in case it is later
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411 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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413 #endif /* configSUPPORT_STATIC_ALLOCATION */
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415 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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419 traceQUEUE_CREATE_FAILED( ucQueueType );
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420 mtCOVERAGE_TEST_MARKER();
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426 #endif /* configSUPPORT_STATIC_ALLOCATION */
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427 /*-----------------------------------------------------------*/
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429 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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431 /* Remove compiler warnings about unused parameters should
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432 configUSE_TRACE_FACILITY not be set to 1. */
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433 ( void ) ucQueueType;
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435 if( uxItemSize == ( UBaseType_t ) 0 )
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437 /* No RAM was allocated for the queue storage area, but PC head cannot
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438 be set to NULL because NULL is used as a key to say the queue is used as
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439 a mutex. Therefore just set pcHead to point to the queue as a benign
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440 value that is known to be within the memory map. */
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441 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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445 /* Set the head to the start of the queue storage area. */
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446 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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449 /* Initialise the queue members as described where the queue type is
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451 pxNewQueue->uxLength = uxQueueLength;
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452 pxNewQueue->uxItemSize = uxItemSize;
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453 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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455 #if ( configUSE_TRACE_FACILITY == 1 )
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457 pxNewQueue->ucQueueType = ucQueueType;
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459 #endif /* configUSE_TRACE_FACILITY */
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461 #if( configUSE_QUEUE_SETS == 1 )
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463 pxNewQueue->pxQueueSetContainer = NULL;
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465 #endif /* configUSE_QUEUE_SETS */
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467 traceQUEUE_CREATE( pxNewQueue );
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469 /*-----------------------------------------------------------*/
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471 #if( configUSE_MUTEXES == 1 )
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473 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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475 if( pxNewQueue != NULL )
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477 /* The queue create function will set all the queue structure members
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478 correctly for a generic queue, but this function is creating a
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479 mutex. Overwrite those members that need to be set differently -
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480 in particular the information required for priority inheritance. */
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481 pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
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482 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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484 /* In case this is a recursive mutex. */
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485 pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
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487 traceCREATE_MUTEX( pxNewQueue );
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489 /* Start with the semaphore in the expected state. */
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490 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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494 traceCREATE_MUTEX_FAILED();
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498 #endif /* configUSE_MUTEXES */
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499 /*-----------------------------------------------------------*/
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501 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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503 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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505 QueueHandle_t xNewQueue;
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506 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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508 xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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509 prvInitialiseMutex( ( Queue_t * ) xNewQueue );
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514 #endif /* configUSE_MUTEXES */
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515 /*-----------------------------------------------------------*/
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517 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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519 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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521 QueueHandle_t xNewQueue;
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522 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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524 /* Prevent compiler warnings about unused parameters if
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525 configUSE_TRACE_FACILITY does not equal 1. */
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526 ( void ) ucQueueType;
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528 xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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529 prvInitialiseMutex( ( Queue_t * ) xNewQueue );
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534 #endif /* configUSE_MUTEXES */
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535 /*-----------------------------------------------------------*/
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537 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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539 TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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541 TaskHandle_t pxReturn;
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542 Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
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544 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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545 be called directly. Note: This is a good way of determining if the
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546 calling task is the mutex holder, but not a good way of determining the
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547 identity of the mutex holder, as the holder may change between the
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548 following critical section exiting and the function returning. */
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549 taskENTER_CRITICAL();
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551 if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
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553 pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
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560 taskEXIT_CRITICAL();
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563 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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566 /*-----------------------------------------------------------*/
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568 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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570 TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
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572 TaskHandle_t pxReturn;
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574 configASSERT( xSemaphore );
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576 /* Mutexes cannot be used in interrupt service routines, so the mutex
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577 holder should not change in an ISR, and therefore a critical section is
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578 not required here. */
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579 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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581 pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
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589 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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592 /*-----------------------------------------------------------*/
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594 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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596 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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598 BaseType_t xReturn;
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599 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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601 configASSERT( pxMutex );
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603 /* If this is the task that holds the mutex then xMutexHolder will not
