git.sur5r.net Git - freertos/blob - FreeRTOS/Source/queue.c

   1 /*\r
   2     FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.\r
   3 \r
   4     FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT\r
   5     http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
   6 \r
   7     ***************************************************************************\r
   8      *                                                                       *\r
   9      *    FreeRTOS tutorial books are available in pdf and paperback.        *\r
  10      *    Complete, revised, and edited pdf reference manuals are also       *\r
  11      *    available.                                                         *\r
  12      *                                                                       *\r
  13      *    Purchasing FreeRTOS documentation will not only help you, by       *\r
  14      *    ensuring you get running as quickly as possible and with an        *\r
  15      *    in-depth knowledge of how to use FreeRTOS, it will also help       *\r
  16      *    the FreeRTOS project to continue with its mission of providing     *\r
  17      *    professional grade, cross platform, de facto standard solutions    *\r
  18      *    for microcontrollers - completely free of charge!                  *\r
  19      *                                                                       *\r
  20      *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *\r
  21      *                                                                       *\r
  22      *    Thank you for using FreeRTOS, and thank you for your support!      *\r
  23      *                                                                       *\r
  24     ***************************************************************************\r
  25 \r
  26 \r
  27     This file is part of the FreeRTOS distribution.\r
  28 \r
  29     FreeRTOS is free software; you can redistribute it and/or modify it under\r
  30     the terms of the GNU General Public License (version 2) as published by the\r
  31     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
  32 \r
  33     >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to\r
  34     distribute a combined work that includes FreeRTOS without being obliged to\r
  35     provide the source code for proprietary components outside of the FreeRTOS\r
  36     kernel.\r
  37 \r
  38     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
  39     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
  40     FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more\r
  41     details. You should have received a copy of the GNU General Public License\r
  42     and the FreeRTOS license exception along with FreeRTOS; if not it can be\r
  43     viewed here: http://www.freertos.org/a00114.html and also obtained by\r
  44     writing to Real Time Engineers Ltd., contact details for whom are available\r
  45     on the FreeRTOS WEB site.\r
  46 \r
  47     1 tab == 4 spaces!\r
  48 \r
  49     ***************************************************************************\r
  50      *                                                                       *\r
  51      *    Having a problem?  Start by reading the FAQ "My application does   *\r
  52      *    not run, what could be wrong?"                                     *\r
  53      *                                                                       *\r
  54      *    http://www.FreeRTOS.org/FAQHelp.html                               *\r
  55      *                                                                       *\r
  56     ***************************************************************************\r
  57 \r
  58 \r
  59     http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
  60     license and Real Time Engineers Ltd. contact details.\r
  61 \r
  62     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
  63     including FreeRTOS+Trace - an indispensable productivity tool, and our new\r
  64     fully thread aware and reentrant UDP/IP stack.\r
  65 \r
  66     http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
  67     Integrity Systems, who sell the code with commercial support,\r
  68     indemnification and middleware, under the OpenRTOS brand.\r
  69 \r
  70     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
  71     engineered and independently SIL3 certified version for use in safety and\r
  72     mission critical applications that require provable dependability.\r
  73 */\r
  74 \r
  75 #include <stdlib.h>\r
  76 #include <string.h>\r
  77 \r
  78 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining\r
  79 all the API functions to use the MPU wrappers.  That should only be done when\r
  80 task.h is included from an application file. */\r
  81 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
  82 \r
  83 #include "FreeRTOS.h"\r
  84 #include "task.h"\r
  85 #include "queue.h"\r
  86 \r
  87 #if ( configUSE_CO_ROUTINES == 1 )\r
  88         #include "croutine.h"\r
  89 #endif\r
  90 \r
  91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
  92 \r
  93 /* Constants used with the cRxLock and xTxLock structure members. */\r
  94 #define queueUNLOCKED                                   ( ( signed portBASE_TYPE ) -1 )\r
  95 #define queueLOCKED_UNMODIFIED                  ( ( signed portBASE_TYPE ) 0 )\r
  96 \r
  97 #define queueERRONEOUS_UNBLOCK                  ( -1 )\r
  98 \r
  99 /* When the xQUEUE structure is used to represent a base queue its pcHead and\r
 100 pcTail members are used as pointers into the queue storage area.  When the\r
 101 xQUEUE structure is used to represent a mutex pcHead and pcTail pointers are\r
 102 not necessary, and the pcHead pointer is set to NULL to indicate that the\r
 103 pcTail pointer actually points to the mutex holder (if any).  Map alternative\r
 104 names to the pcHead and pcTail structure members to ensure the readability of\r
 105 the code is maintained despite this dual use of two structure members.  An\r
 106 alternative implementation would be to use a union, but use of a union is\r
 107 against the coding standard (although an exception to the standard has been\r
 108 permitted where the dual use also significantly changes the type of the\r
 109 structure member). */\r
 110 #define pxMutexHolder                                   pcTail\r
 111 #define uxQueueType                                             pcHead\r
 112 #define queueQUEUE_IS_MUTEX                             NULL\r
 113 \r
 114 /* Semaphores do not actually store or copy data, so have an item size of\r
 115 zero. */\r
 116 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )\r
 117 #define queueDONT_BLOCK                                  ( ( portTickType ) 0U )\r
 118 #define queueMUTEX_GIVE_BLOCK_TIME               ( ( portTickType ) 0U )\r
 119 \r
 120 \r
 121 /*\r
 122  * Definition of the queue used by the scheduler.\r
 123  * Items are queued by copy, not reference.\r
 124  */\r
 125 typedef struct QueueDefinition\r
 126 {\r
 127         signed char *pcHead;                                    /*< Points to the beginning of the queue storage area. */\r
 128         signed char *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. */\r
 129 \r
 130         signed char *pcWriteTo;                                 /*< Points to the free next place in the storage area. */\r
 131 \r
 132         union                                                                   /* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */\r
 133         {\r
 134                 signed char *pcReadFrom;                        /*< Points to the last place that a queued item was read from when the structure is used as a queue. */\r
 135                 unsigned portBASE_TYPE uxRecursiveCallCount;/*< Maintains a count of the numebr of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */\r
 136         } u;\r
 137 \r
 138         xList xTasksWaitingToSend;                              /*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */\r
 139         xList xTasksWaitingToReceive;                   /*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */\r
 140 \r
 141         volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */\r
 142         unsigned portBASE_TYPE uxLength;                /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */\r
 143         unsigned portBASE_TYPE uxItemSize;              /*< The size of each items that the queue will hold. */\r
 144 \r
 145         volatile signed portBASE_TYPE xRxLock;  /*< 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. */\r
 146         volatile signed portBASE_TYPE xTxLock;  /*< 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. */\r
 147 \r
 148         #if ( configUSE_TRACE_FACILITY == 1 )\r
 149                 unsigned char ucQueueNumber;\r
 150                 unsigned char ucQueueType;\r
 151         #endif\r
 152 \r
 153         #if ( configUSE_QUEUE_SETS == 1 )\r
 154                 struct QueueDefinition *pxQueueSetContainer;\r
 155         #endif\r
 156 \r
 157 } xQUEUE;\r
 158 /*-----------------------------------------------------------*/\r
 159 \r
 160 /*\r
 161  * The queue registry is just a means for kernel aware debuggers to locate\r
 162  * queue structures.  It has no other purpose so is an optional component.\r
 163  */\r
 164 #if ( configQUEUE_REGISTRY_SIZE > 0 )\r
 165 \r
 166         /* The type stored within the queue registry array.  This allows a name\r
 167         to be assigned to each queue making kernel aware debugging a little\r
 168         more user friendly. */\r
 169         typedef struct QUEUE_REGISTRY_ITEM\r
 170         {\r
 171                 signed char *pcQueueName;\r
 172                 xQueueHandle xHandle;\r
 173         } xQueueRegistryItem;\r
 174 \r
 175         /* The queue registry is simply an array of xQueueRegistryItem structures.\r
 176         The pcQueueName member of a structure being NULL is indicative of the\r
 177         array position being vacant. */\r
 178         xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];\r
 179 \r
 180 #endif /* configQUEUE_REGISTRY_SIZE */\r
 181 \r
 182 /*\r
 183  * Unlocks a queue locked by a call to prvLockQueue.  Locking a queue does not\r
 184  * prevent an ISR from adding or removing items to the queue, but does prevent\r
 185  * an ISR from removing tasks from the queue event lists.  If an ISR finds a\r
 186  * queue is locked it will instead increment the appropriate queue lock count\r
 187  * to indicate that a task may require unblocking.  When the queue in unlocked\r
 188  * these lock counts are inspected, and the appropriate action taken.\r
 189  */\r
 190 static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;\r
 191 \r
 192 /*\r
 193  * Uses a critical section to determine if there is any data in a queue.\r
 194  *\r
 195  * @return pdTRUE if the queue contains no items, otherwise pdFALSE.\r
 196  */\r
 197 static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;\r
 198 \r
 199 /*\r
 200  * Uses a critical section to determine if there is any space in a queue.\r
 201  *\r
 202  * @return pdTRUE if there is no space, otherwise pdFALSE;\r
 203  */\r
 204 static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;\r
 205 \r
 206 /*\r
 207  * Copies an item into the queue, either at the front of the queue or the\r
 208  * back of the queue.\r
 209  */\r
 210 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION;\r
 211 \r
 212 /*\r
 213  * Copies an item out of a queue.\r
 214  */\r
 215 static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;\r
 216 \r
 217 #if ( configUSE_QUEUE_SETS == 1 )\r
 218         /*\r
 219          * Checks to see if a queue is a member of a queue set, and if so, notifies\r
 220          * the queue set that the queue contains data.\r
 221          */\r
 222         static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;\r
 223 #endif\r
 224 \r
 225 /*-----------------------------------------------------------*/\r
 226 \r
 227 /*\r
 228  * Macro to mark a queue as locked.  Locking a queue prevents an ISR from\r
 229  * accessing the queue event lists.\r
 230  */\r
 231 #define prvLockQueue( pxQueue )                                                         \\r
 232         taskENTER_CRITICAL();                                                                   \\r
 233         {                                                                                                               \\r
 234                 if( ( pxQueue )->xRxLock == queueUNLOCKED )                     \\r
 235                 {                                                                                                       \\r
 236                         ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED;  \\r
 237                 }                                                                                                       \\r
 238                 if( ( pxQueue )->xTxLock == queueUNLOCKED )                     \\r
 239                 {                                                                                                       \\r
 240                         ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED;  \\r
 241                 }                                                                                                       \\r
 242         }                                                                                                               \\r
 243         taskEXIT_CRITICAL()\r
 244 /*-----------------------------------------------------------*/\r
 245 \r
 246 portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )\r
 247 {\r
 248 xQUEUE *pxQueue;\r
 249 \r
 250         pxQueue = ( xQUEUE * ) xQueue;\r
 251         configASSERT( pxQueue );\r
 252 \r
 253         taskENTER_CRITICAL();\r
 254         {\r
 255                 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );\r
 256                 pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;\r
 257                 pxQueue->pcWriteTo = pxQueue->pcHead;\r
 258                 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize );\r
 259                 pxQueue->xRxLock = queueUNLOCKED;\r
 260                 pxQueue->xTxLock = queueUNLOCKED;\r
 261 \r
 262                 if( xNewQueue == pdFALSE )\r
 263                 {\r
 264                         /* If there are tasks blocked waiting to read from the queue, then\r
 265                         the tasks will remain blocked as after this function exits the queue\r
 266                         will still be empty.  If there are tasks blocked waiting to     write to\r
 267                         the queue, then one should be unblocked as after this function exits\r
 268                         it will be possible to write to it. */\r
 269                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
 270                         {\r
 271                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
 272                                 {\r
 273                                         portYIELD_WITHIN_API();\r
 274                                 }\r
 275                         }\r
 276                 }\r
 277                 else\r
 278                 {\r
 279                         /* Ensure the event queues start in the correct state. */\r
 280                         vListInitialise( &( pxQueue->xTasksWaitingToSend ) );\r
 281                         vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );\r
 282                 }\r
 283         }\r
 284         taskEXIT_CRITICAL();\r
 285 \r
 286         /* A value is returned for calling semantic consistency with previous\r
 287         versions. */\r
 288         return pdPASS;\r
 289 }\r
 290 /*-----------------------------------------------------------*/\r
 291 \r
 292 xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType )\r
 293 {\r
 294 xQUEUE *pxNewQueue;\r
 295 size_t xQueueSizeInBytes;\r
 296 xQueueHandle xReturn = NULL;\r
 297 \r
 298         /* Remove compiler warnings about unused parameters should\r
 299         configUSE_TRACE_FACILITY not be set to 1. */\r
 300         ( void ) ucQueueType;\r
 301 \r
 302         /* Allocate the new queue structure. */\r
 303         if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )\r
 304         {\r
 305                 pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );\r
 306                 if( pxNewQueue != NULL )\r
 307                 {\r
 308                         /* Create the list of pointers to queue items.  The queue is one byte\r
 309                         longer than asked for to make wrap checking easier/faster. */\r
 310                         xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;\r
 311 \r
 312                         pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );\r
 313                         if( pxNewQueue->pcHead != NULL )\r
 314                         {\r
 315                                 /* Initialise the queue members as described above where the\r
 316                                 queue type is defined. */\r
 317                                 pxNewQueue->uxLength = uxQueueLength;\r
 318                                 pxNewQueue->uxItemSize = uxItemSize;\r
 319                                 xQueueGenericReset( pxNewQueue, pdTRUE );\r
 320 \r
 321                                 #if ( configUSE_TRACE_FACILITY == 1 )\r
 322                                 {\r
 323                                         pxNewQueue->ucQueueType = ucQueueType;\r
 324                                 }\r
 325                                 #endif /* configUSE_TRACE_FACILITY */\r
 326 \r
 327                                 #if( configUSE_QUEUE_SETS == 1 )\r
 328                                 {\r
 329                                         pxNewQueue->pxQueueSetContainer = NULL;\r
 330                                 }\r
 331                                 #endif /* configUSE_QUEUE_SETS */\r
 332 \r
 333                                 traceQUEUE_CREATE( pxNewQueue );\r
 334                                 xReturn = pxNewQueue;\r
 335                         }\r
 336                         else\r
 337                         {\r
 338                                 traceQUEUE_CREATE_FAILED( ucQueueType );\r
 339                                 vPortFree( pxNewQueue );\r
 340                         }\r
 341                 }\r
 342         }\r
 343 \r
 344         configASSERT( xReturn );\r
 345 \r
 346         return xReturn;\r
 347 }\r
 348 /*-----------------------------------------------------------*/\r
 349 \r
 350 #if ( configUSE_MUTEXES == 1 )\r
 351 \r
 352         xQueueHandle xQueueCreateMutex( unsigned char ucQueueType )\r
 353         {\r
 354         xQUEUE *pxNewQueue;\r
 355 \r
 356                 /* Prevent compiler warnings about unused parameters if\r
 357                 configUSE_TRACE_FACILITY does not equal 1. */\r
 358                 ( void ) ucQueueType;\r
 359 \r
 360                 /* Allocate the new queue structure. */\r
 361                 pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );\r
 362                 if( pxNewQueue != NULL )\r
 363                 {\r
 364                         /* Information required for priority inheritance. */\r
 365                         pxNewQueue->pxMutexHolder = NULL;\r
 366                         pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;\r
 367 \r
 368                         /* Queues used as a mutex no data is actually copied into or out\r
 369                         of the queue. */\r
 370                         pxNewQueue->pcWriteTo = NULL;\r
 371                         pxNewQueue->u.pcReadFrom = NULL;\r
 372 \r
 373                         /* Each mutex has a length of 1 (like a binary semaphore) and\r
 374                         an item size of 0 as nothing is actually copied into or out\r
 375                         of the mutex. */\r
 376                         pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;\r
 377                         pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U;\r
 378                         pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U;\r
 379                         pxNewQueue->xRxLock = queueUNLOCKED;\r
 380                         pxNewQueue->xTxLock = queueUNLOCKED;\r
 381 \r
 382                         #if ( configUSE_TRACE_FACILITY == 1 )\r
 383                         {\r
 384                                 pxNewQueue->ucQueueType = ucQueueType;\r
 385                         }\r
 386                         #endif\r
 387 \r
 388                         #if ( configUSE_QUEUE_SETS == 1 )\r
 389                         {\r
 390                                 pxNewQueue->pxQueueSetContainer = NULL;\r
 391                         }\r
 392                         #endif\r
 393 \r
 394                         /* Ensure the event queues start with the correct state. */\r
 395                         vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );\r
 396                         vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );\r
 397 \r
 398                         traceCREATE_MUTEX( pxNewQueue );\r
 399 \r
 400                         /* Start with the semaphore in the expected state. */\r
 401                         xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );\r
 402                 }\r
 403                 else\r
 404                 {\r
 405                         traceCREATE_MUTEX_FAILED();\r
 406                 }\r
 407 \r
 408                 configASSERT( pxNewQueue );\r
 409                 return pxNewQueue;\r
 410         }\r
 411 \r
 412 #endif /* configUSE_MUTEXES */\r
 413 /*-----------------------------------------------------------*/\r
 414 \r
 415 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )\r
 416 \r
 417         void* xQueueGetMutexHolder( xQueueHandle xSemaphore )\r
 418         {\r
 419         void *pxReturn;\r
 420 \r
 421                 /* This function is called by xSemaphoreGetMutexHolder(), and should not\r
 422                 be called directly.  Note:  This is is a good way of determining if the\r
 423                 calling task is the mutex holder, but not a good way of determining the\r
 424                 identity of the mutex holder, as the holder may change between the\r
 425                 following critical section exiting and the function returning. */\r
 426                 taskENTER_CRITICAL();\r
 427                 {\r
 428                         if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )\r
 429                         {\r
 430                                 pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;\r
 431                         }\r
 432                         else\r
 433                         {\r
 434                                 pxReturn = NULL;\r
 435                         }\r
 436                 }\r
 437                 taskEXIT_CRITICAL();\r
 438 \r
 439                 return pxReturn;\r
 440         }\r
 441 \r
 442 #endif\r
 443 /*-----------------------------------------------------------*/\r
 444 \r
 445 #if ( configUSE_RECURSIVE_MUTEXES == 1 )\r
 446 \r
 447         portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )\r
 448         {\r
 449         portBASE_TYPE xReturn;\r
 450         xQUEUE *pxMutex;\r
 451 \r
 452                 pxMutex = ( xQUEUE * ) xMutex;\r
 453                 configASSERT( pxMutex );\r
 454 \r
 455                 /* If this is the task that holds the mutex then pxMutexHolder will not\r
 456                 change outside of this task.  If this task does not hold the mutex then\r
 457                 pxMutexHolder can never coincidentally equal the tasks handle, and as\r
 458                 this is the only condition we are interested in it does not matter if\r
 459                 pxMutexHolder is accessed simultaneously by another task.  Therefore no\r
 460                 mutual exclusion is required to test the pxMutexHolder variable. */\r
 461                 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() )\r
 462                 {\r
 463                         traceGIVE_MUTEX_RECURSIVE( pxMutex );\r
 464 \r
 465                         /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to\r
 466                         the task handle, therefore no underflow check is required.  Also,\r
 467                         uxRecursiveCallCount is only modified by the mutex holder, and as\r
 468                         there can only be one, no mutual exclusion is required to modify the\r
 469                         uxRecursiveCallCount member. */\r
 470                         ( pxMutex->u.uxRecursiveCallCount )--;\r
 471 \r
 472                         /* Have we unwound the call count? */\r
 473                         if( pxMutex->u.uxRecursiveCallCount == 0 )\r
 474                         {\r
 475                                 /* Return the mutex.  This will automatically unblock any other\r
 476                                 task that might be waiting to access the mutex. */\r
 477                                 xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );\r
 478                         }\r
 479 \r
 480                         xReturn = pdPASS;\r
 481                 }\r
 482                 else\r
 483                 {\r
 484                         /* We cannot give the mutex because we are not the holder. */\r
 485                         xReturn = pdFAIL;\r
 486 \r
 487                         traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );\r
 488                 }\r
 489 \r
 490                 return xReturn;\r
 491         }\r
 492 \r
 493 #endif /* configUSE_RECURSIVE_MUTEXES */\r
 494 /*-----------------------------------------------------------*/\r
 495 \r
 496 #if ( configUSE_RECURSIVE_MUTEXES == 1 )\r
 497 \r
 498         portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )\r
 499         {\r
 500         portBASE_TYPE xReturn;\r
 501         xQUEUE *pxMutex;\r
 502 \r
 503                 pxMutex = ( xQUEUE * ) xMutex;\r
 504                 configASSERT( pxMutex );\r
 505 \r
 506                 /* Comments regarding mutual exclusion as per those within\r
 507                 xQueueGiveMutexRecursive(). */\r
 508 \r
 509                 traceTAKE_MUTEX_RECURSIVE( pxMutex );\r
 510 \r
 511                 if( pxMutex->pxMutexHolder == ( void * )  xTaskGetCurrentTaskHandle() )\r
 512                 {\r
 513                         ( pxMutex->u.uxRecursiveCallCount )++;\r
 514                         xReturn = pdPASS;\r
 515                 }\r
 516                 else\r
 517                 {\r
 518                         xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );\r
 519 \r
 520                         /* pdPASS will only be returned if we successfully obtained the mutex,\r
 521                         we may have blocked to reach here. */\r
 522                         if( xReturn == pdPASS )\r
 523                         {\r
 524                                 ( pxMutex->u.uxRecursiveCallCount )++;\r
 525                         }\r