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604 change outside of this task. If this task does not hold the mutex then
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605 pxMutexHolder can never coincidentally equal the tasks handle, and as
\r
606 this is the only condition we are interested in it does not matter if
\r
607 pxMutexHolder is accessed simultaneously by another task. Therefore no
\r
608 mutual exclusion is required to test the pxMutexHolder variable. */
\r
609 if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
\r
611 traceGIVE_MUTEX_RECURSIVE( pxMutex );
\r
613 /* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
\r
614 the task handle, therefore no underflow check is required. Also,
\r
615 uxRecursiveCallCount is only modified by the mutex holder, and as
\r
616 there can only be one, no mutual exclusion is required to modify the
\r
617 uxRecursiveCallCount member. */
\r
618 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )--;
\r
620 /* Has the recursive call count unwound to 0? */
\r
621 if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 )
\r
623 /* Return the mutex. This will automatically unblock any other
\r
624 task that might be waiting to access the mutex. */
\r
625 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
629 mtCOVERAGE_TEST_MARKER();
\r
636 /* The mutex cannot be given because the calling task is not the
\r
640 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
646 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
647 /*-----------------------------------------------------------*/
\r
649 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
651 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
653 BaseType_t xReturn;
\r
654 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
656 configASSERT( pxMutex );
\r
658 /* Comments regarding mutual exclusion as per those within
\r
659 xQueueGiveMutexRecursive(). */
\r
661 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
663 if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
\r
665 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
\r
670 xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
\r
672 /* pdPASS will only be returned if the mutex was successfully
\r
673 obtained. The calling task may have entered the Blocked state
\r
674 before reaching here. */
\r
675 if( xReturn != pdFAIL )
\r
677 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
\r
681 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
688 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
689 /*-----------------------------------------------------------*/
\r
691 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
693 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
695 QueueHandle_t xHandle;
\r
697 configASSERT( uxMaxCount != 0 );
\r
698 configASSERT( uxInitialCount <= uxMaxCount );
\r
700 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
702 if( xHandle != NULL )
\r
704 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
706 traceCREATE_COUNTING_SEMAPHORE();
\r
710 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
716 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
717 /*-----------------------------------------------------------*/
\r
719 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
721 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
723 QueueHandle_t xHandle;
\r
725 configASSERT( uxMaxCount != 0 );
\r
726 configASSERT( uxInitialCount <= uxMaxCount );
\r
728 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
730 if( xHandle != NULL )
\r
732 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
734 traceCREATE_COUNTING_SEMAPHORE();
\r
738 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
744 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
745 /*-----------------------------------------------------------*/
\r
747 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
749 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
750 TimeOut_t xTimeOut;
\r
751 Queue_t * const pxQueue = xQueue;
\r
753 configASSERT( pxQueue );
\r
754 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
755 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
756 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
758 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
763 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
764 allow return statements within the function itself. This is done in the
\r
765 interest of execution time efficiency. */
\r
768 taskENTER_CRITICAL();
\r
770 /* Is there room on the queue now? The running task must be the
\r
771 highest priority task wanting to access the queue. If the head item
\r
772 in the queue is to be overwritten then it does not matter if the
\r
774 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
776 traceQUEUE_SEND( pxQueue );
\r
778 #if ( configUSE_QUEUE_SETS == 1 )
\r
780 UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
782 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
784 if( pxQueue->pxQueueSetContainer != NULL )
\r
786 if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
\r
788 /* Do not notify the queue set as an existing item
\r
789 was overwritten in the queue so the number of items
\r
790 in the queue has not changed. */
\r
791 mtCOVERAGE_TEST_MARKER();
\r
793 else if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
795 /* The queue is a member of a queue set, and posting
\r
796 to the queue set caused a higher priority task to
\r
797 unblock. A context switch is required. */
\r
798 queueYIELD_IF_USING_PREEMPTION();
\r
802 mtCOVERAGE_TEST_MARKER();
\r
807 /* If there was a task waiting for data to arrive on the
\r
808 queue then unblock it now. */
\r
809 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
811 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
813 /* The unblocked task has a priority higher than
\r
814 our own so yield immediately. Yes it is ok to
\r
815 do this from within the critical section - the
\r
816 kernel takes care of that. */
\r
817 queueYIELD_IF_USING_PREEMPTION();
\r
821 mtCOVERAGE_TEST_MARKER();
\r
824 else if( xYieldRequired != pdFALSE )
\r
826 /* This path is a special case that will only get
\r
827 executed if the task was holding multiple mutexes
\r
828 and the mutexes were given back in an order that is
\r
829 different to that in which they were taken. */
\r
830 queueYIELD_IF_USING_PREEMPTION();
\r
834 mtCOVERAGE_TEST_MARKER();
\r
838 #else /* configUSE_QUEUE_SETS */
\r
840 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
842 /* If there was a task waiting for data to arrive on the
\r
843 queue then unblock it now. */
\r
844 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
846 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
848 /* The unblocked task has a priority higher than
\r
849 our own so yield immediately. Yes it is ok to do
\r
850 this from within the critical section - the kernel
\r
851 takes care of that. */
\r
852 queueYIELD_IF_USING_PREEMPTION();
\r
856 mtCOVERAGE_TEST_MARKER();
\r
859 else if( xYieldRequired != pdFALSE )
\r
861 /* This path is a special case that will only get
\r
862 executed if the task was holding multiple mutexes and
\r
863 the mutexes were given back in an order that is
\r
864 different to that in which they were taken. */
\r
865 queueYIELD_IF_USING_PREEMPTION();
\r
869 mtCOVERAGE_TEST_MARKER();
\r
872 #endif /* configUSE_QUEUE_SETS */
\r
874 taskEXIT_CRITICAL();
\r
879 if( xTicksToWait == ( TickType_t ) 0 )
\r
881 /* The queue was full and no block time is specified (or
\r
882 the block time has expired) so leave now. */
\r
883 taskEXIT_CRITICAL();
\r
885 /* Return to the original privilege level before exiting
\r
887 traceQUEUE_SEND_FAILED( pxQueue );
\r
888 return errQUEUE_FULL;
\r
890 else if( xEntryTimeSet == pdFALSE )
\r
892 /* The queue was full and a block time was specified so
\r
893 configure the timeout structure. */
\r
894 vTaskInternalSetTimeOutState( &xTimeOut );
\r
895 xEntryTimeSet = pdTRUE;
\r
899 /* Entry time was already set. */
\r
900 mtCOVERAGE_TEST_MARKER();
\r
904 taskEXIT_CRITICAL();
\r
906 /* Interrupts and other tasks can send to and receive from the queue
\r
907 now the critical section has been exited. */
\r
910 prvLockQueue( pxQueue );
\r
912 /* Update the timeout state to see if it has expired yet. */
\r
913 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
915 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
917 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
918 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
920 /* Unlocking the queue means queue events can effect the
\r
921 event list. It is possible that interrupts occurring now
\r
922 remove this task from the event list again - but as the
\r
923 scheduler is suspended the task will go onto the pending
\r
924 ready last instead of the actual ready list. */
\r
925 prvUnlockQueue( pxQueue );
\r
927 /* Resuming the scheduler will move tasks from the pending
\r
928 ready list into the ready list - so it is feasible that this
\r
929 task is already in a ready list before it yields - in which
\r
930 case the yield will not cause a context switch unless there
\r
931 is also a higher priority task in the pending ready list. */
\r
932 if( xTaskResumeAll() == pdFALSE )
\r
934 portYIELD_WITHIN_API();
\r
940 prvUnlockQueue( pxQueue );
\r
941 ( void ) xTaskResumeAll();
\r
946 /* The timeout has expired. */
\r
947 prvUnlockQueue( pxQueue );
\r
948 ( void ) xTaskResumeAll();
\r
950 traceQUEUE_SEND_FAILED( pxQueue );
\r
951 return errQUEUE_FULL;
\r
953 } /*lint -restore */
\r
955 /*-----------------------------------------------------------*/
\r
957 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
959 BaseType_t xReturn;
\r
960 UBaseType_t uxSavedInterruptStatus;
\r
961 Queue_t * const pxQueue = xQueue;
\r
963 configASSERT( pxQueue );
\r
964 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
965 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
967 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
968 system call (or maximum API call) interrupt priority. Interrupts that are
\r
969 above the maximum system call priority are kept permanently enabled, even
\r
970 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
971 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
972 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
973 failure if a FreeRTOS API function is called from an interrupt that has been
\r
974 assigned a priority above the configured maximum system call priority.
\r
975 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
976 that have been assigned a priority at or (logically) below the maximum
\r
977 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
978 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
979 More information (albeit Cortex-M specific) is provided on the following
\r
980 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
981 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
983 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
984 in the queue. Also don't directly wake a task that was blocked on a queue
\r
985 read, instead return a flag to say whether a context switch is required or
\r
986 not (i.e. has a task with a higher priority than us been woken by this
\r
988 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
990 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
992 const int8_t cTxLock = pxQueue->cTxLock;
\r
994 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
996 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
997 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
998 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
999 called here even though the disinherit function does not check if
\r
1000 the scheduler is suspended before accessing the ready lists. */
\r
1001 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1003 /* The event list is not altered if the queue is locked. This will
\r
1004 be done when the queue is unlocked later. */
\r
1005 if( cTxLock == queueUNLOCKED )
\r
1007 #if ( configUSE_QUEUE_SETS == 1 )
\r
1009 if( pxQueue->pxQueueSetContainer != NULL )
\r
1011 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
1013 /* The queue is a member of a queue set, and posting
\r
1014 to the queue set caused a higher priority task to
\r
1015 unblock. A context switch is required. */
\r
1016 if( pxHigherPriorityTaskWoken != NULL )
\r
1018 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1022 mtCOVERAGE_TEST_MARKER();
\r
1027 mtCOVERAGE_TEST_MARKER();
\r
1032 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1034 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1036 /* The task waiting has a higher priority so
\r
1037 record that a context switch is required. */
\r
1038 if( pxHigherPriorityTaskWoken != NULL )
\r
1040 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1044 mtCOVERAGE_TEST_MARKER();
\r
1049 mtCOVERAGE_TEST_MARKER();
\r
1054 mtCOVERAGE_TEST_MARKER();
\r
1058 #else /* configUSE_QUEUE_SETS */
\r
1060 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1062 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1064 /* The task waiting has a higher priority so record that a
\r
1065 context switch is required. */
\r
1066 if( pxHigherPriorityTaskWoken != NULL )
\r
1068 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1072 mtCOVERAGE_TEST_MARKER();
\r
1077 mtCOVERAGE_TEST_MARKER();
\r
1082 mtCOVERAGE_TEST_MARKER();
\r
1085 #endif /* configUSE_QUEUE_SETS */
\r
1089 /* Increment the lock count so the task that unlocks the queue
\r
1090 knows that data was posted while it was locked. */
\r
1091 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1098 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1099 xReturn = errQUEUE_FULL;
\r
1102 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1106 /*-----------------------------------------------------------*/
\r
1108 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1110 BaseType_t xReturn;
\r
1111 UBaseType_t uxSavedInterruptStatus;
\r
1112 Queue_t * const pxQueue = xQueue;
\r
1114 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1115 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1116 read, instead return a flag to say whether a context switch is required or
\r
1117 not (i.e. has a task with a higher priority than us been woken by this
\r
1120 configASSERT( pxQueue );
\r
1122 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1123 if the item size is not 0. */
\r
1124 configASSERT( pxQueue->uxItemSize == 0 );
\r
1126 /* Normally a mutex would not be given from an interrupt, especially if
\r
1127 there is a mutex holder, as priority inheritance makes no sense for an
\r
1128 interrupts, only tasks. */
\r
1129 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
\r
1131 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1132 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1133 above the maximum system call priority are kept permanently enabled, even
\r
1134 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1135 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1136 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1137 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1138 assigned a priority above the configured maximum system call priority.
\r
1139 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1140 that have been assigned a priority at or (logically) below the maximum
\r
1141 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1142 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1143 More information (albeit Cortex-M specific) is provided on the following
\r
1144 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1145 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1147 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1149 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1151 /* When the queue is used to implement a semaphore no data is ever
\r
1152 moved through the queue but it is still valid to see if the queue 'has
\r
1154 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1156 const int8_t cTxLock = pxQueue->cTxLock;
\r
1158 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1160 /* A task can only have an inherited priority if it is a mutex
\r
1161 holder - and if there is a mutex holder then the mutex cannot be
\r
1162 given from an ISR. As this is the ISR version of the function it
\r
1163 can be assumed there is no mutex holder and no need to determine if
\r
1164 priority disinheritance is needed. Simply increase the count of
\r
1165 messages (semaphores) available. */
\r
1166 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1168 /* The event list is not altered if the queue is locked. This will
\r
1169 be done when the queue is unlocked later. */
\r
1170 if( cTxLock == queueUNLOCKED )
\r
1172 #if ( configUSE_QUEUE_SETS == 1 )
\r
1174 if( pxQueue->pxQueueSetContainer != NULL )
\r
1176 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1178 /* The semaphore is a member of a queue set, and
\r
1179 posting to the queue set caused a higher priority
\r
1180 task to unblock. A context switch is required. */
\r
1181 if( pxHigherPriorityTaskWoken != NULL )
\r
1183 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1187 mtCOVERAGE_TEST_MARKER();
\r
1192 mtCOVERAGE_TEST_MARKER();
\r
1197 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1199 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1201 /* The task waiting has a higher priority so
\r
1202 record that a context switch is required. */
\r
1203 if( pxHigherPriorityTaskWoken != NULL )
\r
1205 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1209 mtCOVERAGE_TEST_MARKER();
\r
1214 mtCOVERAGE_TEST_MARKER();
\r
1219 mtCOVERAGE_TEST_MARKER();
\r
1223 #else /* configUSE_QUEUE_SETS */
\r
1225 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1227 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1229 /* The task waiting has a higher priority so record that a
\r
1230 context switch is required. */
\r
1231 if( pxHigherPriorityTaskWoken != NULL )
\r
1233 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1237 mtCOVERAGE_TEST_MARKER();
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1247 mtCOVERAGE_TEST_MARKER();
\r
1250 #endif /* configUSE_QUEUE_SETS */
\r
1254 /* Increment the lock count so the task that unlocks the queue
\r
1255 knows that data was posted while it was locked. */
\r
1256 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1263 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1264 xReturn = errQUEUE_FULL;
\r
1267 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1271 /*-----------------------------------------------------------*/
\r
1273 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1275 BaseType_t xEntryTimeSet = pdFALSE;
\r
1276 TimeOut_t xTimeOut;
\r
1277 Queue_t * const pxQueue = xQueue;
\r
1279 /* Check the pointer is not NULL. */
\r
1280 configASSERT( ( pxQueue ) );
\r
1282 /* The buffer into which data is received can only be NULL if the data size
\r
1283 is zero (so no data is copied into the buffer. */
\r