 526                         else\r
 527                         {\r
 528                                 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );\r
 529                         }\r
 530                 }\r
 531 \r
 532                 return xReturn;\r
 533         }\r
 534 \r
 535 #endif /* configUSE_RECURSIVE_MUTEXES */\r
 536 /*-----------------------------------------------------------*/\r
 537 \r
 538 #if ( configUSE_COUNTING_SEMAPHORES == 1 )\r
 539 \r
 540         xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )\r
 541         {\r
 542         xQueueHandle xHandle;\r
 543 \r
 544                 xHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );\r
 545 \r
 546                 if( xHandle != NULL )\r
 547                 {\r
 548                         ( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;\r
 549 \r
 550                         traceCREATE_COUNTING_SEMAPHORE();\r
 551                 }\r
 552                 else\r
 553                 {\r
 554                         traceCREATE_COUNTING_SEMAPHORE_FAILED();\r
 555                 }\r
 556 \r
 557                 configASSERT( xHandle );\r
 558                 return xHandle;\r
 559         }\r
 560 \r
 561 #endif /* configUSE_COUNTING_SEMAPHORES */\r
 562 /*-----------------------------------------------------------*/\r
 563 \r
 564 signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )\r
 565 {\r
 566 signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
 567 xTimeOutType xTimeOut;\r
 568 xQUEUE *pxQueue;\r
 569 \r
 570         pxQueue = ( xQUEUE * ) xQueue;\r
 571         configASSERT( pxQueue );\r
 572         configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
 573         configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );\r
 574 \r
 575         /* This function relaxes the coding standard somewhat to allow return\r
 576         statements within the function itself.  This is done in the interest\r
 577         of execution time efficiency. */\r
 578         for( ;; )\r
 579         {\r
 580                 taskENTER_CRITICAL();\r
 581                 {\r
 582                         /* Is there room on the queue now?  The running task must be\r
 583                         the highest priority task wanting to access the queue.  If\r
 584                         the head item in the queue is to be overwritten then it does\r
 585                         not matter if the queue is full. */\r
 586                         if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )\r
 587                         {\r
 588                                 traceQUEUE_SEND( pxQueue );\r
 589                                 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
 590 \r
 591                                 #if ( configUSE_QUEUE_SETS == 1 )\r
 592                                 {\r
 593                                         if( pxQueue->pxQueueSetContainer != NULL )\r
 594                                         {\r
 595                                                 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )\r
 596                                                 {\r
 597                                                         /* The queue is a member of a queue set, and posting\r
 598                                                         to the queue set caused a higher priority task to\r
 599                                                         unblock. A context switch is required. */\r
 600                                                         portYIELD_WITHIN_API();\r
 601                                                 }\r
 602                                         }\r
 603                                         else\r
 604                                         {\r
 605                                                 /* If there was a task waiting for data to arrive on the\r
 606                                                 queue then unblock it now. */\r
 607                                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
 608                                                 {\r
 609                                                         if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )\r
 610                                                         {\r
 611                                                                 /* The unblocked task has a priority higher than\r
 612                                                                 our own so yield immediately.  Yes it is ok to\r
 613                                                                 do this from within the critical section - the\r
 614                                                                 kernel takes care of that. */\r
 615                                                                 portYIELD_WITHIN_API();\r
 616                                                         }\r
 617                                                 }\r
 618                                         }\r
 619                                 }\r
 620                                 #else /* configUSE_QUEUE_SETS */\r
 621                                 {\r
 622                                         /* If there was a task waiting for data to arrive on the\r
 623                                         queue then unblock it now. */\r
 624                                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
 625                                         {\r
 626                                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )\r
 627                                                 {\r
 628                                                         /* The unblocked task has a priority higher than\r
 629                                                         our own so yield immediately.  Yes it is ok to do\r
 630                                                         this from within the critical section - the kernel\r
 631                                                         takes care of that. */\r
 632                                                         portYIELD_WITHIN_API();\r
 633                                                 }\r
 634                                         }\r
 635                                 }\r
 636                                 #endif /* configUSE_QUEUE_SETS */\r
 637 \r
 638                                 taskEXIT_CRITICAL();\r
 639 \r
 640                                 /* Return to the original privilege level before exiting the\r
 641                                 function. */\r
 642                                 return pdPASS;\r
 643                         }\r
 644                         else\r
 645                         {\r
 646                                 if( xTicksToWait == ( portTickType ) 0 )\r
 647                                 {\r
 648                                         /* The queue was full and no block time is specified (or\r
 649                                         the block time has expired) so leave now. */\r
 650                                         taskEXIT_CRITICAL();\r
 651 \r
 652                                         /* Return to the original privilege level before exiting\r
 653                                         the function. */\r
 654                                         traceQUEUE_SEND_FAILED( pxQueue );\r
 655                                         return errQUEUE_FULL;\r
 656                                 }\r
 657                                 else if( xEntryTimeSet == pdFALSE )\r
 658                                 {\r
 659                                         /* The queue was full and a block time was specified so\r
 660                                         configure the timeout structure. */\r
 661                                         vTaskSetTimeOutState( &xTimeOut );\r
 662                                         xEntryTimeSet = pdTRUE;\r
 663                                 }\r
 664                         }\r
 665                 }\r
 666                 taskEXIT_CRITICAL();\r
 667 \r
 668                 /* Interrupts and other tasks can send to and receive from the queue\r
 669                 now the critical section has been exited. */\r
 670 \r
 671                 vTaskSuspendAll();\r
 672                 prvLockQueue( pxQueue );\r
 673 \r
 674                 /* Update the timeout state to see if it has expired yet. */\r
 675                 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
 676                 {\r
 677                         if( prvIsQueueFull( pxQueue ) != pdFALSE )\r
 678                         {\r
 679                                 traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
 680                                 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
 681 \r
 682                                 /* Unlocking the queue means queue events can effect the\r
 683                                 event list.  It is possible     that interrupts occurring now\r
 684                                 remove this task from the event list again - but as the\r
 685                                 scheduler is suspended the task will go onto the pending\r
 686                                 ready last instead of the actual ready list. */\r
 687                                 prvUnlockQueue( pxQueue );\r
 688 \r
 689                                 /* Resuming the scheduler will move tasks from the pending\r
 690                                 ready list into the ready list - so it is feasible that this\r
 691                                 task is already in a ready list before it yields - in which\r
 692                                 case the yield will not cause a context switch unless there\r
 693                                 is also a higher priority task in the pending ready list. */\r
 694                                 if( xTaskResumeAll() == pdFALSE )\r
 695                                 {\r
 696                                         portYIELD_WITHIN_API();\r
 697                                 }\r
 698                         }\r
 699                         else\r
 700                         {\r
 701                                 /* Try again. */\r
 702                                 prvUnlockQueue( pxQueue );\r
 703                                 ( void ) xTaskResumeAll();\r
 704                         }\r
 705                 }\r
 706                 else\r
 707                 {\r
 708                         /* The timeout has expired. */\r
 709                         prvUnlockQueue( pxQueue );\r
 710                         ( void ) xTaskResumeAll();\r
 711 \r
 712                         /* Return to the original privilege level before exiting the\r
 713                         function. */\r
 714                         traceQUEUE_SEND_FAILED( pxQueue );\r
 715                         return errQUEUE_FULL;\r
 716                 }\r
 717         }\r
 718 }\r
 719 /*-----------------------------------------------------------*/\r
 720 \r
 721 #if ( configUSE_ALTERNATIVE_API == 1 )\r
 722 \r
 723         signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )\r
 724         {\r
 725         signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
 726         xTimeOutType xTimeOut;\r
 727         xQUEUE *pxQueue;\r
 728 \r
 729                 pxQueue = ( xQUEUE * ) xQueue;\r
 730                 configASSERT( pxQueue );\r
 731                 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
 732 \r
 733                 for( ;; )\r
 734                 {\r
 735                         taskENTER_CRITICAL();\r
 736                         {\r
 737                                 /* Is there room on the queue now?  To be running we must be\r
 738                                 the highest priority task wanting to access the queue. */\r
 739                                 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
 740                                 {\r
 741                                         traceQUEUE_SEND( pxQueue );\r
 742                                         prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
 743 \r
 744                                         /* If there was a task waiting for data to arrive on the\r
 745                                         queue then unblock it now. */\r
 746                                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
 747                                         {\r
 748                                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )\r
 749                                                 {\r
 750                                                         /* The unblocked task has a priority higher than\r
 751                                                         our own so yield immediately. */\r
 752                                                         portYIELD_WITHIN_API();\r
 753                                                 }\r
 754                                         }\r
 755 \r
 756                                         taskEXIT_CRITICAL();\r
 757                                         return pdPASS;\r
 758                                 }\r
 759                                 else\r
 760                                 {\r
 761                                         if( xTicksToWait == ( portTickType ) 0 )\r
 762                                         {\r
 763                                                 taskEXIT_CRITICAL();\r
 764                                                 return errQUEUE_FULL;\r