1284 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1286 /* Cannot block if the scheduler is suspended. */
\r
1287 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1289 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1294 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1295 allow return statements within the function itself. This is done in the
\r
1296 interest of execution time efficiency. */
\r
1299 taskENTER_CRITICAL();
\r
1301 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1303 /* Is there data in the queue now? To be running the calling task
\r
1304 must be the highest priority task wanting to access the queue. */
\r
1305 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1307 /* Data available, remove one item. */
\r
1308 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1309 traceQUEUE_RECEIVE( pxQueue );
\r
1310 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1312 /* There is now space in the queue, were any tasks waiting to
\r
1313 post to the queue? If so, unblock the highest priority waiting
\r
1315 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1317 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1319 queueYIELD_IF_USING_PREEMPTION();
\r
1323 mtCOVERAGE_TEST_MARKER();
\r
1328 mtCOVERAGE_TEST_MARKER();
\r
1331 taskEXIT_CRITICAL();
\r
1336 if( xTicksToWait == ( TickType_t ) 0 )
\r
1338 /* The queue was empty and no block time is specified (or
\r
1339 the block time has expired) so leave now. */
\r
1340 taskEXIT_CRITICAL();
\r
1341 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1342 return errQUEUE_EMPTY;
\r
1344 else if( xEntryTimeSet == pdFALSE )
\r
1346 /* The queue was empty and a block time was specified so
\r
1347 configure the timeout structure. */
\r
1348 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1349 xEntryTimeSet = pdTRUE;
\r
1353 /* Entry time was already set. */
\r
1354 mtCOVERAGE_TEST_MARKER();
\r
1358 taskEXIT_CRITICAL();
\r
1360 /* Interrupts and other tasks can send to and receive from the queue
\r
1361 now the critical section has been exited. */
\r
1363 vTaskSuspendAll();
\r
1364 prvLockQueue( pxQueue );
\r
1366 /* Update the timeout state to see if it has expired yet. */
\r
1367 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1369 /* The timeout has not expired. If the queue is still empty place
\r
1370 the task on the list of tasks waiting to receive from the queue. */
\r
1371 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1373 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1374 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1375 prvUnlockQueue( pxQueue );
\r
1376 if( xTaskResumeAll() == pdFALSE )
\r
1378 portYIELD_WITHIN_API();
\r
1382 mtCOVERAGE_TEST_MARKER();
\r
1387 /* The queue contains data again. Loop back to try and read the
\r
1389 prvUnlockQueue( pxQueue );
\r
1390 ( void ) xTaskResumeAll();
\r
1395 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1396 back and attempt to read the data. */
\r
1397 prvUnlockQueue( pxQueue );
\r
1398 ( void ) xTaskResumeAll();
\r
1400 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1402 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1403 return errQUEUE_EMPTY;
\r
1407 mtCOVERAGE_TEST_MARKER();
\r
1410 } /*lint -restore */
\r
1412 /*-----------------------------------------------------------*/
\r
1414 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1416 BaseType_t xEntryTimeSet = pdFALSE;
\r
1417 TimeOut_t xTimeOut;
\r
1418 Queue_t * const pxQueue = xQueue;
\r
1420 #if( configUSE_MUTEXES == 1 )
\r
1421 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1424 /* Check the queue pointer is not NULL. */
\r
1425 configASSERT( ( pxQueue ) );
\r
1427 /* Check this really is a semaphore, in which case the item size will be
\r
1429 configASSERT( pxQueue->uxItemSize == 0 );
\r
1431 /* Cannot block if the scheduler is suspended. */
\r
1432 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1434 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1439 /*lint -save -e904 This function relaxes the coding standard somewhat to allow return
\r
1440 statements within the function itself. This is done in the interest
\r
1441 of execution time efficiency. */
\r
1444 taskENTER_CRITICAL();
\r
1446 /* Semaphores are queues with an item size of 0, and where the
\r
1447 number of messages in the queue is the semaphore's count value. */
\r
1448 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1450 /* Is there data in the queue now? To be running the calling task
\r
1451 must be the highest priority task wanting to access the queue. */
\r
1452 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1454 traceQUEUE_RECEIVE( pxQueue );
\r
1456 /* Semaphores are queues with a data size of zero and where the
\r
1457 messages waiting is the semaphore's count. Reduce the count. */
\r
1458 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1460 #if ( configUSE_MUTEXES == 1 )
\r
1462 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1464 /* Record the information required to implement
\r
1465 priority inheritance should it become necessary. */
\r
1466 pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
\r
1470 mtCOVERAGE_TEST_MARKER();
\r
1473 #endif /* configUSE_MUTEXES */
\r
1475 /* Check to see if other tasks are blocked waiting to give the
\r
1476 semaphore, and if so, unblock the highest priority such task. */
\r
1477 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1479 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1481 queueYIELD_IF_USING_PREEMPTION();
\r
1485 mtCOVERAGE_TEST_MARKER();
\r
1490 mtCOVERAGE_TEST_MARKER();
\r
1493 taskEXIT_CRITICAL();
\r
1498 if( xTicksToWait == ( TickType_t ) 0 )
\r
1500 /* For inheritance to have occurred there must have been an
\r
1501 initial timeout, and an adjusted timeout cannot become 0, as
\r
1502 if it were 0 the function would have exited. */
\r
1503 #if( configUSE_MUTEXES == 1 )
\r
1505 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1507 #endif /* configUSE_MUTEXES */
\r
1509 /* The semaphore count was 0 and no block time is specified
\r
1510 (or the block time has expired) so exit now. */
\r
1511 taskEXIT_CRITICAL();
\r
1512 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1513 return errQUEUE_EMPTY;
\r
1515 else if( xEntryTimeSet == pdFALSE )
\r
1517 /* The semaphore count was 0 and a block time was specified
\r
1518 so configure the timeout structure ready to block. */
\r
1519 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1520 xEntryTimeSet = pdTRUE;
\r
1524 /* Entry time was already set. */
\r
1525 mtCOVERAGE_TEST_MARKER();
\r
1529 taskEXIT_CRITICAL();
\r
1531 /* Interrupts and other tasks can give to and take from the semaphore
\r
1532 now the critical section has been exited. */
\r
1534 vTaskSuspendAll();
\r
1535 prvLockQueue( pxQueue );
\r
1537 /* Update the timeout state to see if it has expired yet. */
\r
1538 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1540 /* A block time is specified and not expired. If the semaphore
\r
1541 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1542 become available. As semaphores are implemented with queues the
\r
1543 queue being empty is equivalent to the semaphore count being 0. */
\r
1544 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1546 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1548 #if ( configUSE_MUTEXES == 1 )
\r
1550 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1552 taskENTER_CRITICAL();
\r
1554 xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
1556 taskEXIT_CRITICAL();
\r
1560 mtCOVERAGE_TEST_MARKER();
\r
1565 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1566 prvUnlockQueue( pxQueue );
\r
1567 if( xTaskResumeAll() == pdFALSE )
\r
1569 portYIELD_WITHIN_API();
\r
1573 mtCOVERAGE_TEST_MARKER();
\r
1578 /* There was no timeout and the semaphore count was not 0, so
\r
1579 attempt to take the semaphore again. */
\r
1580 prvUnlockQueue( pxQueue );
\r
1581 ( void ) xTaskResumeAll();
\r
1587 prvUnlockQueue( pxQueue );
\r
1588 ( void ) xTaskResumeAll();
\r
1590 /* If the semaphore count is 0 exit now as the timeout has
\r
1591 expired. Otherwise return to attempt to take the semaphore that is
\r
1592 known to be available. As semaphores are implemented by queues the
\r
1593 queue being empty is equivalent to the semaphore count being 0. */
\r
1594 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1596 #if ( configUSE_MUTEXES == 1 )
\r
1598 /* xInheritanceOccurred could only have be set if
\r
1599 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1600 test the mutex type again to check it is actually a mutex. */
\r
1601 if( xInheritanceOccurred != pdFALSE )
\r
1603 taskENTER_CRITICAL();
\r
1605 UBaseType_t uxHighestWaitingPriority;
\r
1607 /* This task blocking on the mutex caused another
\r
1608 task to inherit this task's priority. Now this task
\r
1609 has timed out the priority should be disinherited
\r
1610 again, but only as low as the next highest priority
\r
1611 task that is waiting for the same mutex. */
\r
1612 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1613 vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
\r
1615 taskEXIT_CRITICAL();
\r
1618 #endif /* configUSE_MUTEXES */
\r
1620 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1621 return errQUEUE_EMPTY;
\r
1625 mtCOVERAGE_TEST_MARKER();
\r
1628 } /*lint -restore */
\r
1630 /*-----------------------------------------------------------*/
\r
1632 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1634 BaseType_t xEntryTimeSet = pdFALSE;
\r
1635 TimeOut_t xTimeOut;
\r
1636 int8_t *pcOriginalReadPosition;
\r
1637 Queue_t * const pxQueue = xQueue;
\r
1639 /* Check the pointer is not NULL. */
\r
1640 configASSERT( ( pxQueue ) );
\r
1642 /* The buffer into which data is received can only be NULL if the data size
\r
1643 is zero (so no data is copied into the buffer. */
\r
1644 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1646 /* Cannot block if the scheduler is suspended. */
\r
1647 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1649 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1654 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1655 allow return statements within the function itself. This is done in the
\r
1656 interest of execution time efficiency. */
\r
1659 taskENTER_CRITICAL();
\r
1661 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1663 /* Is there data in the queue now? To be running the calling task
\r
1664 must be the highest priority task wanting to access the queue. */
\r
1665 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1667 /* Remember the read position so it can be reset after the data
\r
1668 is read from the queue as this function is only peeking the
\r
1669 data, not removing it. */
\r
1670 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1672 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1673 traceQUEUE_PEEK( pxQueue );
\r
1675 /* The data is not being removed, so reset the read pointer. */
\r
1676 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1678 /* The data is being left in the queue, so see if there are
\r
1679 any other tasks waiting for the data. */
\r
1680 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1682 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1684 /* The task waiting has a higher priority than this task. */
\r
1685 queueYIELD_IF_USING_PREEMPTION();
\r
1689 mtCOVERAGE_TEST_MARKER();
\r
1694 mtCOVERAGE_TEST_MARKER();
\r
1697 taskEXIT_CRITICAL();
\r
1702 if( xTicksToWait == ( TickType_t ) 0 )
\r
1704 /* The queue was empty and no block time is specified (or
\r
1705 the block time has expired) so leave now. */
\r
1706 taskEXIT_CRITICAL();
\r
1707 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1708 return errQUEUE_EMPTY;
\r
1710 else if( xEntryTimeSet == pdFALSE )
\r
1712 /* The queue was empty and a block time was specified so
\r
1713 configure the timeout structure ready to enter the blocked
\r
1715 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1716 xEntryTimeSet = pdTRUE;
\r
1720 /* Entry time was already set. */
\r
1721 mtCOVERAGE_TEST_MARKER();
\r
1725 taskEXIT_CRITICAL();
\r
1727 /* Interrupts and other tasks can send to and receive from the queue
\r
1728 now the critical section has been exited. */
\r
1730 vTaskSuspendAll();
\r
1731 prvLockQueue( pxQueue );
\r
1733 /* Update the timeout state to see if it has expired yet. */
\r
1734 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1736 /* Timeout has not expired yet, check to see if there is data in the
\r
1737 queue now, and if not enter the Blocked state to wait for data. */
\r
1738 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1740 traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
\r
1741 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1742 prvUnlockQueue( pxQueue );
\r
1743 if( xTaskResumeAll() == pdFALSE )
\r
1745 portYIELD_WITHIN_API();
\r
1749 mtCOVERAGE_TEST_MARKER();
\r
1754 /* There is data in the queue now, so don't enter the blocked
\r
1755 state, instead return to try and obtain the data. */
\r
1756 prvUnlockQueue( pxQueue );
\r
1757 ( void ) xTaskResumeAll();
\r
1762 /* The timeout has expired. If there is still no data in the queue
\r
1763 exit, otherwise go back and try to read the data again. */
\r
1764 prvUnlockQueue( pxQueue );
\r
1765 ( void ) xTaskResumeAll();
\r
1767 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1769 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1770 return errQUEUE_EMPTY;
\r
1774 mtCOVERAGE_TEST_MARKER();
\r
1777 } /*lint -restore */
\r
1779 /*-----------------------------------------------------------*/
\r
1781 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1783 BaseType_t xReturn;
\r
1784 UBaseType_t uxSavedInterruptStatus;
\r
1785 Queue_t * const pxQueue = xQueue;
\r
1787 configASSERT( pxQueue );
\r
1788 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1790 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1791 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1792 above the maximum system call priority are kept permanently enabled, even
\r
1793 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1794 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1795 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1796 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1797 assigned a priority above the configured maximum system call priority.
\r
1798 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1799 that have been assigned a priority at or (logically) below the maximum
\r
1800 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1801 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1802 More information (albeit Cortex-M specific) is provided on the following
\r
1803 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1804 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1806 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1808 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1810 /* Cannot block in an ISR, so check there is data available. */
\r
1811 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1813 const int8_t cRxLock = pxQueue->cRxLock;
\r
1815 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1817 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1818 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1820 /* If the queue is locked the event list will not be modified.
\r
1821 Instead update the lock count so the task that unlocks the queue
\r
1822 will know that an ISR has removed data while the queue was
\r
1824 if( cRxLock == queueUNLOCKED )
\r
1826 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1828 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1830 /* The task waiting has a higher priority than us so
\r
1831 force a context switch. */
\r
1832 if( pxHigherPriorityTaskWoken != NULL )
\r
1834 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1838 mtCOVERAGE_TEST_MARKER();
\r
1843 mtCOVERAGE_TEST_MARKER();
\r
1848 mtCOVERAGE_TEST_MARKER();
\r
1853 /* Increment the lock count so the task that unlocks the queue
\r
1854 knows that data was removed while it was locked. */
\r
1855 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1863 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1866 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1870 /*-----------------------------------------------------------*/
\r
1872 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1874 BaseType_t xReturn;
\r
1875 UBaseType_t uxSavedInterruptStatus;
\r
1876 int8_t *pcOriginalReadPosition;
\r
1877 Queue_t * const pxQueue = xQueue;
\r
1879 configASSERT( pxQueue );
\r
1880 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1881 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1883 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1884 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1885 above the maximum system call priority are kept permanently enabled, even
\r
1886 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1887 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1888 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1889 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1890 assigned a priority above the configured maximum system call priority.