 765                                         }\r
 766                                         else if( xEntryTimeSet == pdFALSE )\r
 767                                         {\r
 768                                                 vTaskSetTimeOutState( &xTimeOut );\r
 769                                                 xEntryTimeSet = pdTRUE;\r
 770                                         }\r
 771                                 }\r
 772                         }\r
 773                         taskEXIT_CRITICAL();\r
 774 \r
 775                         taskENTER_CRITICAL();\r
 776                         {\r
 777                                 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
 778                                 {\r
 779                                         if( prvIsQueueFull( pxQueue ) != pdFALSE )\r
 780                                         {\r
 781                                                 traceBLOCKING_ON_QUEUE_SEND( pxQueue );\r
 782                                                 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
 783                                                 portYIELD_WITHIN_API();\r
 784                                         }\r
 785                                 }\r
 786                                 else\r
 787                                 {\r
 788                                         taskEXIT_CRITICAL();\r
 789                                         traceQUEUE_SEND_FAILED( pxQueue );\r
 790                                         return errQUEUE_FULL;\r
 791                                 }\r
 792                         }\r
 793                         taskEXIT_CRITICAL();\r
 794                 }\r
 795         }\r
 796 \r
 797 #endif /* configUSE_ALTERNATIVE_API */\r
 798 /*-----------------------------------------------------------*/\r
 799 \r
 800 #if ( configUSE_ALTERNATIVE_API == 1 )\r
 801 \r
 802         signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )\r
 803         {\r
 804         signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
 805         xTimeOutType xTimeOut;\r
 806         signed char *pcOriginalReadPosition;\r
 807         xQUEUE *pxQueue;\r
 808 \r
 809                 pxQueue = ( xQUEUE * ) xQueue;\r
 810                 configASSERT( pxQueue );\r
 811                 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
 812 \r
 813                 for( ;; )\r
 814                 {\r
 815                         taskENTER_CRITICAL();\r
 816                         {\r
 817                                 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
 818                                 {\r
 819                                         /* Remember our read position in case we are just peeking. */\r
 820                                         pcOriginalReadPosition = pxQueue->u.pcReadFrom;\r
 821 \r
 822                                         prvCopyDataFromQueue( pxQueue, pvBuffer );\r
 823 \r
 824                                         if( xJustPeeking == pdFALSE )\r
 825                                         {\r
 826                                                 traceQUEUE_RECEIVE( pxQueue );\r
 827 \r
 828                                                 /* We are actually removing data. */\r
 829                                                 --( pxQueue->uxMessagesWaiting );\r
 830 \r
 831                                                 #if ( configUSE_MUTEXES == 1 )\r
 832                                                 {\r
 833                                                         if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
 834                                                         {\r
 835                                                                 /* Record the information required to implement\r
 836                                                                 priority inheritance should it become necessary. */\r
 837                                                                 pxQueue->pxMutexHolder = ( void * ) xTaskGetCurrentTaskHandle();\r
 838                                                         }\r
 839                                                 }\r
 840                                                 #endif\r
 841 \r
 842                                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
 843                                                 {\r
 844                                                         if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
 845                                                         {\r
 846                                                                 portYIELD_WITHIN_API();\r
 847                                                         }\r
 848                                                 }\r
 849                                         }\r
 850                                         else\r
 851                                         {\r
 852                                                 traceQUEUE_PEEK( pxQueue );\r
 853 \r
 854                                                 /* We are not removing the data, so reset our read\r
 855                                                 pointer. */\r
 856                                                 pxQueue->u.pcReadFrom = pcOriginalReadPosition;\r
 857 \r
 858                                                 /* The data is being left in the queue, so see if there are\r
 859                                                 any other tasks waiting for the data. */\r
 860                                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
 861                                                 {\r
 862                                                         /* Tasks that are removed from the event list will get added to\r
 863                                                         the pending ready list as the scheduler is still suspended. */\r
 864                                                         if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
 865                                                         {\r
 866                                                                 /* The task waiting has a higher priority than this task. */\r
 867                                                                 portYIELD_WITHIN_API();\r
 868                                                         }\r
 869                                                 }\r
 870 \r
 871                                         }\r
 872 \r
 873                                         taskEXIT_CRITICAL();\r
 874                                         return pdPASS;\r
 875                                 }\r
 876                                 else\r
 877                                 {\r
 878                                         if( xTicksToWait == ( portTickType ) 0 )\r
 879                                         {\r
 880                                                 taskEXIT_CRITICAL();\r
 881                                                 traceQUEUE_RECEIVE_FAILED( pxQueue );\r
 882                                                 return errQUEUE_EMPTY;\r
 883                                         }\r
 884                                         else if( xEntryTimeSet == pdFALSE )\r
 885                                         {\r
 886                                                 vTaskSetTimeOutState( &xTimeOut );\r
 887                                                 xEntryTimeSet = pdTRUE;\r
 888                                         }\r
 889                                 }\r
 890                         }\r
 891                         taskEXIT_CRITICAL();\r
 892 \r
 893                         taskENTER_CRITICAL();\r
 894                         {\r
 895                                 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
 896                                 {\r
 897                                         if( prvIsQueueEmpty( pxQueue ) != pdFALSE )\r
 898                                         {\r
 899                                                 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );\r
 900 \r
 901                                                 #if ( configUSE_MUTEXES == 1 )\r
 902                                                 {\r
 903                                                         if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
 904                                                         {\r
 905                                                                 portENTER_CRITICAL();\r
 906                                                                 {\r
 907                                                                         vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
 908                                                                 }\r
 909                                                                 portEXIT_CRITICAL();\r
 910                                                         }\r
 911                                                 }\r
 912                                                 #endif\r
 913 \r
 914                                                 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
 915                                                 portYIELD_WITHIN_API();\r
 916                                         }\r
 917                                 }\r
 918                                 else\r
 919                                 {\r
 920                                         taskEXIT_CRITICAL();\r
 921                                         traceQUEUE_RECEIVE_FAILED( pxQueue );\r
 922                                         return errQUEUE_EMPTY;\r
 923                                 }\r
 924                         }\r
 925                         taskEXIT_CRITICAL();\r
 926                 }\r
 927         }\r
 928 \r
 929 \r
 930 #endif /* configUSE_ALTERNATIVE_API */\r
 931 /*-----------------------------------------------------------*/\r
 932 \r
 933 signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )\r
 934 {\r
 935 signed portBASE_TYPE xReturn;\r
 936 unsigned portBASE_TYPE uxSavedInterruptStatus;\r
 937 xQUEUE *pxQueue;\r
 938 \r
 939         pxQueue = ( xQUEUE * ) xQueue;\r
 940         configASSERT( pxQueue );\r
 941         configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
 942         configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );\r
 943 \r
 944         /* RTOS ports that support interrupt nesting have the concept of a maximum\r
 945         system call (or maximum API call) interrupt priority.  Interrupts that are\r
 946         above the maximum system call priority are keep permanently enabled, even\r
 947         when the RTOS kernel is in a critical section, but cannot make any calls to\r
 948         FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h\r
 949         then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
 950         failure if a FreeRTOS API function is called from an interrupt that has been\r
 951         assigned a priority above the configured maximum system call priority.\r
 952         Only FreeRTOS functions that end in FromISR can be called from interrupts\r
 953         that have been assigned a priority at or (logically) below the maximum\r
 954         system call     interrupt priority.  FreeRTOS maintains a separate interrupt\r
 955         safe API to ensure interrupt entry is as fast and as simple as possible.\r
 956         More information (albeit Cortex-M specific) is provided on the following\r
 957         link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
 958         portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
 959 \r
 960         /* Similar to xQueueGenericSend, except we don't block if there is no room\r
 961         in the queue.  Also we don't directly wake a task that was blocked on a\r
 962         queue read, instead we return a flag to say whether a context switch is\r
 963         required or not (i.e. has a task with a higher priority than us been woken\r
 964         by this post). */\r
 965         uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
 966         {\r
 967                 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )\r
 968                 {\r
 969                         traceQUEUE_SEND_FROM_ISR( pxQueue );\r
 970 \r
 971                         prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
 972 \r
 973                         /* If the queue is locked we do not alter the event list.  This will\r
 974                         be done when the queue is unlocked later. */\r
 975                         if( pxQueue->xTxLock == queueUNLOCKED )\r
 976                         {\r
 977                                 #if ( configUSE_QUEUE_SETS == 1 )\r
 978                                 {\r
 979                                         if( pxQueue->pxQueueSetContainer != NULL )\r
 980                                         {\r
 981                                                 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )\r
 982                                                 {\r
 983                                                         /* The queue is a member of a queue set, and posting\r
 984                                                         to the queue set caused a higher priority task to\r
 985                                                         unblock.  A context switch is required. */\r
 986                                                         if( pxHigherPriorityTaskWoken != NULL )\r