\r
1891 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1892 that have been assigned a priority at or (logically) below the maximum
\r
1893 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1894 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1895 More information (albeit Cortex-M specific) is provided on the following
\r
1896 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1897 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1899 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1901 /* Cannot block in an ISR, so check there is data available. */
\r
1902 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1904 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1906 /* Remember the read position so it can be reset as nothing is
\r
1907 actually being removed from the queue. */
\r
1908 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1909 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1910 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1917 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1920 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1924 /*-----------------------------------------------------------*/
\r
1926 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1928 UBaseType_t uxReturn;
\r
1930 configASSERT( xQueue );
\r
1932 taskENTER_CRITICAL();
\r
1934 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1936 taskEXIT_CRITICAL();
\r
1939 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1940 /*-----------------------------------------------------------*/
\r
1942 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1944 UBaseType_t uxReturn;
\r
1945 Queue_t * const pxQueue = xQueue;
\r
1947 configASSERT( pxQueue );
\r
1949 taskENTER_CRITICAL();
\r
1951 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1953 taskEXIT_CRITICAL();
\r
1956 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1957 /*-----------------------------------------------------------*/
\r
1959 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1961 UBaseType_t uxReturn;
\r
1962 Queue_t * const pxQueue = xQueue;
\r
1964 configASSERT( pxQueue );
\r
1965 uxReturn = pxQueue->uxMessagesWaiting;
\r
1968 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1969 /*-----------------------------------------------------------*/
\r
1971 void vQueueDelete( QueueHandle_t xQueue )
\r
1973 Queue_t * const pxQueue = xQueue;
\r
1975 configASSERT( pxQueue );
\r
1976 traceQUEUE_DELETE( pxQueue );
\r
1978 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1980 vQueueUnregisterQueue( pxQueue );
\r
1984 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1986 /* The queue can only have been allocated dynamically - free it
\r
1988 vPortFree( pxQueue );
\r
1990 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1992 /* The queue could have been allocated statically or dynamically, so
\r
1993 check before attempting to free the memory. */
\r
1994 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
1996 vPortFree( pxQueue );
\r
2000 mtCOVERAGE_TEST_MARKER();
\r
2005 /* The queue must have been statically allocated, so is not going to be
\r
2006 deleted. Avoid compiler warnings about the unused parameter. */
\r
2009 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2011 /*-----------------------------------------------------------*/
\r
2013 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2015 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2017 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2020 #endif /* configUSE_TRACE_FACILITY */
\r
2021 /*-----------------------------------------------------------*/
\r
2023 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2025 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2027 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2030 #endif /* configUSE_TRACE_FACILITY */
\r
2031 /*-----------------------------------------------------------*/
\r
2033 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2035 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2037 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2040 #endif /* configUSE_TRACE_FACILITY */
\r
2041 /*-----------------------------------------------------------*/
\r
2043 #if( configUSE_MUTEXES == 1 )
\r
2045 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2047 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2049 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2050 priority, but the waiting task times out, then the holder should
\r
2051 disinherit the priority - but only down to the highest priority of any
\r
2052 other tasks that are waiting for the same mutex. For this purpose,
\r
2053 return the priority of the highest priority task that is waiting for the
\r
2055 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
\r
2057 uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2061 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2064 return uxHighestPriorityOfWaitingTasks;
\r
2067 #endif /* configUSE_MUTEXES */
\r
2068 /*-----------------------------------------------------------*/
\r
2070 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2072 BaseType_t xReturn = pdFALSE;
\r
2073 UBaseType_t uxMessagesWaiting;
\r
2075 /* This function is called from a critical section. */
\r
2077 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2079 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2081 #if ( configUSE_MUTEXES == 1 )
\r
2083 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2085 /* The mutex is no longer being held. */
\r
2086 xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
2087 pxQueue->u.xSemaphore.xMutexHolder = NULL;
\r
2091 mtCOVERAGE_TEST_MARKER();
\r
2094 #endif /* configUSE_MUTEXES */
\r
2096 else if( xPosition == queueSEND_TO_BACK )
\r
2098 ( 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
2099 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
2100 if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2102 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2106 mtCOVERAGE_TEST_MARKER();
\r
2111 ( 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
2112 pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
\r
2113 if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2115 pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
\r
2119 mtCOVERAGE_TEST_MARKER();
\r
2122 if( xPosition == queueOVERWRITE )
\r
2124 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2126 /* An item is not being added but overwritten, so subtract
\r
2127 one from the recorded number of items in the queue so when
\r
2128 one is added again below the number of recorded items remains
\r
2130 --uxMessagesWaiting;
\r
2134 mtCOVERAGE_TEST_MARKER();
\r
2139 mtCOVERAGE_TEST_MARKER();
\r
2143 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2147 /*-----------------------------------------------------------*/
\r
2149 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2151 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2153 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
2154 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
2156 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2160 mtCOVERAGE_TEST_MARKER();
\r
2162 ( 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
2165 /*-----------------------------------------------------------*/
\r
2167 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2169 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2171 /* The lock counts contains the number of extra data items placed or
\r
2172 removed from the queue while the queue was locked. When a queue is
\r
2173 locked items can be added or removed, but the event lists cannot be
\r
2175 taskENTER_CRITICAL();
\r
2177 int8_t cTxLock = pxQueue->cTxLock;
\r
2179 /* See if data was added to the queue while it was locked. */
\r
2180 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2182 /* Data was posted while the queue was locked. Are any tasks
\r
2183 blocked waiting for data to become available? */
\r
2184 #if ( configUSE_QUEUE_SETS == 1 )
\r
2186 if( pxQueue->pxQueueSetContainer != NULL )
\r
2188 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
2190 /* The queue is a member of a queue set, and posting to
\r
2191 the queue set caused a higher priority task to unblock.
\r
2192 A context switch is required. */
\r
2193 vTaskMissedYield();
\r
2197 mtCOVERAGE_TEST_MARKER();
\r
2202 /* Tasks that are removed from the event list will get
\r
2203 added to the pending ready list as the scheduler is still
\r
2205 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2207 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2209 /* The task waiting has a higher priority so record that a
\r
2210 context switch is required. */
\r
2211 vTaskMissedYield();
\r
2215 mtCOVERAGE_TEST_MARKER();
\r
2224 #else /* configUSE_QUEUE_SETS */
\r
2226 /* Tasks that are removed from the event list will get added to
\r
2227 the pending ready list as the scheduler is still suspended. */
\r
2228 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2230 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2232 /* The task waiting has a higher priority so record that
\r
2233 a context switch is required. */
\r
2234 vTaskMissedYield();
\r
2238 mtCOVERAGE_TEST_MARKER();
\r
2246 #endif /* configUSE_QUEUE_SETS */
\r
2251 pxQueue->cTxLock = queueUNLOCKED;
\r
2253 taskEXIT_CRITICAL();
\r
2255 /* Do the same for the Rx lock. */
\r
2256 taskENTER_CRITICAL();
\r
2258 int8_t cRxLock = pxQueue->cRxLock;
\r
2260 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2262 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2264 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2266 vTaskMissedYield();
\r
2270 mtCOVERAGE_TEST_MARKER();
\r
2281 pxQueue->cRxLock = queueUNLOCKED;
\r
2283 taskEXIT_CRITICAL();
\r
2285 /*-----------------------------------------------------------*/
\r
2287 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2289 BaseType_t xReturn;
\r
2291 taskENTER_CRITICAL();
\r
2293 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2299 xReturn = pdFALSE;
\r
2302 taskEXIT_CRITICAL();
\r
2306 /*-----------------------------------------------------------*/
\r
2308 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2310 BaseType_t xReturn;
\r
2311 Queue_t * const pxQueue = xQueue;
\r
2313 configASSERT( pxQueue );
\r
2314 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2320 xReturn = pdFALSE;
\r
2324 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2325 /*-----------------------------------------------------------*/
\r
2327 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2329 BaseType_t xReturn;
\r
2331 taskENTER_CRITICAL();
\r
2333 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2339 xReturn = pdFALSE;
\r
2342 taskEXIT_CRITICAL();
\r
2346 /*-----------------------------------------------------------*/
\r
2348 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2350 BaseType_t xReturn;
\r
2351 Queue_t * const pxQueue = xQueue;
\r
2353 configASSERT( pxQueue );
\r
2354 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2360 xReturn = pdFALSE;
\r
2364 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2365 /*-----------------------------------------------------------*/
\r
2367 #if ( configUSE_CO_ROUTINES == 1 )
\r
2369 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2371 BaseType_t xReturn;
\r
2372 Queue_t * const pxQueue = xQueue;
\r
2374 /* If the queue is already full we may have to block. A critical section
\r
2375 is required to prevent an interrupt removing something from the queue
\r
2376 between the check to see if the queue is full and blocking on the queue. */
\r
2377 portDISABLE_INTERRUPTS();
\r
2379 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2381 /* The queue is full - do we want to block or just leave without
\r
2383 if( xTicksToWait > ( TickType_t ) 0 )
\r
2385 /* As this is called from a coroutine we cannot block directly, but
\r
2386 return indicating that we need to block. */
\r
2387 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2388 portENABLE_INTERRUPTS();
\r
2389 return errQUEUE_BLOCKED;
\r
2393 portENABLE_INTERRUPTS();
\r
2394 return errQUEUE_FULL;
\r
2398 portENABLE_INTERRUPTS();
\r
2400 portDISABLE_INTERRUPTS();
\r
2402 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2404 /* There is room in the queue, copy the data into the queue. */
\r
2405 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2408 /* Were any co-routines waiting for data to become available? */
\r
2409 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2411 /* In this instance the co-routine could be placed directly
\r
2412 into the ready list as we are within a critical section.
\r
2413 Instead the same pending ready list mechanism is used as if
\r
2414 the event were caused from within an interrupt. */
\r
2415 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2417 /* The co-routine waiting has a higher priority so record
\r
2418 that a yield might be appropriate. */
\r
2419 xReturn = errQUEUE_YIELD;
\r
2423 mtCOVERAGE_TEST_MARKER();
\r
2428 mtCOVERAGE_TEST_MARKER();
\r
2433 xReturn = errQUEUE_FULL;
\r
2436 portENABLE_INTERRUPTS();
\r
2441 #endif /* configUSE_CO_ROUTINES */
\r
2442 /*-----------------------------------------------------------*/
\r
2444 #if ( configUSE_CO_ROUTINES == 1 )
\r
2446 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2448 BaseType_t xReturn;
\r
2449 Queue_t * const pxQueue = xQueue;
\r
2451 /* If the queue is already empty we may have to block. A critical section
\r
2452 is required to prevent an interrupt adding something to the queue
\r
2453 between the check to see if the queue is empty and blocking on the queue. */
\r
2454 portDISABLE_INTERRUPTS();
\r
2456 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2458 /* There are no messages in the queue, do we want to block or just
\r
2459 leave with nothing? */
\r
2460 if( xTicksToWait > ( TickType_t ) 0 )
\r
2462 /* As this is a co-routine we cannot block directly, but return
\r
2463 indicating that we need to block. */
\r
2464 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2465 portENABLE_INTERRUPTS();
\r
2466 return errQUEUE_BLOCKED;
\r
2470 portENABLE_INTERRUPTS();
\r
2471 return errQUEUE_FULL;
\r
2476 mtCOVERAGE_TEST_MARKER();
\r
2479 portENABLE_INTERRUPTS();
\r
2481 portDISABLE_INTERRUPTS();
\r
2483 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2485 /* Data is available from the queue. */
\r
2486 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2487 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2489 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2493 mtCOVERAGE_TEST_MARKER();
\r
2495 --( pxQueue->uxMessagesWaiting );
\r
2496 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2500 /* Were any co-routines waiting for space to become available? */
\r
2501 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2503 /* In this instance the co-routine could be placed directly
\r
2504 into the ready list as we are within a critical section.