 987                                                         {\r
 988                                                                 *pxHigherPriorityTaskWoken = pdTRUE;\r
 989                                                         }\r
 990                                                 }\r
 991                                         }\r
 992                                         else\r
 993                                         {\r
 994                                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
 995                                                 {\r
 996                                                         if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
 997                                                         {\r
 998                                                                 /* The task waiting has a higher priority so record that a\r
 999                                                                 context switch is required. */\r
1000                                                                 if( pxHigherPriorityTaskWoken != NULL )\r
1001                                                                 {\r
1002                                                                         *pxHigherPriorityTaskWoken = pdTRUE;\r
1003                                                                 }\r
1004                                                         }\r
1005                                                 }\r
1006                                         }\r
1007                                 }\r
1008                                 #else /* configUSE_QUEUE_SETS */\r
1009                                 {\r
1010                                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
1011                                         {\r
1012                                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
1013                                                 {\r
1014                                                         /* The task waiting has a higher priority so record that a\r
1015                                                         context switch is required. */\r
1016                                                         if( pxHigherPriorityTaskWoken != NULL )\r
1017                                                         {\r
1018                                                                 *pxHigherPriorityTaskWoken = pdTRUE;\r
1019                                                         }\r
1020                                                 }\r
1021                                         }\r
1022                                 }\r
1023                                 #endif /* configUSE_QUEUE_SETS */\r
1024                         }\r
1025                         else\r
1026                         {\r
1027                                 /* Increment the lock count so the task that unlocks the queue\r
1028                                 knows that data was posted while it was locked. */\r
1029                                 ++( pxQueue->xTxLock );\r
1030                         }\r
1031 \r
1032                         xReturn = pdPASS;\r
1033                 }\r
1034                 else\r
1035                 {\r
1036                         traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );\r
1037                         xReturn = errQUEUE_FULL;\r
1038                 }\r
1039         }\r
1040         portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
1041 \r
1042         return xReturn;\r
1043 }\r
1044 /*-----------------------------------------------------------*/\r
1045 \r
1046 signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )\r
1047 {\r
1048 signed portBASE_TYPE xEntryTimeSet = pdFALSE;\r
1049 xTimeOutType xTimeOut;\r
1050 signed char *pcOriginalReadPosition;\r
1051 xQUEUE *pxQueue;\r
1052 \r
1053         pxQueue = ( xQUEUE * ) xQueue;\r
1054         configASSERT( pxQueue );\r
1055         configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
1056 \r
1057         /* This function relaxes the coding standard somewhat to allow return\r
1058         statements within the function itself.  This is done in the interest\r
1059         of execution time efficiency. */\r
1060 \r
1061         for( ;; )\r
1062         {\r
1063                 taskENTER_CRITICAL();\r
1064                 {\r
1065                         /* Is there data in the queue now?  To be running we must be\r
1066                         the highest priority task wanting to access the queue. */\r
1067                         if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
1068                         {\r
1069                                 /* Remember the read position in case the queue is only being\r
1070                                 peeked. */\r
1071                                 pcOriginalReadPosition = pxQueue->u.pcReadFrom;\r
1072 \r
1073                                 prvCopyDataFromQueue( pxQueue, pvBuffer );\r
1074 \r
1075                                 if( xJustPeeking == pdFALSE )\r
1076                                 {\r
1077                                         traceQUEUE_RECEIVE( pxQueue );\r
1078 \r
1079                                         /* Actually removing data, not just peeking. */\r
1080                                         --( pxQueue->uxMessagesWaiting );\r
1081 \r
1082                                         #if ( configUSE_MUTEXES == 1 )\r
1083                                         {\r
1084                                                 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
1085                                                 {\r
1086                                                         /* Record the information required to implement\r
1087                                                         priority inheritance should it become necessary. */\r
1088                                                         pxQueue->pxMutexHolder = ( void * ) xTaskGetCurrentTaskHandle();\r
1089                                                 }\r
1090                                         }\r
1091                                         #endif\r
1092 \r
1093                                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
1094                                         {\r
1095                                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )\r
1096                                                 {\r
1097                                                         portYIELD_WITHIN_API();\r
1098                                                 }\r
1099                                         }\r
1100                                 }\r
1101                                 else\r
1102                                 {\r
1103                                         traceQUEUE_PEEK( pxQueue );\r
1104 \r
1105                                         /* The data is not being removed, so reset the read\r
1106                                         pointer. */\r
1107                                         pxQueue->u.pcReadFrom = pcOriginalReadPosition;\r
1108 \r
1109                                         /* The data is being left in the queue, so see if there are\r
1110                                         any other tasks waiting for the data. */\r
1111                                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
1112                                         {\r
1113                                                 /* Tasks that are removed from the event list will get added to\r
1114                                                 the pending ready list as the scheduler is still suspended. */\r
1115                                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
1116                                                 {\r
1117                                                         /* The task waiting has a higher priority than this task. */\r
1118                                                         portYIELD_WITHIN_API();\r
1119                                                 }\r
1120                                         }\r
1121                                 }\r
1122 \r
1123                                 taskEXIT_CRITICAL();\r
1124                                 return pdPASS;\r
1125                         }\r
1126                         else\r
1127                         {\r
1128                                 if( xTicksToWait == ( portTickType ) 0 )\r
1129                                 {\r
1130                                         /* The queue was empty and no block time is specified (or\r
1131                                         the block time has expired) so leave now. */\r
1132                                         taskEXIT_CRITICAL();\r
1133                                         traceQUEUE_RECEIVE_FAILED( pxQueue );\r
1134                                         return errQUEUE_EMPTY;\r
1135                                 }\r
1136                                 else if( xEntryTimeSet == pdFALSE )\r
1137                                 {\r
1138                                         /* The queue was empty and a block time was specified so\r
1139                                         configure the timeout structure. */\r
1140                                         vTaskSetTimeOutState( &xTimeOut );\r
1141                                         xEntryTimeSet = pdTRUE;\r
1142                                 }\r
1143                         }\r
1144                 }\r
1145                 taskEXIT_CRITICAL();\r
1146 \r
1147                 /* Interrupts and other tasks can send to and receive from the queue\r
1148                 now the critical section has been exited. */\r
1149 \r
1150                 vTaskSuspendAll();\r
1151                 prvLockQueue( pxQueue );\r
1152 \r
1153                 /* Update the timeout state to see if it has expired yet. */\r
1154                 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
1155                 {\r
1156                         if( prvIsQueueEmpty( pxQueue ) != pdFALSE )\r
1157                         {\r
1158                                 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );\r
1159 \r
1160                                 #if ( configUSE_MUTEXES == 1 )\r
1161                                 {\r
1162                                         if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
1163                                         {\r
1164                                                 portENTER_CRITICAL();\r
1165                                                 {\r
1166                                                         vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
1167                                                 }\r
1168                                                 portEXIT_CRITICAL();\r
1169                                         }\r
1170                                 }\r
1171                                 #endif\r
1172 \r
1173                                 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
1174                                 prvUnlockQueue( pxQueue );\r
1175                                 if( xTaskResumeAll() == pdFALSE )\r
1176                                 {\r
1177                                         portYIELD_WITHIN_API();\r
1178                                 }\r
1179                         }\r
1180                         else\r
1181                         {\r
1182                                 /* Try again. */\r
1183                                 prvUnlockQueue( pxQueue );\r
1184                                 ( void ) xTaskResumeAll();\r
1185                         }\r
1186                 }\r
1187                 else\r
1188                 {\r
1189                         prvUnlockQueue( pxQueue );\r
1190                         ( void ) xTaskResumeAll();\r
1191                         traceQUEUE_RECEIVE_FAILED( pxQueue );\r
1192                         return errQUEUE_EMPTY;\r
1193                 }\r
1194         }\r
1195 }\r
1196 /*-----------------------------------------------------------*/\r
1197 \r
1198 signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )\r
1199 {\r
1200 signed portBASE_TYPE xReturn;\r
1201 unsigned portBASE_TYPE uxSavedInterruptStatus;\r
1202 xQUEUE *pxQueue;\r
1203 \r
1204         pxQueue = ( xQUEUE * ) xQueue;\r
1205         configASSERT( pxQueue );\r
1206         configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
1207 \r
1208         /* RTOS ports that support interrupt nesting have the concept of a maximum\r
1209         system call (or maximum API call) interrupt priority.  Interrupts that are\r
1210         above the maximum system call priority are keep permanently enabled, even \r
1211         when the RTOS kernel is in a critical section, but cannot make any calls to\r
1212         FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h \r
1213         then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
1214         failure if a FreeRTOS API function is called from an interrupt that has been\r
1215         assigned a priority above the configured maximum system call priority.\r
1216         Only FreeRTOS functions that end in FromISR can be called from interrupts\r
1217         that have been assigned a priority at or (logically) below the maximum \r
1218         system call     interrupt priority.  FreeRTOS maintains a separate interrupt \r
1219         safe API to ensure interrupt entry is as fast and as simple as possible.  \r
1220         More information (albeit Cortex-M specific) is provided on the following \r
1221         link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
1222         portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
1223 \r
1224         uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
1225         {\r
1226                 /* Cannot block in an ISR, so check there is data available. */\r
1227                 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
1228                 {\r
1229                         traceQUEUE_RECEIVE_FROM_ISR( pxQueue );\r
1230 \r
1231                         prvCopyDataFromQueue( pxQueue, pvBuffer );\r
1232                         --( pxQueue->uxMessagesWaiting );\r
1233 \r
1234                         /* If the queue is locked the event list will not be modified.\r
1235                         Instead update the lock count so the task that unlocks the queue\r
1236                         will know that an ISR has removed data while the queue was\r
1237                         locked. */\r
1238                         if( pxQueue->xRxLock == queueUNLOCKED )\r
1239                         {\r
1240                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
1241                                 {\r
1242                                         if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
1243                                         {\r
1244                                                 /* The task waiting has a higher priority than us so\r
1245                                                 force a context switch. */\r
1246                                                 if( pxHigherPriorityTaskWoken != NULL )\r
1247                                                 {\r
1248                                                         *pxHigherPriorityTaskWoken = pdTRUE;\r
1249                                                 }\r
1250                                         }\r
1251                                 }\r
1252                         }\r
1253                         else\r
1254                         {\r
1255                                 /* Increment the lock count so the task that unlocks the queue\r
1256                                 knows that data was removed while it was locked. */\r
1257                                 ++( pxQueue->xRxLock );\r
1258                         }\r
1259 \r
1260                         xReturn = pdPASS;\r
1261                 }\r
1262                 else\r
1263                 {\r
1264                         xReturn = pdFAIL;\r
1265                         traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );\r
1266                 }\r
1267         }\r
1268         portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
1269 \r
1270         return xReturn;\r
1271 }\r
1272 /*-----------------------------------------------------------*/\r
1273 \r
1274 signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, void * const pvBuffer )\r
1275 {\r
1276 signed portBASE_TYPE xReturn;\r
1277 unsigned portBASE_TYPE uxSavedInterruptStatus;\r
1278 signed char *pcOriginalReadPosition;\r
1279 xQUEUE *pxQueue;\r
1280 \r
1281         pxQueue = ( xQUEUE * ) xQueue;\r
1282         configASSERT( pxQueue );\r
1283         configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );\r
1284 \r
1285         /* RTOS ports that support interrupt nesting have the concept of a maximum\r
1286         system call (or maximum API call) interrupt priority.  Interrupts that are\r
1287         above the maximum system call priority are keep permanently enabled, even \r
1288         when the RTOS kernel is in a critical section, but cannot make any calls to\r
1289         FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h \r
1290         then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
1291         failure if a FreeRTOS API function is called from an interrupt that has been\r
1292         assigned a priority above the configured maximum system call priority.\r
1293         Only FreeRTOS functions that end in FromISR can be called from interrupts\r
1294         that have been assigned a priority at or (logically) below the maximum \r
1295         system call     interrupt priority.  FreeRTOS maintains a separate interrupt \r
1296         safe API to ensure interrupt entry is as fast and as simple as possible.  \r
1297         More information (albeit Cortex-M specific) is provided on the following \r
1298         link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
1299         portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
1300 \r
1301         uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
1302         {\r
1303                 /* Cannot block in an ISR, so check there is data available. */\r
1304                 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
1305                 {\r
1306                         traceQUEUE_PEEK_FROM_ISR( pxQueue );\r
1307 \r
1308                         /* Remember the read position so it can be reset as nothing is\r
1309                         actually being removed from the queue. */\r
1310                         pcOriginalReadPosition = pxQueue->u.pcReadFrom;\r
1311                         prvCopyDataFromQueue( pxQueue, pvBuffer );\r
1312                         pxQueue->u.pcReadFrom = pcOriginalReadPosition;\r
1313 \r
1314                         xReturn = pdPASS;\r
1315                 }\r
1316                 else\r
1317                 {\r
1318                         xReturn = pdFAIL;\r
1319                         traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );\r
1320                 }\r
1321         }\r
1322         portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
1323 \r
1324         return xReturn;\r
1325 }\r
1326 /*-----------------------------------------------------------*/\r
1327 \r
1328 unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue )\r
1329 {\r
1330 unsigned portBASE_TYPE uxReturn;\r
1331 \r
1332         configASSERT( xQueue );\r
1333 \r
1334         taskENTER_CRITICAL();\r
1335                 uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;\r
1336         taskEXIT_CRITICAL();\r
1337 \r
1338         return uxReturn;\r
1339 }\r
1340 /*-----------------------------------------------------------*/\r
1341 \r
1342 unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue )\r
1343 {\r
1344 unsigned portBASE_TYPE uxReturn;\r
1345 \r
1346         configASSERT( xQueue );\r
1347 \r
1348         uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;\r
1349 \r
1350         return uxReturn;\r
1351 }\r
1352 /*-----------------------------------------------------------*/\r
1353 \r
1354 void vQueueDelete( xQueueHandle xQueue )\r
1355 {\r
1356 xQUEUE *pxQueue;\r
1357 \r
1358         pxQueue = ( xQUEUE * ) xQueue;\r
1359         configASSERT( pxQueue );\r
1360 \r
1361         traceQUEUE_DELETE( pxQueue );\r
1362         #if ( configQUEUE_REGISTRY_SIZE > 0 )\r
1363         {\r
1364                 vQueueUnregisterQueue( pxQueue );\r
1365         }\r
1366         #endif\r
1367         vPortFree( pxQueue->pcHead );\r
1368         vPortFree( pxQueue );\r
1369 }\r
1370 /*-----------------------------------------------------------*/\r
1371 \r
1372 #if ( configUSE_TRACE_FACILITY == 1 )\r
1373 \r
1374         unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue )\r
1375         {\r
1376                 return ( ( xQUEUE * ) xQueue )->ucQueueNumber;\r
1377         }\r
1378 \r
1379 #endif /* configUSE_TRACE_FACILITY */\r
1380 /*-----------------------------------------------------------*/\r
1381 \r
1382 #if ( configUSE_TRACE_FACILITY == 1 )\r
1383 \r
1384         void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber )\r
1385         {\r
1386                 ( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber;\r
1387         }\r
1388 \r
1389 #endif /* configUSE_TRACE_FACILITY */\r
1390 /*-----------------------------------------------------------*/\r
1391 \r
1392 #if ( configUSE_TRACE_FACILITY == 1 )\r
1393 \r
1394         unsigned char ucQueueGetQueueType( xQueueHandle xQueue )\r
1395         {\r
1396                 return ( ( xQUEUE * ) xQueue )->ucQueueType;\r
1397         }\r
1398 \r
1399 #endif /* configUSE_TRACE_FACILITY */\r
1400 /*-----------------------------------------------------------*/\r
1401 \r
1402 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )\r
1403 {\r
1404         if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 )\r
1405         {\r
1406                 #if ( configUSE_MUTEXES == 1 )\r
1407                 {\r
1408                         if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
1409                         {\r
1410                                 /* The mutex is no longer being held. */\r
1411                                 vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );\r
1412                                 pxQueue->pxMutexHolder = NULL;\r
1413                         }\r
1414                 }\r
1415                 #endif /* configUSE_MUTEXES */\r
1416         }\r
1417         else if( xPosition == queueSEND_TO_BACK )\r
1418         {\r
1419                 memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize );\r
1420                 pxQueue->pcWriteTo += pxQueue->uxItemSize;\r
1421                 if( pxQueue->pcWriteTo >= pxQueue->pcTail )\r
1422                 {\r
1423                         pxQueue->pcWriteTo = pxQueue->pcHead;\r
1424                 }\r
1425         }\r
1426         else\r
1427         {\r
1428                 memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize );\r
1429                 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;\r
1430                 if( pxQueue->u.pcReadFrom < pxQueue->pcHead )\r
1431                 {\r
1432                         pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );\r
1433                 }\r
1434 \r
1435                 if( xPosition == queueOVERWRITE )\r
1436                 {\r
1437                         if( pxQueue->uxMessagesWaiting > 0 )\r
1438                         {\r
1439                                 /* An item is not being added but overwritten, so subtract\r
1440                                 one from the recorded number of items in the queue so when\r
1441                                 one is added again below the number of recorded items remains\r
1442                                 correct. */\r
1443                                 --( pxQueue->uxMessagesWaiting );\r
1444                         }\r
1445                 }\r
1446         }\r
1447 \r
1448         ++( pxQueue->uxMessagesWaiting );\r
1449 }\r
1450 /*-----------------------------------------------------------*/\r
1451 \r
1452 static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )\r
1453 {\r
1454         if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )\r
1455         {\r
1456                 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;\r
1457                 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )\r
1458                 {\r
1459                         pxQueue->u.pcReadFrom = pxQueue->pcHead;\r
1460                 }\r
1461                 memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize );\r
1462         }\r
1463 }\r
1464 /*-----------------------------------------------------------*/\r
1465 \r
1466 static void prvUnlockQueue( xQUEUE *pxQueue )\r
1467 {\r
1468         /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */\r
1469 \r
1470         /* The lock counts contains the number of extra data items placed or\r
1471         removed from the queue while the queue was locked.  When a queue is\r
1472         locked items can be added or removed, but the event lists cannot be\r
1473         updated. */\r
1474         taskENTER_CRITICAL();\r
1475         {\r
1476                 /* See if data was added to the queue while it was locked. */\r
1477                 while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )\r
1478                 {\r
1479                         /* Data was posted while the queue was locked.  Are any tasks\r
1480                         blocked waiting for data to become available? */\r
1481                         #if ( configUSE_QUEUE_SETS == 1 )\r
1482                         {\r
1483                                 if( pxQueue->pxQueueSetContainer != NULL )\r
1484                                 {\r
1485                                         if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )\r
1486                                         {\r
1487                                                 /* The queue is a member of a queue set, and posting to\r
1488                                                 the queue set caused a higher priority task to unblock.\r
1489                                                 A context switch is required. */\r
1490                                                 vTaskMissedYield();\r
1491                                         }\r
1492                                 }\r
1493                                 else\r
1494                                 {\r
1495                                         /* Tasks that are removed from the event list will get added to\r
1496                                         the pending ready list as the scheduler is still suspended. */\r
1497                                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
1498                                         {\r
1499                                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
1500                                                 {\r
1501                                                         /* The task waiting has a higher priority so record that a\r
1502                                                         context switch is required. */\r
1503                                                         vTaskMissedYield();\r
1504                                                 }\r
1505                                         }\r
1506                                         else\r
1507                                         {\r
1508                                                 break;\r
1509                                         }\r
1510                                 }\r
1511                         }\r
1512                         #else /* configUSE_QUEUE_SETS */\r
1513                         {\r
1514                                 /* Tasks that are removed from the event list will get added to\r
1515                                 the pending ready list as the scheduler is still suspended. */\r
1516                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
1517                                 {\r
1518                                         if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
1519                                         {\r
1520                                                 /* The task waiting has a higher priority so record that a\r
1521                                                 context switch is required. */\r
1522                                                 vTaskMissedYield();\r
1523                                         }\r
1524                                 }\r
1525                                 else\r
1526                                 {\r
1527                                         break;\r
1528                                 }\r
1529                         }\r
1530                         #endif /* configUSE_QUEUE_SETS */\r
1531 \r
1532                         --( pxQueue->xTxLock );\r
1533                 }\r
1534 \r
1535                 pxQueue->xTxLock = queueUNLOCKED;\r
1536         }\r
1537         taskEXIT_CRITICAL();\r
1538 \r
1539         /* Do the same for the Rx lock. */\r
1540         taskENTER_CRITICAL();\r
1541         {\r
1542                 while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )\r
1543                 {\r
1544                         if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
1545                         {\r
1546                                 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
1547                                 {\r
1548                                         vTaskMissedYield();\r
1549                                 }\r
1550 \r
1551                                 --( pxQueue->xRxLock );\r
1552                         }\r
1553                         else\r
1554                         {\r
1555                                 break;\r
1556                         }\r
1557                 }\r
1558 \r
1559                 pxQueue->xRxLock = queueUNLOCKED;\r
1560         }\r
1561         taskEXIT_CRITICAL();\r
1562 }\r
1563 /*-----------------------------------------------------------*/\r
1564 \r
1565 static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue )\r
1566 {\r
1567 signed portBASE_TYPE xReturn;\r
1568 \r
1569         taskENTER_CRITICAL();\r
1570         {\r
1571                 if( pxQueue->uxMessagesWaiting == 0 )\r
1572                 {\r
1573                         xReturn = pdTRUE;\r
1574                 }\r
1575                 else\r
1576                 {\r
1577                         xReturn = pdFALSE;\r
1578                 }\r
1579         }\r
1580         taskEXIT_CRITICAL();\r
1581 \r
1582         return xReturn;\r
1583 }\r
1584 /*-----------------------------------------------------------*/\r
1585 \r
1586 signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue )\r
1587 {\r
1588 signed portBASE_TYPE xReturn;\r
1589 \r
1590         configASSERT( xQueue );\r
1591         if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == 0 )\r
1592         {\r
1593                 xReturn = pdTRUE;\r
1594         }\r
1595         else\r
1596         {\r
1597                 xReturn = pdFALSE;\r
1598         }\r
1599 \r
1600         return xReturn;\r
1601 }\r
1602 /*-----------------------------------------------------------*/\r
1603 \r
1604 static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue )\r
1605 {\r
1606 signed portBASE_TYPE xReturn;\r
1607 \r
1608         taskENTER_CRITICAL();\r
1609         {\r
1610                 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )\r
1611                 {\r
1612                         xReturn = pdTRUE;\r
1613                 }\r
1614                 else\r
1615                 {\r
1616                         xReturn = pdFALSE;\r
1617                 }\r
1618         }\r
1619         taskEXIT_CRITICAL();\r
1620 \r
1621         return xReturn;\r
1622 }\r
1623 /*-----------------------------------------------------------*/\r
1624 \r
1625 signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue )\r
1626 {\r
1627 signed portBASE_TYPE xReturn;\r
1628 \r
1629         configASSERT( xQueue );\r
1630         if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength )\r
1631         {\r
1632                 xReturn = pdTRUE;\r
1633         }\r
1634         else\r
1635         {\r
1636                 xReturn = pdFALSE;\r
1637         }\r
1638 \r
1639         return xReturn;\r
1640 }\r
1641 /*-----------------------------------------------------------*/\r
1642 \r
1643 #if ( configUSE_CO_ROUTINES == 1 )\r
1644 \r
1645         signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait )\r
1646         {\r
1647         signed portBASE_TYPE xReturn;\r
1648         xQUEUE *pxQueue;\r
1649 \r
1650                 pxQueue = ( xQUEUE * ) xQueue;\r
1651 \r
1652                 /* If the queue is already full we may have to block.  A critical section\r
1653                 is required to prevent an interrupt removing something from the queue\r
1654                 between the check to see if the queue is full and blocking on the queue. */\r
1655                 portDISABLE_INTERRUPTS();\r
1656                 {\r
1657                         if( prvIsQueueFull( pxQueue ) != pdFALSE )\r
1658                         {\r
1659                                 /* The queue is full - do we want to block or just leave without\r
1660                                 posting? */\r
1661                                 if( xTicksToWait > ( portTickType ) 0 )\r
1662                                 {\r
1663                                         /* As this is called from a coroutine we cannot block directly, but\r
1664                                         return indicating that we need to block. */\r
1665                                         vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );\r
1666                                         portENABLE_INTERRUPTS();\r
1667                                         return errQUEUE_BLOCKED;\r
1668                                 }\r
1669                                 else\r
1670                                 {\r
1671                                         portENABLE_INTERRUPTS();\r
1672                                         return errQUEUE_FULL;\r
1673                                 }\r
1674                         }\r
1675                 }\r
1676                 portENABLE_INTERRUPTS();\r
1677 \r
1678                 portDISABLE_INTERRUPTS();\r
1679                 {\r
1680                         if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
1681                         {\r
1682                                 /* There is room in the queue, copy the data into the queue. */\r
1683                                 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );\r
1684                                 xReturn = pdPASS;\r
1685 \r
1686                                 /* Were any co-routines waiting for data to become available? */\r
1687                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
1688                                 {\r
1689                                         /* In this instance the co-routine could be placed directly\r
1690                                         into the ready list as we are within a critical section.\r
1691                                         Instead the same pending ready list mechanism is used as if\r
1692                                         the event were caused from within an interrupt. */\r
1693                                         if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
1694                                         {\r
1695                                                 /* The co-routine waiting has a higher priority so record\r
1696                                                 that a yield might be appropriate. */\r
1697                                                 xReturn = errQUEUE_YIELD;\r
1698                                         }\r
1699                                 }\r
1700                         }\r
1701                         else\r
1702                         {\r
1703                                 xReturn = errQUEUE_FULL;\r
1704                         }\r
1705                 }\r
1706                 portENABLE_INTERRUPTS();\r
1707 \r
1708                 return xReturn;\r
1709         }\r
1710 \r
1711 #endif /* configUSE_CO_ROUTINES */\r
1712 /*-----------------------------------------------------------*/\r
1713 \r
1714 #if ( configUSE_CO_ROUTINES == 1 )\r
1715 \r
1716         signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait )\r
1717         {\r
1718         signed portBASE_TYPE xReturn;\r
1719         xQUEUE *pxQueue;\r
1720 \r
1721                 pxQueue = ( xQUEUE * ) xQueue;\r
1722 \r
1723                 /* If the queue is already empty we may have to block.  A critical section\r
1724                 is required to prevent an interrupt adding something to the queue\r
1725                 between the check to see if the queue is empty and blocking on the queue. */\r
1726                 portDISABLE_INTERRUPTS();\r
1727                 {\r
1728                         if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )\r
1729                         {\r
1730                                 /* There are no messages in the queue, do we want to block or just\r
1731                                 leave with nothing? */\r
1732                                 if( xTicksToWait > ( portTickType ) 0 )\r
1733                                 {\r
1734                                         /* As this is a co-routine we cannot block directly, but return\r
1735                                         indicating that we need to block. */\r
1736                                         vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );\r
1737                                         portENABLE_INTERRUPTS();\r
1738                                         return errQUEUE_BLOCKED;\r
1739                                 }\r
1740                                 else\r
1741                                 {\r
1742                                         portENABLE_INTERRUPTS();\r
1743                                         return errQUEUE_FULL;\r
1744                                 }\r
1745                         }\r
1746                 }\r
1747                 portENABLE_INTERRUPTS();\r
1748 \r
1749                 portDISABLE_INTERRUPTS();\r
1750                 {\r
1751                         if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
1752                         {\r
1753                                 /* Data is available from the queue. */\r
1754                                 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;\r
1755                                 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )\r
1756                                 {\r
1757                                         pxQueue->u.pcReadFrom = pxQueue->pcHead;\r
1758                                 }\r
1759                                 --( pxQueue->uxMessagesWaiting );\r
1760                                 memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
1761 \r
1762                                 xReturn = pdPASS;\r
1763 \r
1764                                 /* Were any co-routines waiting for space to become available? */\r
1765                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
1766                                 {\r
1767                                         /* In this instance the co-routine could be placed directly\r
1768                                         into the ready list as we are within a critical section.\r
1769                                         Instead the same pending ready list mechanism is used as if\r
1770                                         the event were caused from within an interrupt. */\r
1771                                         if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
1772                                         {\r
1773                                                 xReturn = errQUEUE_YIELD;\r
1774                                         }\r
1775                                 }\r
1776                         }\r
1777                         else\r
1778                         {\r
1779                                 xReturn = pdFAIL;\r
1780                         }\r
1781                 }\r
1782                 portENABLE_INTERRUPTS();\r
1783 \r
1784                 return xReturn;\r
1785         }\r
1786 \r
1787 #endif /* configUSE_CO_ROUTINES */\r
1788 /*-----------------------------------------------------------*/\r
1789 \r
1790 #if ( configUSE_CO_ROUTINES == 1 )\r
1791 \r
1792         signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )\r
1793         {\r
1794         xQUEUE *pxQueue;\r
1795 \r
1796                 pxQueue = ( xQUEUE * ) xQueue;\r
1797 \r
1798                 /* Cannot block within an ISR so if there is no space on the queue then\r
1799                 exit without doing anything. */\r
1800                 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
1801                 {\r
1802                         prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );\r
1803 \r
1804                         /* We only want to wake one co-routine per ISR, so check that a\r
1805                         co-routine has not already been woken. */\r
1806                         if( xCoRoutinePreviouslyWoken == pdFALSE )\r
1807                         {\r
1808                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )\r
1809                                 {\r
1810                                         if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
1811                                         {\r
1812                                                 return pdTRUE;\r
1813                                         }\r
1814                                 }\r
1815                         }\r
1816                 }\r
1817 \r
1818                 return xCoRoutinePreviouslyWoken;\r
1819         }\r
1820 \r
1821 #endif /* configUSE_CO_ROUTINES */\r
1822 /*-----------------------------------------------------------*/\r
1823 \r
1824 #if ( configUSE_CO_ROUTINES == 1 )\r
1825 \r
1826         signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )\r
1827         {\r
1828         signed portBASE_TYPE xReturn;\r
1829         xQUEUE * pxQueue;\r
1830 \r
1831                 pxQueue = ( xQUEUE * ) xQueue;\r
1832 \r
1833                 /* We cannot block from an ISR, so check there is data available. If\r
1834                 not then just leave without doing anything. */\r
1835                 if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
1836                 {\r
1837                         /* Copy the data from the queue. */\r
1838                         pxQueue->u.pcReadFrom += pxQueue->uxItemSize;\r
1839                         if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )\r
1840                         {\r
1841                                 pxQueue->u.pcReadFrom = pxQueue->pcHead;\r
1842                         }\r
1843                         --( pxQueue->uxMessagesWaiting );\r
1844                         memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
1845 \r
1846                         if( ( *pxCoRoutineWoken ) == pdFALSE )\r
1847                         {\r
1848                                 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )\r
1849                                 {\r
1850                                         if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
1851                                         {\r
1852                                                 *pxCoRoutineWoken = pdTRUE;\r
1853                                         }\r
1854                                 }\r
1855                         }\r
1856 \r
1857                         xReturn = pdPASS;\r
1858                 }\r
1859                 else\r
1860                 {\r
1861                         xReturn = pdFAIL;\r
1862                 }\r
1863 \r
1864                 return xReturn;\r
1865         }\r
1866 \r
1867 #endif /* configUSE_CO_ROUTINES */\r
1868 /*-----------------------------------------------------------*/\r
1869 \r
1870 #if ( configQUEUE_REGISTRY_SIZE > 0 )\r
1871 \r
1872         void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )\r
1873         {\r
1874         unsigned portBASE_TYPE ux;\r
1875 \r
1876                 /* See if there is an empty space in the registry.  A NULL name denotes\r
1877                 a free slot. */\r
1878                 for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )\r
1879                 {\r
1880                         if( xQueueRegistry[ ux ].pcQueueName == NULL )\r
1881                         {\r
1882                                 /* Store the information on this queue. */\r
1883                                 xQueueRegistry[ ux ].pcQueueName = pcQueueName;\r
1884                                 xQueueRegistry[ ux ].xHandle = xQueue;\r
1885                                 break;\r
1886                         }\r
1887                 }\r
1888         }\r
1889 \r
1890 #endif /* configQUEUE_REGISTRY_SIZE */\r
1891 /*-----------------------------------------------------------*/\r
1892 \r
1893 #if ( configQUEUE_REGISTRY_SIZE > 0 )\r
1894 \r
1895         void vQueueUnregisterQueue( xQueueHandle xQueue )\r
1896         {\r
1897         unsigned portBASE_TYPE ux;\r
1898 \r
1899                 /* See if the handle of the queue being unregistered in actually in the\r
1900                 registry. */\r
1901                 for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )\r
1902                 {\r
1903                         if( xQueueRegistry[ ux ].xHandle == xQueue )\r
1904                         {\r
1905                                 /* Set the name to NULL to show that this slot if free again. */\r
1906                                 xQueueRegistry[ ux ].pcQueueName = NULL;\r
1907                                 break;\r
1908                         }\r
1909                 }\r
1910 \r
1911         }\r
1912 \r
1913 #endif /* configQUEUE_REGISTRY_SIZE */\r
1914 /*-----------------------------------------------------------*/\r
1915 \r
1916 #if ( configUSE_TIMERS == 1 )\r
1917 \r
1918         void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait )\r
1919         {\r
1920         xQUEUE *pxQueue;\r
1921 \r
1922                 pxQueue = ( xQUEUE * ) xQueue;\r
1923 \r
1924                 /* This function should not be called by application code hence the\r
1925                 'Restricted' in its name.  It is not part of the public API.  It is\r
1926                 designed for use by kernel code, and has special calling requirements.\r
1927                 It can result in vListInsert() being called on a list that can only\r
1928                 possibly ever have one item in it, so the list will be fast, but even\r
1929                 so it should be called with the scheduler locked and not from a critical\r
1930                 section. */\r
1931 \r
1932                 /* Only do anything if there are no messages in the queue.  This function\r
1933                 will not actually cause the task to block, just place it on a blocked\r
1934                 list.  It will not block until the scheduler is unlocked - at which\r
1935                 time a yield will be performed.  If an item is added to the queue while\r
1936                 the queue is locked, and the calling task blocks on the queue, then the\r
1937                 calling task will be immediately unblocked when the queue is unlocked. */\r
1938                 prvLockQueue( pxQueue );\r
1939                 if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U )\r
1940                 {\r
1941                         /* There is nothing in the queue, block for the specified period. */\r
1942                         vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
1943                 }\r
1944                 prvUnlockQueue( pxQueue );\r
1945         }\r
1946 \r
1947 #endif /* configUSE_TIMERS */\r
1948 /*-----------------------------------------------------------*/\r
1949 \r
1950 #if ( configUSE_QUEUE_SETS == 1 )\r
1951 \r
1952         xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )\r
1953         {\r
1954         xQueueSetHandle pxQueue;\r
1955 \r
1956                 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET );\r
1957 \r
1958                 return pxQueue;\r
1959         }\r
1960 \r
1961 #endif /* configUSE_QUEUE_SETS */\r
1962 /*-----------------------------------------------------------*/\r
1963 \r
1964 #if ( configUSE_QUEUE_SETS == 1 )\r
1965 \r
1966         portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )\r
1967         {\r
1968         portBASE_TYPE xReturn;\r
1969 \r
1970                 if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )\r
1971                 {\r
1972                         /* Cannot add a queue/semaphore to more than one queue set. */\r
1973                         xReturn = pdFAIL;\r
1974                 }\r
1975                 else if( ( ( xQUEUE * ) xQueueOrSemaphore )->uxMessagesWaiting != 0 )\r
1976                 {\r
1977                         /* Cannot add a queue/semaphore to a queue set if there are already\r
1978                         items in the queue/semaphore. */\r
1979                         xReturn = pdFAIL;\r
1980                 }\r
1981                 else\r
1982                 {\r
1983                         taskENTER_CRITICAL();\r
1984                         {\r
1985                                 ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;\r
1986                         }\r
1987                         taskEXIT_CRITICAL();\r
1988                         xReturn = pdPASS;\r
1989                 }\r
1990 \r
1991                 return xReturn;\r
1992         }\r
1993 \r
1994 #endif /* configUSE_QUEUE_SETS */\r
1995 /*-----------------------------------------------------------*/\r
1996 \r
1997 #if ( configUSE_QUEUE_SETS == 1 )\r
1998 \r
1999         portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )\r
2000         {\r
2001         portBASE_TYPE xReturn;\r
2002         xQUEUE *pxQueueOrSemaphore;\r
2003 \r
2004                 pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore;\r
2005 \r
2006                 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )\r
2007                 {\r
2008                         /* The queue was not a member of the set. */\r
2009                         xReturn = pdFAIL;\r
2010                 }\r
2011                 else if( pxQueueOrSemaphore->uxMessagesWaiting != 0 )\r
2012                 {\r
2013                         /* It is dangerous to remove a queue from a set when the queue is\r
2014                         not empty because the queue set will still hold pending events for\r
2015                         the queue. */\r
2016                         xReturn = pdFAIL;\r
2017                 }\r
2018                 else\r
2019                 {\r
2020                         taskENTER_CRITICAL();\r
2021                         {\r
2022                                 /* The queue is no longer contained in the set. */\r
2023                                 pxQueueOrSemaphore->pxQueueSetContainer = NULL;\r
2024                         }\r
2025                         taskEXIT_CRITICAL();\r
2026                         xReturn = pdPASS;\r
2027                 }\r
2028 \r
2029                 return xReturn;\r
2030         }\r
2031 \r
2032 #endif /* configUSE_QUEUE_SETS */\r
2033 /*-----------------------------------------------------------*/\r
2034 \r
2035 #if ( configUSE_QUEUE_SETS == 1 )\r
2036 \r
2037         xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )\r
2038         {\r
2039         xQueueSetMemberHandle xReturn = NULL;\r
2040 \r
2041                 xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE );\r
2042                 return xReturn;\r
2043         }\r
2044 \r
2045 #endif /* configUSE_QUEUE_SETS */\r
2046 /*-----------------------------------------------------------*/\r
2047 \r
2048 #if ( configUSE_QUEUE_SETS == 1 )\r
2049 \r
2050         xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet )\r
2051         {\r
2052         xQueueSetMemberHandle xReturn = NULL;\r
2053 \r
2054                 xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL );\r
2055                 return xReturn;\r
2056         }\r
2057 \r
2058 #endif /* configUSE_QUEUE_SETS */\r
2059 /*-----------------------------------------------------------*/\r
2060 \r
2061 #if ( configUSE_QUEUE_SETS == 1 )\r
2062 \r
2063         static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition )\r
2064         {\r
2065         xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer;\r
2066         portBASE_TYPE xReturn = pdFALSE;\r
2067 \r
2068                 configASSERT( pxQueueSetContainer );\r
2069                 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );\r
2070 \r
2071                 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )\r
2072                 {\r
2073                         traceQUEUE_SEND( pxQueueSetContainer );\r
2074                         /* The data copies is the handle of the queue that contains data. */\r
2075                         prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );\r
2076                         if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )\r
2077                         {\r
2078                                 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )\r
2079                                 {\r
2080                                         /* The task waiting has a higher priority */\r
2081                                         xReturn = pdTRUE;\r
2082                                 }\r
2083                         }\r
2084                 }\r
2085 \r
2086                 return xReturn;\r
2087         }\r
2088 \r
2089 #endif /* configUSE_QUEUE_SETS */\r
2090 \r