\r
2505 Instead the same pending ready list mechanism is used as if
\r
2506 the event were caused from within an interrupt. */
\r
2507 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2509 xReturn = errQUEUE_YIELD;
\r
2513 mtCOVERAGE_TEST_MARKER();
\r
2518 mtCOVERAGE_TEST_MARKER();
\r
2526 portENABLE_INTERRUPTS();
\r
2531 #endif /* configUSE_CO_ROUTINES */
\r
2532 /*-----------------------------------------------------------*/
\r
2534 #if ( configUSE_CO_ROUTINES == 1 )
\r
2536 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2538 Queue_t * const pxQueue = xQueue;
\r
2540 /* Cannot block within an ISR so if there is no space on the queue then
\r
2541 exit without doing anything. */
\r
2542 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2544 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2546 /* We only want to wake one co-routine per ISR, so check that a
\r
2547 co-routine has not already been woken. */
\r
2548 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2550 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2552 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2558 mtCOVERAGE_TEST_MARKER();
\r
2563 mtCOVERAGE_TEST_MARKER();
\r
2568 mtCOVERAGE_TEST_MARKER();
\r
2573 mtCOVERAGE_TEST_MARKER();
\r
2576 return xCoRoutinePreviouslyWoken;
\r
2579 #endif /* configUSE_CO_ROUTINES */
\r
2580 /*-----------------------------------------------------------*/
\r
2582 #if ( configUSE_CO_ROUTINES == 1 )
\r
2584 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2586 BaseType_t xReturn;
\r
2587 Queue_t * const pxQueue = xQueue;
\r
2589 /* We cannot block from an ISR, so check there is data available. If
\r
2590 not then just leave without doing anything. */
\r
2591 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2593 /* Copy the data from the queue. */
\r
2594 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2595 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2597 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2601 mtCOVERAGE_TEST_MARKER();
\r
2603 --( pxQueue->uxMessagesWaiting );
\r
2604 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2606 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2608 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2610 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2612 *pxCoRoutineWoken = pdTRUE;
\r
2616 mtCOVERAGE_TEST_MARKER();
\r
2621 mtCOVERAGE_TEST_MARKER();
\r
2626 mtCOVERAGE_TEST_MARKER();
\r
2639 #endif /* configUSE_CO_ROUTINES */
\r
2640 /*-----------------------------------------------------------*/
\r
2642 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2644 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2648 /* See if there is an empty space in the registry. A NULL name denotes
\r
2650 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2652 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2654 /* Store the information on this queue. */
\r
2655 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2656 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2658 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2663 mtCOVERAGE_TEST_MARKER();
\r
2668 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2669 /*-----------------------------------------------------------*/
\r
2671 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2673 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2676 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2678 /* Note there is nothing here to protect against another task adding or
\r
2679 removing entries from the registry while it is being searched. */
\r
2680 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2682 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2684 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2689 mtCOVERAGE_TEST_MARKER();
\r
2694 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2696 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2697 /*-----------------------------------------------------------*/
\r
2699 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2701 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2705 /* See if the handle of the queue being unregistered in actually in the
\r
2707 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2709 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2711 /* Set the name to NULL to show that this slot if free again. */
\r
2712 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2714 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2715 appear in the registry twice if it is added, removed, then
\r
2717 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2722 mtCOVERAGE_TEST_MARKER();
\r
2726 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2728 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2729 /*-----------------------------------------------------------*/
\r
2731 #if ( configUSE_TIMERS == 1 )
\r
2733 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2735 Queue_t * const pxQueue = xQueue;
\r
2737 /* This function should not be called by application code hence the
\r
2738 'Restricted' in its name. It is not part of the public API. It is
\r
2739 designed for use by kernel code, and has special calling requirements.
\r
2740 It can result in vListInsert() being called on a list that can only
\r
2741 possibly ever have one item in it, so the list will be fast, but even
\r
2742 so it should be called with the scheduler locked and not from a critical
\r
2745 /* Only do anything if there are no messages in the queue. This function
\r
2746 will not actually cause the task to block, just place it on a blocked
\r
2747 list. It will not block until the scheduler is unlocked - at which
\r
2748 time a yield will be performed. If an item is added to the queue while
\r
2749 the queue is locked, and the calling task blocks on the queue, then the
\r
2750 calling task will be immediately unblocked when the queue is unlocked. */
\r
2751 prvLockQueue( pxQueue );
\r
2752 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2754 /* There is nothing in the queue, block for the specified period. */
\r
2755 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2759 mtCOVERAGE_TEST_MARKER();
\r
2761 prvUnlockQueue( pxQueue );
\r
2764 #endif /* configUSE_TIMERS */
\r
2765 /*-----------------------------------------------------------*/
\r
2767 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2769 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2771 QueueSetHandle_t pxQueue;
\r
2773 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2778 #endif /* configUSE_QUEUE_SETS */
\r
2779 /*-----------------------------------------------------------*/
\r
2781 #if ( configUSE_QUEUE_SETS == 1 )
\r
2783 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2785 BaseType_t xReturn;
\r
2787 taskENTER_CRITICAL();
\r
2789 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2791 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2794 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2796 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2797 items in the queue/semaphore. */
\r
2802 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2806 taskEXIT_CRITICAL();
\r
2811 #endif /* configUSE_QUEUE_SETS */
\r
2812 /*-----------------------------------------------------------*/
\r
2814 #if ( configUSE_QUEUE_SETS == 1 )
\r
2816 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2818 BaseType_t xReturn;
\r
2819 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2821 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2823 /* The queue was not a member of the set. */
\r
2826 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2828 /* It is dangerous to remove a queue from a set when the queue is
\r
2829 not empty because the queue set will still hold pending events for
\r
2835 taskENTER_CRITICAL();
\r
2837 /* The queue is no longer contained in the set. */
\r
2838 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2840 taskEXIT_CRITICAL();
\r
2845 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2847 #endif /* configUSE_QUEUE_SETS */
\r
2848 /*-----------------------------------------------------------*/
\r
2850 #if ( configUSE_QUEUE_SETS == 1 )
\r
2852 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2854 QueueSetMemberHandle_t xReturn = NULL;
\r
2856 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2860 #endif /* configUSE_QUEUE_SETS */
\r
2861 /*-----------------------------------------------------------*/
\r
2863 #if ( configUSE_QUEUE_SETS == 1 )
\r
2865 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2867 QueueSetMemberHandle_t xReturn = NULL;
\r
2869 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2873 #endif /* configUSE_QUEUE_SETS */
\r
2874 /*-----------------------------------------------------------*/
\r
2876 #if ( configUSE_QUEUE_SETS == 1 )
\r
2878 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2880 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2881 BaseType_t xReturn = pdFALSE;
\r
2883 /* This function must be called form a critical section. */
\r
2885 configASSERT( pxQueueSetContainer );
\r
2886 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2888 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2890 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2892 traceQUEUE_SEND( pxQueueSetContainer );
\r
2894 /* The data copied is the handle of the queue that contains data. */
\r
2895 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2897 if( cTxLock == queueUNLOCKED )
\r
2899 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2901 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2903 /* The task waiting has a higher priority. */
\r
2908 mtCOVERAGE_TEST_MARKER();
\r
2913 mtCOVERAGE_TEST_MARKER();
\r
2918 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2923 mtCOVERAGE_TEST_MARKER();
\r
2929 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob