2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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73 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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74 all the API functions to use the MPU wrappers. That should only be done when
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75 task.h is included from an application file. */
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76 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 #include "FreeRTOS.h"
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82 #if ( configUSE_CO_ROUTINES == 1 )
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83 #include "croutine.h"
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86 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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87 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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88 header files above, but not in this file, in order to generate the correct
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89 privileged Vs unprivileged linkage and placement. */
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90 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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93 /* Constants used with the cRxLock and cTxLock structure members. */
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94 #define queueUNLOCKED ( ( int8_t ) -1 )
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95 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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97 /* When the Queue_t structure is used to represent a base queue its pcHead and
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98 pcTail members are used as pointers into the queue storage area. When the
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99 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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100 not necessary, and the pcHead pointer is set to NULL to indicate that the
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101 pcTail pointer actually points to the mutex holder (if any). Map alternative
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102 names to the pcHead and pcTail structure members to ensure the readability of
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103 the code is maintained despite this dual use of two structure members. An
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104 alternative implementation would be to use a union, but use of a union is
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105 against the coding standard (although an exception to the standard has been
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106 permitted where the dual use also significantly changes the type of the
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107 structure member). */
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108 #define pxMutexHolder pcTail
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109 #define uxQueueType pcHead
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110 #define queueQUEUE_IS_MUTEX NULL
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112 /* Semaphores do not actually store or copy data, so have an item size of
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114 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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115 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define queueYIELD_IF_USING_PREEMPTION()
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122 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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126 * Definition of the queue used by the scheduler.
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127 * Items are queued by copy, not reference. See the following link for the
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128 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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130 typedef struct QueueDefinition
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132 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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133 int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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134 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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136 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). */
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138 int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
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139 UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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142 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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143 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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145 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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146 UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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147 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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149 volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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150 volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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152 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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153 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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156 #if ( configUSE_QUEUE_SETS == 1 )
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157 struct QueueDefinition *pxQueueSetContainer;
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160 #if ( configUSE_TRACE_FACILITY == 1 )
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161 UBaseType_t uxQueueNumber;
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162 uint8_t ucQueueType;
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167 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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168 name below to enable the use of older kernel aware debuggers. */
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169 typedef xQUEUE Queue_t;
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171 /*-----------------------------------------------------------*/
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174 * The queue registry is just a means for kernel aware debuggers to locate
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175 * queue structures. It has no other purpose so is an optional component.
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177 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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179 /* The type stored within the queue registry array. This allows a name
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180 to be assigned to each queue making kernel aware debugging a little
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181 more user friendly. */
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182 typedef struct QUEUE_REGISTRY_ITEM
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184 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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185 QueueHandle_t xHandle;
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186 } xQueueRegistryItem;
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188 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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189 new xQueueRegistryItem name below to enable the use of older kernel aware
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191 typedef xQueueRegistryItem QueueRegistryItem_t;
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193 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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194 The pcQueueName member of a structure being NULL is indicative of the
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195 array position being vacant. */
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196 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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198 #endif /* configQUEUE_REGISTRY_SIZE */
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201 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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202 * prevent an ISR from adding or removing items to the queue, but does prevent
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203 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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204 * queue is locked it will instead increment the appropriate queue lock count
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205 * to indicate that a task may require unblocking. When the queue in unlocked
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206 * these lock counts are inspected, and the appropriate action taken.
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208 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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211 * Uses a critical section to determine if there is any data in a queue.
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213 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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215 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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218 * Uses a critical section to determine if there is any space in a queue.
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220 * @return pdTRUE if there is no space, otherwise pdFALSE;
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222 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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225 * Copies an item into the queue, either at the front of the queue or the
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226 * back of the queue.
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228 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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231 * Copies an item out of a queue.
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233 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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235 #if ( configUSE_QUEUE_SETS == 1 )
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237 * Checks to see if a queue is a member of a queue set, and if so, notifies
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238 * the queue set that the queue contains data.
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240 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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244 * Called after a Queue_t structure has been allocated either statically or
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245 * dynamically to fill in the structure's members.
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247 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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250 * Mutexes are a special type of queue. When a mutex is created, first the
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251 * queue is created, then prvInitialiseMutex() is called to configure the queue
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254 static void prvInitialiseMutex( Queue_t *pxNewQueue );
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256 /*-----------------------------------------------------------*/
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259 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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260 * accessing the queue event lists.
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262 #define prvLockQueue( pxQueue ) \
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263 taskENTER_CRITICAL(); \
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265 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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267 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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269 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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271 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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274 taskEXIT_CRITICAL()
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275 /*-----------------------------------------------------------*/
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277 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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279 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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281 configASSERT( pxQueue );
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283 taskENTER_CRITICAL();
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285 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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286 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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287 pxQueue->pcWriteTo = pxQueue->pcHead;
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288 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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289 pxQueue->cRxLock = queueUNLOCKED;
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290 pxQueue->cTxLock = queueUNLOCKED;
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292 if( xNewQueue == pdFALSE )
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294 /* If there are tasks blocked waiting to read from the queue, then
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295 the tasks will remain blocked as after this function exits the queue
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296 will still be empty. If there are tasks blocked waiting to write to
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297 the queue, then one should be unblocked as after this function exits
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298 it will be possible to write to it. */
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299 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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301 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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303 queueYIELD_IF_USING_PREEMPTION();
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307 mtCOVERAGE_TEST_MARKER();
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312 mtCOVERAGE_TEST_MARKER();
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317 /* Ensure the event queues start in the correct state. */
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318 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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319 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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322 taskEXIT_CRITICAL();
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324 /* A value is returned for calling semantic consistency with previous
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328 /*-----------------------------------------------------------*/
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330 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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332 QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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334 Queue_t *pxNewQueue;
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336 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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338 /* The StaticQueue_t structure and the queue storage area must be
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340 configASSERT( pxStaticQueue != NULL );
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342 /* A queue storage area should be provided if the item size is not 0, and
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343 should not be provided if the item size is 0. */
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344 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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345 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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347 #if( configASSERT_DEFINED == 1 )
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349 /* Sanity check that the size of the structure used to declare a
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350 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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351 the real queue and semaphore structures. */
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352 volatile size_t xSize = sizeof( StaticQueue_t );
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353 configASSERT( xSize == sizeof( Queue_t ) );
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355 #endif /* configASSERT_DEFINED */
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357 /* The address of a statically allocated queue was passed in, use it.
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358 The address of a statically allocated storage area was also passed in
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359 but is already set. */
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360 pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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362 if( pxNewQueue != NULL )
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364 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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366 /* Queues can be allocated wither statically or dynamically, so
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367 note this queue was allocated statically in case the queue is
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369 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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371 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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373 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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379 #endif /* configSUPPORT_STATIC_ALLOCATION */
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380 /*-----------------------------------------------------------*/
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382 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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384 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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386 Queue_t *pxNewQueue;
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387 size_t xQueueSizeInBytes;
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388 uint8_t *pucQueueStorage;
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390 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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392 if( uxItemSize == ( UBaseType_t ) 0 )
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394 /* There is not going to be a queue storage area. */
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395 xQueueSizeInBytes = ( size_t ) 0;
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399 /* Allocate enough space to hold the maximum number of items that
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400 can be in the queue at any time. */
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401 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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404 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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406 if( pxNewQueue != NULL )
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408 /* Jump past the queue structure to find the location of the queue
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410 pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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412 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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414 /* Queues can be created either statically or dynamically, so
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415 note this task was created dynamically in case it is later
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417 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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419 #endif /* configSUPPORT_STATIC_ALLOCATION */
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421 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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427 #endif /* configSUPPORT_STATIC_ALLOCATION */
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428 /*-----------------------------------------------------------*/
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430 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
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432 /* Remove compiler warnings about unused parameters should
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433 configUSE_TRACE_FACILITY not be set to 1. */
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434 ( void ) ucQueueType;
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436 if( uxItemSize == ( UBaseType_t ) 0 )
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438 /* No RAM was allocated for the queue storage area, but PC head cannot
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439 be set to NULL because NULL is used as a key to say the queue is used as
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440 a mutex. Therefore just set pcHead to point to the queue as a benign
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441 value that is known to be within the memory map. */
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442 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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446 /* Set the head to the start of the queue storage area. */
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447 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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450 /* Initialise the queue members as described where the queue type is
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452 pxNewQueue->uxLength = uxQueueLength;
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453 pxNewQueue->uxItemSize = uxItemSize;
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454 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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456 #if ( configUSE_TRACE_FACILITY == 1 )
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458 pxNewQueue->ucQueueType = ucQueueType;
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460 #endif /* configUSE_TRACE_FACILITY */
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462 #if( configUSE_QUEUE_SETS == 1 )
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464 pxNewQueue->pxQueueSetContainer = NULL;
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466 #endif /* configUSE_QUEUE_SETS */
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468 traceQUEUE_CREATE( pxNewQueue );
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470 /*-----------------------------------------------------------*/
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472 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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474 if( pxNewQueue != NULL )
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476 /* The queue create function will set all the queue structure members
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477 correctly for a generic queue, but this function is creating a
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478 mutex. Overwrite those members that need to be set differently -
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479 in particular the information required for priority inheritance. */
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480 pxNewQueue->pxMutexHolder = NULL;
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481 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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483 /* In case this is a recursive mutex. */
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484 pxNewQueue->u.uxRecursiveCallCount = 0;
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486 traceCREATE_MUTEX( pxNewQueue );
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488 /* Start with the semaphore in the expected state. */
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489 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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493 traceCREATE_MUTEX_FAILED();
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496 /*-----------------------------------------------------------*/
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498 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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500 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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502 Queue_t *pxNewQueue;
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503 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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505 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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506 prvInitialiseMutex( pxNewQueue );
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511 #endif /* configUSE_MUTEXES */
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512 /*-----------------------------------------------------------*/
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514 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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516 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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518 Queue_t *pxNewQueue;
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519 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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521 /* Prevent compiler warnings about unused parameters if
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522 configUSE_TRACE_FACILITY does not equal 1. */
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523 ( void ) ucQueueType;
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525 pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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526 prvInitialiseMutex( pxNewQueue );
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531 #endif /* configUSE_MUTEXES */
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532 /*-----------------------------------------------------------*/
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534 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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536 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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540 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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541 be called directly. Note: This is a good way of determining if the
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542 calling task is the mutex holder, but not a good way of determining the
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543 identity of the mutex holder, as the holder may change between the
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544 following critical section exiting and the function returning. */
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545 taskENTER_CRITICAL();
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547 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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549 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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556 taskEXIT_CRITICAL();
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559 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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562 /*-----------------------------------------------------------*/
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564 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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566 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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568 BaseType_t xReturn;
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569 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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571 configASSERT( pxMutex );
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573 /* If this is the task that holds the mutex then pxMutexHolder will not
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574 change outside of this task. If this task does not hold the mutex then
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575 pxMutexHolder can never coincidentally equal the tasks handle, and as
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576 this is the only condition we are interested in it does not matter if
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577 pxMutexHolder is accessed simultaneously by another task. Therefore no
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578 mutual exclusion is required to test the pxMutexHolder variable. */
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579 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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581 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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583 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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584 the task handle, therefore no underflow check is required. Also,
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585 uxRecursiveCallCount is only modified by the mutex holder, and as
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586 there can only be one, no mutual exclusion is required to modify the
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587 uxRecursiveCallCount member. */
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588 ( pxMutex->u.uxRecursiveCallCount )--;
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590 /* Has the recursive call count unwound to 0? */
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591 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
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593 /* Return the mutex. This will automatically unblock any other
\r
594 task that might be waiting to access the mutex. */
\r
595 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
599 mtCOVERAGE_TEST_MARKER();
\r
606 /* The mutex cannot be given because the calling task is not the
\r
610 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
616 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
617 /*-----------------------------------------------------------*/
\r
619 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
621 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
623 BaseType_t xReturn;
\r
624 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
626 configASSERT( pxMutex );
\r
628 /* Comments regarding mutual exclusion as per those within
\r
629 xQueueGiveMutexRecursive(). */
\r
631 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
633 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
635 ( pxMutex->u.uxRecursiveCallCount )++;
\r
640 xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
\r
642 /* pdPASS will only be returned if the mutex was successfully
\r
643 obtained. The calling task may have entered the Blocked state
\r
644 before reaching here. */
\r
645 if( xReturn != pdFAIL )
\r
647 ( pxMutex->u.uxRecursiveCallCount )++;
\r
651 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
658 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
659 /*-----------------------------------------------------------*/
\r
661 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
663 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
665 QueueHandle_t xHandle;
\r
667 configASSERT( uxMaxCount != 0 );
\r
668 configASSERT( uxInitialCount <= uxMaxCount );
\r
670 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
672 if( xHandle != NULL )
\r
674 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
676 traceCREATE_COUNTING_SEMAPHORE();
\r
680 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
686 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
687 /*-----------------------------------------------------------*/
\r
689 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
691 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
693 QueueHandle_t xHandle;
\r
695 configASSERT( uxMaxCount != 0 );
\r
696 configASSERT( uxInitialCount <= uxMaxCount );
\r
698 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
700 if( xHandle != NULL )
\r
702 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
704 traceCREATE_COUNTING_SEMAPHORE();
\r
708 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
714 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
715 /*-----------------------------------------------------------*/
\r
717 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
719 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
720 TimeOut_t xTimeOut;
\r
721 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
723 configASSERT( pxQueue );
\r
724 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
725 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
726 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
728 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
733 /* This function relaxes the coding standard somewhat to allow return
\r
734 statements within the function itself. This is done in the interest
\r
735 of execution time efficiency. */
\r
738 taskENTER_CRITICAL();
\r
740 /* Is there room on the queue now? The running task must be the
\r
741 highest priority task wanting to access the queue. If the head item
\r
742 in the queue is to be overwritten then it does not matter if the
\r
744 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
746 traceQUEUE_SEND( pxQueue );
\r
747 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
749 #if ( configUSE_QUEUE_SETS == 1 )
\r
751 if( pxQueue->pxQueueSetContainer != NULL )
\r
753 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
755 /* The queue is a member of a queue set, and posting
\r
756 to the queue set caused a higher priority task to
\r
757 unblock. A context switch is required. */
\r
758 queueYIELD_IF_USING_PREEMPTION();
\r
762 mtCOVERAGE_TEST_MARKER();
\r
767 /* If there was a task waiting for data to arrive on the
\r
768 queue then unblock it now. */
\r
769 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
771 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
773 /* The unblocked task has a priority higher than
\r
774 our own so yield immediately. Yes it is ok to
\r
775 do this from within the critical section - the
\r
776 kernel takes care of that. */
\r
777 queueYIELD_IF_USING_PREEMPTION();
\r
781 mtCOVERAGE_TEST_MARKER();
\r
784 else if( xYieldRequired != pdFALSE )
\r
786 /* This path is a special case that will only get
\r
787 executed if the task was holding multiple mutexes
\r
788 and the mutexes were given back in an order that is
\r
789 different to that in which they were taken. */
\r
790 queueYIELD_IF_USING_PREEMPTION();
\r
794 mtCOVERAGE_TEST_MARKER();
\r
798 #else /* configUSE_QUEUE_SETS */
\r
800 /* If there was a task waiting for data to arrive on the
\r
801 queue then unblock it now. */
\r
802 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
804 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
806 /* The unblocked task has a priority higher than
\r
807 our own so yield immediately. Yes it is ok to do
\r
808 this from within the critical section - the kernel
\r
809 takes care of that. */
\r
810 queueYIELD_IF_USING_PREEMPTION();
\r
814 mtCOVERAGE_TEST_MARKER();
\r
817 else if( xYieldRequired != pdFALSE )
\r
819 /* This path is a special case that will only get
\r
820 executed if the task was holding multiple mutexes and
\r
821 the mutexes were given back in an order that is
\r
822 different to that in which they were taken. */
\r
823 queueYIELD_IF_USING_PREEMPTION();
\r
827 mtCOVERAGE_TEST_MARKER();
\r
830 #endif /* configUSE_QUEUE_SETS */
\r
832 taskEXIT_CRITICAL();
\r
837 if( xTicksToWait == ( TickType_t ) 0 )
\r
839 /* The queue was full and no block time is specified (or
\r
840 the block time has expired) so leave now. */
\r
841 taskEXIT_CRITICAL();
\r
843 /* Return to the original privilege level before exiting
\r
845 traceQUEUE_SEND_FAILED( pxQueue );
\r
846 return errQUEUE_FULL;
\r
848 else if( xEntryTimeSet == pdFALSE )
\r
850 /* The queue was full and a block time was specified so
\r
851 configure the timeout structure. */
\r
852 vTaskSetTimeOutState( &xTimeOut );
\r
853 xEntryTimeSet = pdTRUE;
\r
857 /* Entry time was already set. */
\r
858 mtCOVERAGE_TEST_MARKER();
\r
862 taskEXIT_CRITICAL();
\r
864 /* Interrupts and other tasks can send to and receive from the queue
\r
865 now the critical section has been exited. */
\r
868 prvLockQueue( pxQueue );
\r
870 /* Update the timeout state to see if it has expired yet. */
\r
871 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
873 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
875 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
876 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
878 /* Unlocking the queue means queue events can effect the
\r
879 event list. It is possible that interrupts occurring now
\r
880 remove this task from the event list again - but as the
\r
881 scheduler is suspended the task will go onto the pending
\r
882 ready last instead of the actual ready list. */
\r
883 prvUnlockQueue( pxQueue );
\r
885 /* Resuming the scheduler will move tasks from the pending
\r
886 ready list into the ready list - so it is feasible that this
\r
887 task is already in a ready list before it yields - in which
\r
888 case the yield will not cause a context switch unless there
\r
889 is also a higher priority task in the pending ready list. */
\r
890 if( xTaskResumeAll() == pdFALSE )
\r
892 portYIELD_WITHIN_API();
\r
898 prvUnlockQueue( pxQueue );
\r
899 ( void ) xTaskResumeAll();
\r
904 /* The timeout has expired. */
\r
905 prvUnlockQueue( pxQueue );
\r
906 ( void ) xTaskResumeAll();
\r
908 traceQUEUE_SEND_FAILED( pxQueue );
\r
909 return errQUEUE_FULL;
\r
913 /*-----------------------------------------------------------*/
\r
915 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
917 BaseType_t xReturn;
\r
918 UBaseType_t uxSavedInterruptStatus;
\r
919 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
921 configASSERT( pxQueue );
\r
922 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
923 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
925 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
926 system call (or maximum API call) interrupt priority. Interrupts that are
\r
927 above the maximum system call priority are kept permanently enabled, even
\r
928 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
929 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
930 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
931 failure if a FreeRTOS API function is called from an interrupt that has been
\r
932 assigned a priority above the configured maximum system call priority.
\r
933 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
934 that have been assigned a priority at or (logically) below the maximum
\r
935 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
936 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
937 More information (albeit Cortex-M specific) is provided on the following
\r
938 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
939 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
941 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
942 in the queue. Also don't directly wake a task that was blocked on a queue
\r
943 read, instead return a flag to say whether a context switch is required or
\r
944 not (i.e. has a task with a higher priority than us been woken by this
\r
946 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
948 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
950 const int8_t cTxLock = pxQueue->cTxLock;
\r
952 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
954 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
955 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
956 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
957 called here even though the disinherit function does not check if
\r
958 the scheduler is suspended before accessing the ready lists. */
\r
959 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
961 /* The event list is not altered if the queue is locked. This will
\r
962 be done when the queue is unlocked later. */
\r
963 if( cTxLock == queueUNLOCKED )
\r
965 #if ( configUSE_QUEUE_SETS == 1 )
\r
967 if( pxQueue->pxQueueSetContainer != NULL )
\r
969 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
971 /* The queue is a member of a queue set, and posting
\r
972 to the queue set caused a higher priority task to
\r
973 unblock. A context switch is required. */
\r
974 if( pxHigherPriorityTaskWoken != NULL )
\r
976 *pxHigherPriorityTaskWoken = pdTRUE;
\r
980 mtCOVERAGE_TEST_MARKER();
\r
985 mtCOVERAGE_TEST_MARKER();
\r
990 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
992 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
994 /* The task waiting has a higher priority so
\r
995 record that a context switch is required. */
\r
996 if( pxHigherPriorityTaskWoken != NULL )
\r
998 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1002 mtCOVERAGE_TEST_MARKER();
\r
1007 mtCOVERAGE_TEST_MARKER();
\r
1012 mtCOVERAGE_TEST_MARKER();
\r
1016 #else /* configUSE_QUEUE_SETS */
\r
1018 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1020 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1022 /* The task waiting has a higher priority so record that a
\r
1023 context switch is required. */
\r
1024 if( pxHigherPriorityTaskWoken != NULL )
\r
1026 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1030 mtCOVERAGE_TEST_MARKER();
\r
1035 mtCOVERAGE_TEST_MARKER();
\r
1040 mtCOVERAGE_TEST_MARKER();
\r
1043 #endif /* configUSE_QUEUE_SETS */
\r
1047 /* Increment the lock count so the task that unlocks the queue
\r
1048 knows that data was posted while it was locked. */
\r
1049 pxQueue->cTxLock = cTxLock + 1;
\r
1056 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1057 xReturn = errQUEUE_FULL;
\r
1060 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1064 /*-----------------------------------------------------------*/
\r
1066 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1068 BaseType_t xReturn;
\r
1069 UBaseType_t uxSavedInterruptStatus;
\r
1070 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1072 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1073 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1074 read, instead return a flag to say whether a context switch is required or
\r
1075 not (i.e. has a task with a higher priority than us been woken by this
\r
1078 configASSERT( pxQueue );
\r
1080 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1081 if the item size is not 0. */
\r
1082 configASSERT( pxQueue->uxItemSize == 0 );
\r
1084 /* Normally a mutex would not be given from an interrupt, especially if
\r
1085 there is a mutex holder, as priority inheritance makes no sense for an
\r
1086 interrupts, only tasks. */
\r
1087 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1089 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1090 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1091 above the maximum system call priority are kept permanently enabled, even
\r
1092 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1093 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1094 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1095 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1096 assigned a priority above the configured maximum system call priority.
\r
1097 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1098 that have been assigned a priority at or (logically) below the maximum
\r
1099 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1100 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1101 More information (albeit Cortex-M specific) is provided on the following
\r
1102 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1103 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1105 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1107 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1109 /* When the queue is used to implement a semaphore no data is ever
\r
1110 moved through the queue but it is still valid to see if the queue 'has
\r
1112 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1114 const int8_t cTxLock = pxQueue->cTxLock;
\r
1116 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1118 /* A task can only have an inherited priority if it is a mutex
\r
1119 holder - and if there is a mutex holder then the mutex cannot be
\r
1120 given from an ISR. As this is the ISR version of the function it
\r
1121 can be assumed there is no mutex holder and no need to determine if
\r
1122 priority disinheritance is needed. Simply increase the count of
\r
1123 messages (semaphores) available. */
\r
1124 pxQueue->uxMessagesWaiting = uxMessagesWaiting + 1;
\r
1126 /* The event list is not altered if the queue is locked. This will
\r
1127 be done when the queue is unlocked later. */
\r
1128 if( cTxLock == queueUNLOCKED )
\r
1130 #if ( configUSE_QUEUE_SETS == 1 )
\r
1132 if( pxQueue->pxQueueSetContainer != NULL )
\r
1134 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1136 /* The semaphore is a member of a queue set, and
\r
1137 posting to the queue set caused a higher priority
\r
1138 task to unblock. A context switch is required. */
\r
1139 if( pxHigherPriorityTaskWoken != NULL )
\r
1141 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1145 mtCOVERAGE_TEST_MARKER();
\r
1150 mtCOVERAGE_TEST_MARKER();
\r
1155 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1157 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1159 /* The task waiting has a higher priority so
\r
1160 record that a context switch is required. */
\r
1161 if( pxHigherPriorityTaskWoken != NULL )
\r
1163 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1167 mtCOVERAGE_TEST_MARKER();
\r
1172 mtCOVERAGE_TEST_MARKER();
\r
1177 mtCOVERAGE_TEST_MARKER();
\r
1181 #else /* configUSE_QUEUE_SETS */
\r
1183 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1185 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1187 /* The task waiting has a higher priority so record that a
\r
1188 context switch is required. */
\r
1189 if( pxHigherPriorityTaskWoken != NULL )
\r
1191 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1195 mtCOVERAGE_TEST_MARKER();
\r
1200 mtCOVERAGE_TEST_MARKER();
\r
1205 mtCOVERAGE_TEST_MARKER();
\r
1208 #endif /* configUSE_QUEUE_SETS */
\r
1212 /* Increment the lock count so the task that unlocks the queue
\r
1213 knows that data was posted while it was locked. */
\r
1214 pxQueue->cTxLock = cTxLock + 1;
\r
1221 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1222 xReturn = errQUEUE_FULL;
\r
1225 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1229 /*-----------------------------------------------------------*/
\r
1231 BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking )
\r
1233 BaseType_t xEntryTimeSet = pdFALSE;
\r
1234 TimeOut_t xTimeOut;
\r
1235 int8_t *pcOriginalReadPosition;
\r
1236 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1238 configASSERT( pxQueue );
\r
1239 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1240 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1242 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1246 /* This function relaxes the coding standard somewhat to allow return
\r
1247 statements within the function itself. This is done in the interest
\r
1248 of execution time efficiency. */
\r
1252 taskENTER_CRITICAL();
\r
1254 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1256 /* Is there data in the queue now? To be running the calling task
\r
1257 must be the highest priority task wanting to access the queue. */
\r
1258 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1260 /* Remember the read position in case the queue is only being
\r
1262 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1264 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1266 if( xJustPeeking == pdFALSE )
\r
1268 traceQUEUE_RECEIVE( pxQueue );
\r
1270 /* Actually removing data, not just peeking. */
\r
1271 pxQueue->uxMessagesWaiting = uxMessagesWaiting - 1;
\r
1273 #if ( configUSE_MUTEXES == 1 )
\r
1275 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1277 /* Record the information required to implement
\r
1278 priority inheritance should it become necessary. */
\r
1279 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1283 mtCOVERAGE_TEST_MARKER();
\r
1286 #endif /* configUSE_MUTEXES */
\r
1288 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1290 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1292 queueYIELD_IF_USING_PREEMPTION();
\r
1296 mtCOVERAGE_TEST_MARKER();
\r
1301 mtCOVERAGE_TEST_MARKER();
\r
1306 traceQUEUE_PEEK( pxQueue );
\r
1308 /* The data is not being removed, so reset the read
\r
1310 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1312 /* The data is being left in the queue, so see if there are
\r
1313 any other tasks waiting for the data. */
\r
1314 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1316 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1318 /* The task waiting has a higher priority than this task. */
\r
1319 queueYIELD_IF_USING_PREEMPTION();
\r
1323 mtCOVERAGE_TEST_MARKER();
\r
1328 mtCOVERAGE_TEST_MARKER();
\r
1332 taskEXIT_CRITICAL();
\r
1337 if( xTicksToWait == ( TickType_t ) 0 )
\r
1339 /* The queue was empty and no block time is specified (or
\r
1340 the block time has expired) so leave now. */
\r
1341 taskEXIT_CRITICAL();
\r
1342 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1343 return errQUEUE_EMPTY;
\r
1345 else if( xEntryTimeSet == pdFALSE )
\r
1347 /* The queue was empty and a block time was specified so
\r
1348 configure the timeout structure. */
\r
1349 vTaskSetTimeOutState( &xTimeOut );
\r
1350 xEntryTimeSet = pdTRUE;
\r
1354 /* Entry time was already set. */
\r
1355 mtCOVERAGE_TEST_MARKER();
\r
1359 taskEXIT_CRITICAL();
\r
1361 /* Interrupts and other tasks can send to and receive from the queue
\r
1362 now the critical section has been exited. */
\r
1364 vTaskSuspendAll();
\r
1365 prvLockQueue( pxQueue );
\r
1367 /* Update the timeout state to see if it has expired yet. */
\r
1368 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1370 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1372 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1374 #if ( configUSE_MUTEXES == 1 )
\r
1376 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1378 taskENTER_CRITICAL();
\r
1380 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1382 taskEXIT_CRITICAL();
\r
1386 mtCOVERAGE_TEST_MARKER();
\r
1391 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1392 prvUnlockQueue( pxQueue );
\r
1393 if( xTaskResumeAll() == pdFALSE )
\r
1395 portYIELD_WITHIN_API();
\r
1399 mtCOVERAGE_TEST_MARKER();
\r
1405 prvUnlockQueue( pxQueue );
\r
1406 ( void ) xTaskResumeAll();
\r
1411 prvUnlockQueue( pxQueue );
\r
1412 ( void ) xTaskResumeAll();
\r
1414 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1416 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1417 return errQUEUE_EMPTY;
\r
1421 mtCOVERAGE_TEST_MARKER();
\r
1426 /*-----------------------------------------------------------*/
\r
1428 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1430 BaseType_t xReturn;
\r
1431 UBaseType_t uxSavedInterruptStatus;
\r
1432 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1434 configASSERT( pxQueue );
\r
1435 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1437 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1438 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1439 above the maximum system call priority are kept permanently enabled, even
\r
1440 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1441 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1442 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1443 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1444 assigned a priority above the configured maximum system call priority.
\r
1445 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1446 that have been assigned a priority at or (logically) below the maximum
\r
1447 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1448 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1449 More information (albeit Cortex-M specific) is provided on the following
\r
1450 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1451 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1453 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1455 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1457 /* Cannot block in an ISR, so check there is data available. */
\r
1458 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1460 const int8_t cRxLock = pxQueue->cRxLock;
\r
1462 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1464 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1465 pxQueue->uxMessagesWaiting = uxMessagesWaiting - 1;
\r
1467 /* If the queue is locked the event list will not be modified.
\r
1468 Instead update the lock count so the task that unlocks the queue
\r
1469 will know that an ISR has removed data while the queue was
\r
1471 if( cRxLock == queueUNLOCKED )
\r
1473 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1475 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1477 /* The task waiting has a higher priority than us so
\r
1478 force a context switch. */
\r
1479 if( pxHigherPriorityTaskWoken != NULL )
\r
1481 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1485 mtCOVERAGE_TEST_MARKER();
\r
1490 mtCOVERAGE_TEST_MARKER();
\r
1495 mtCOVERAGE_TEST_MARKER();
\r
1500 /* Increment the lock count so the task that unlocks the queue
\r
1501 knows that data was removed while it was locked. */
\r
1502 pxQueue->cRxLock = cRxLock + 1;
\r
1510 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1513 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1517 /*-----------------------------------------------------------*/
\r
1519 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1521 BaseType_t xReturn;
\r
1522 UBaseType_t uxSavedInterruptStatus;
\r
1523 int8_t *pcOriginalReadPosition;
\r
1524 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1526 configASSERT( pxQueue );
\r
1527 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1528 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1530 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1531 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1532 above the maximum system call priority are kept permanently enabled, even
\r
1533 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1534 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1535 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1536 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1537 assigned a priority above the configured maximum system call priority.
\r
1538 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1539 that have been assigned a priority at or (logically) below the maximum
\r
1540 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1541 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1542 More information (albeit Cortex-M specific) is provided on the following
\r
1543 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1544 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1546 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1548 /* Cannot block in an ISR, so check there is data available. */
\r
1549 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1551 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1553 /* Remember the read position so it can be reset as nothing is
\r
1554 actually being removed from the queue. */
\r
1555 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1556 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1557 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1564 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1567 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1571 /*-----------------------------------------------------------*/
\r
1573 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1575 UBaseType_t uxReturn;
\r
1577 configASSERT( xQueue );
\r
1579 taskENTER_CRITICAL();
\r
1581 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1583 taskEXIT_CRITICAL();
\r
1586 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1587 /*-----------------------------------------------------------*/
\r
1589 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1591 UBaseType_t uxReturn;
\r
1594 pxQueue = ( Queue_t * ) xQueue;
\r
1595 configASSERT( pxQueue );
\r
1597 taskENTER_CRITICAL();
\r
1599 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1601 taskEXIT_CRITICAL();
\r
1604 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1605 /*-----------------------------------------------------------*/
\r
1607 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1609 UBaseType_t uxReturn;
\r
1611 configASSERT( xQueue );
\r
1613 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1616 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1617 /*-----------------------------------------------------------*/
\r
1619 void vQueueDelete( QueueHandle_t xQueue )
\r
1621 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1623 configASSERT( pxQueue );
\r
1624 traceQUEUE_DELETE( pxQueue );
\r
1626 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1628 vQueueUnregisterQueue( pxQueue );
\r
1632 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1634 /* The queue can only have been allocated dynamically - free it
\r
1636 vPortFree( pxQueue );
\r
1638 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1640 /* The queue could have been allocated statically or dynamically, so
\r
1641 check before attempting to free the memory. */
\r
1642 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
1644 vPortFree( pxQueue );
\r
1648 mtCOVERAGE_TEST_MARKER();
\r
1651 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
1653 /*-----------------------------------------------------------*/
\r
1655 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1657 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1659 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1662 #endif /* configUSE_TRACE_FACILITY */
\r
1663 /*-----------------------------------------------------------*/
\r
1665 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1667 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1669 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
1672 #endif /* configUSE_TRACE_FACILITY */
\r
1673 /*-----------------------------------------------------------*/
\r
1675 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1677 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
1679 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
1682 #endif /* configUSE_TRACE_FACILITY */
\r
1683 /*-----------------------------------------------------------*/
\r
1685 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
1687 BaseType_t xReturn = pdFALSE;
\r
1688 UBaseType_t uxMessagesWaiting;
\r
1690 /* This function is called from a critical section. */
\r
1692 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1694 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
1696 #if ( configUSE_MUTEXES == 1 )
\r
1698 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1700 /* The mutex is no longer being held. */
\r
1701 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1702 pxQueue->pxMutexHolder = NULL;
\r
1706 mtCOVERAGE_TEST_MARKER();
\r
1709 #endif /* configUSE_MUTEXES */
\r
1711 else if( xPosition == queueSEND_TO_BACK )
\r
1713 ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. */
\r
1714 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1715 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1717 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1721 mtCOVERAGE_TEST_MARKER();
\r
1726 ( void ) memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1727 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1728 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1730 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1734 mtCOVERAGE_TEST_MARKER();
\r
1737 if( xPosition == queueOVERWRITE )
\r
1739 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1741 /* An item is not being added but overwritten, so subtract
\r
1742 one from the recorded number of items in the queue so when
\r
1743 one is added again below the number of recorded items remains
\r
1745 --uxMessagesWaiting;
\r
1749 mtCOVERAGE_TEST_MARKER();
\r
1754 mtCOVERAGE_TEST_MARKER();
\r
1758 pxQueue->uxMessagesWaiting = uxMessagesWaiting + 1;
\r
1762 /*-----------------------------------------------------------*/
\r
1764 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
1766 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
1768 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1769 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1771 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1775 mtCOVERAGE_TEST_MARKER();
\r
1777 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */
\r
1780 /*-----------------------------------------------------------*/
\r
1782 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
1784 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1786 /* The lock counts contains the number of extra data items placed or
\r
1787 removed from the queue while the queue was locked. When a queue is
\r
1788 locked items can be added or removed, but the event lists cannot be
\r
1790 taskENTER_CRITICAL();
\r
1792 int8_t cTxLock = pxQueue->cTxLock;
\r
1794 /* See if data was added to the queue while it was locked. */
\r
1795 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
1797 /* Data was posted while the queue was locked. Are any tasks
\r
1798 blocked waiting for data to become available? */
\r
1799 #if ( configUSE_QUEUE_SETS == 1 )
\r
1801 if( pxQueue->pxQueueSetContainer != NULL )
\r
1803 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1805 /* The queue is a member of a queue set, and posting to
\r
1806 the queue set caused a higher priority task to unblock.
\r
1807 A context switch is required. */
\r
1808 vTaskMissedYield();
\r
1812 mtCOVERAGE_TEST_MARKER();
\r
1817 /* Tasks that are removed from the event list will get
\r
1818 added to the pending ready list as the scheduler is still
\r
1820 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1822 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1824 /* The task waiting has a higher priority so record that a
\r
1825 context switch is required. */
\r
1826 vTaskMissedYield();
\r
1830 mtCOVERAGE_TEST_MARKER();
\r
1839 #else /* configUSE_QUEUE_SETS */
\r
1841 /* Tasks that are removed from the event list will get added to
\r
1842 the pending ready list as the scheduler is still suspended. */
\r
1843 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1845 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1847 /* The task waiting has a higher priority so record that
\r
1848 a context switch is required. */
\r
1849 vTaskMissedYield();
\r
1853 mtCOVERAGE_TEST_MARKER();
\r
1861 #endif /* configUSE_QUEUE_SETS */
\r
1866 pxQueue->cTxLock = queueUNLOCKED;
\r
1868 taskEXIT_CRITICAL();
\r
1870 /* Do the same for the Rx lock. */
\r
1871 taskENTER_CRITICAL();
\r
1873 int8_t cRxLock = pxQueue->cRxLock;
\r
1875 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
1877 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1879 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1881 vTaskMissedYield();
\r
1885 mtCOVERAGE_TEST_MARKER();
\r
1896 pxQueue->cRxLock = queueUNLOCKED;
\r
1898 taskEXIT_CRITICAL();
\r
1900 /*-----------------------------------------------------------*/
\r
1902 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
1904 BaseType_t xReturn;
\r
1906 taskENTER_CRITICAL();
\r
1908 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1914 xReturn = pdFALSE;
\r
1917 taskEXIT_CRITICAL();
\r
1921 /*-----------------------------------------------------------*/
\r
1923 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
1925 BaseType_t xReturn;
\r
1927 configASSERT( xQueue );
\r
1928 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1934 xReturn = pdFALSE;
\r
1938 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1939 /*-----------------------------------------------------------*/
\r
1941 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
1943 BaseType_t xReturn;
\r
1945 taskENTER_CRITICAL();
\r
1947 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
1953 xReturn = pdFALSE;
\r
1956 taskEXIT_CRITICAL();
\r
1960 /*-----------------------------------------------------------*/
\r
1962 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
1964 BaseType_t xReturn;
\r
1966 configASSERT( xQueue );
\r
1967 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
1973 xReturn = pdFALSE;
\r
1977 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
1978 /*-----------------------------------------------------------*/
\r
1980 #if ( configUSE_CO_ROUTINES == 1 )
\r
1982 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
1984 BaseType_t xReturn;
\r
1985 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1987 /* If the queue is already full we may have to block. A critical section
\r
1988 is required to prevent an interrupt removing something from the queue
\r
1989 between the check to see if the queue is full and blocking on the queue. */
\r
1990 portDISABLE_INTERRUPTS();
\r
1992 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
1994 /* The queue is full - do we want to block or just leave without
\r
1996 if( xTicksToWait > ( TickType_t ) 0 )
\r
1998 /* As this is called from a coroutine we cannot block directly, but
\r
1999 return indicating that we need to block. */
\r
2000 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2001 portENABLE_INTERRUPTS();
\r
2002 return errQUEUE_BLOCKED;
\r
2006 portENABLE_INTERRUPTS();
\r
2007 return errQUEUE_FULL;
\r
2011 portENABLE_INTERRUPTS();
\r
2013 portDISABLE_INTERRUPTS();
\r
2015 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2017 /* There is room in the queue, copy the data into the queue. */
\r
2018 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2021 /* Were any co-routines waiting for data to become available? */
\r
2022 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2024 /* In this instance the co-routine could be placed directly
\r
2025 into the ready list as we are within a critical section.
\r
2026 Instead the same pending ready list mechanism is used as if
\r
2027 the event were caused from within an interrupt. */
\r
2028 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2030 /* The co-routine waiting has a higher priority so record
\r
2031 that a yield might be appropriate. */
\r
2032 xReturn = errQUEUE_YIELD;
\r
2036 mtCOVERAGE_TEST_MARKER();
\r
2041 mtCOVERAGE_TEST_MARKER();
\r
2046 xReturn = errQUEUE_FULL;
\r
2049 portENABLE_INTERRUPTS();
\r
2054 #endif /* configUSE_CO_ROUTINES */
\r
2055 /*-----------------------------------------------------------*/
\r
2057 #if ( configUSE_CO_ROUTINES == 1 )
\r
2059 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2061 BaseType_t xReturn;
\r
2062 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2064 /* If the queue is already empty we may have to block. A critical section
\r
2065 is required to prevent an interrupt adding something to the queue
\r
2066 between the check to see if the queue is empty and blocking on the queue. */
\r
2067 portDISABLE_INTERRUPTS();
\r
2069 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2071 /* There are no messages in the queue, do we want to block or just
\r
2072 leave with nothing? */
\r
2073 if( xTicksToWait > ( TickType_t ) 0 )
\r
2075 /* As this is a co-routine we cannot block directly, but return
\r
2076 indicating that we need to block. */
\r
2077 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2078 portENABLE_INTERRUPTS();
\r
2079 return errQUEUE_BLOCKED;
\r
2083 portENABLE_INTERRUPTS();
\r
2084 return errQUEUE_FULL;
\r
2089 mtCOVERAGE_TEST_MARKER();
\r
2092 portENABLE_INTERRUPTS();
\r
2094 portDISABLE_INTERRUPTS();
\r
2096 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2098 /* Data is available from the queue. */
\r
2099 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2100 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2102 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2106 mtCOVERAGE_TEST_MARKER();
\r
2108 --( pxQueue->uxMessagesWaiting );
\r
2109 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2113 /* Were any co-routines waiting for space to become available? */
\r
2114 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2116 /* In this instance the co-routine could be placed directly
\r
2117 into the ready list as we are within a critical section.
\r
2118 Instead the same pending ready list mechanism is used as if
\r
2119 the event were caused from within an interrupt. */
\r
2120 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2122 xReturn = errQUEUE_YIELD;
\r
2126 mtCOVERAGE_TEST_MARKER();
\r
2131 mtCOVERAGE_TEST_MARKER();
\r
2139 portENABLE_INTERRUPTS();
\r
2144 #endif /* configUSE_CO_ROUTINES */
\r
2145 /*-----------------------------------------------------------*/
\r
2147 #if ( configUSE_CO_ROUTINES == 1 )
\r
2149 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2151 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2153 /* Cannot block within an ISR so if there is no space on the queue then
\r
2154 exit without doing anything. */
\r
2155 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2157 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2159 /* We only want to wake one co-routine per ISR, so check that a
\r
2160 co-routine has not already been woken. */
\r
2161 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2163 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2165 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2171 mtCOVERAGE_TEST_MARKER();
\r
2176 mtCOVERAGE_TEST_MARKER();
\r
2181 mtCOVERAGE_TEST_MARKER();
\r
2186 mtCOVERAGE_TEST_MARKER();
\r
2189 return xCoRoutinePreviouslyWoken;
\r
2192 #endif /* configUSE_CO_ROUTINES */
\r
2193 /*-----------------------------------------------------------*/
\r
2195 #if ( configUSE_CO_ROUTINES == 1 )
\r
2197 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2199 BaseType_t xReturn;
\r
2200 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2202 /* We cannot block from an ISR, so check there is data available. If
\r
2203 not then just leave without doing anything. */
\r
2204 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2206 /* Copy the data from the queue. */
\r
2207 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2208 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2210 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2214 mtCOVERAGE_TEST_MARKER();
\r
2216 --( pxQueue->uxMessagesWaiting );
\r
2217 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2219 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2221 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2223 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2225 *pxCoRoutineWoken = pdTRUE;
\r
2229 mtCOVERAGE_TEST_MARKER();
\r
2234 mtCOVERAGE_TEST_MARKER();
\r
2239 mtCOVERAGE_TEST_MARKER();
\r
2252 #endif /* configUSE_CO_ROUTINES */
\r
2253 /*-----------------------------------------------------------*/
\r
2255 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2257 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2261 /* See if there is an empty space in the registry. A NULL name denotes
\r
2263 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2265 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2267 /* Store the information on this queue. */
\r
2268 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2269 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2271 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2276 mtCOVERAGE_TEST_MARKER();
\r
2281 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2282 /*-----------------------------------------------------------*/
\r
2284 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2286 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2289 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2291 /* Note there is nothing here to protect against another task adding or
\r
2292 removing entries from the registry while it is being searched. */
\r
2293 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2295 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2297 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2302 mtCOVERAGE_TEST_MARKER();
\r
2309 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2310 /*-----------------------------------------------------------*/
\r
2312 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2314 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2318 /* See if the handle of the queue being unregistered in actually in the
\r
2320 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2322 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2324 /* Set the name to NULL to show that this slot if free again. */
\r
2325 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2327 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2328 appear in the registry twice if it is added, removed, then
\r
2330 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2335 mtCOVERAGE_TEST_MARKER();
\r
2339 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2341 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2342 /*-----------------------------------------------------------*/
\r
2344 #if ( configUSE_TIMERS == 1 )
\r
2346 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2348 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2350 /* This function should not be called by application code hence the
\r
2351 'Restricted' in its name. It is not part of the public API. It is
\r
2352 designed for use by kernel code, and has special calling requirements.
\r
2353 It can result in vListInsert() being called on a list that can only
\r
2354 possibly ever have one item in it, so the list will be fast, but even
\r
2355 so it should be called with the scheduler locked and not from a critical
\r
2358 /* Only do anything if there are no messages in the queue. This function
\r
2359 will not actually cause the task to block, just place it on a blocked
\r
2360 list. It will not block until the scheduler is unlocked - at which
\r
2361 time a yield will be performed. If an item is added to the queue while
\r
2362 the queue is locked, and the calling task blocks on the queue, then the
\r
2363 calling task will be immediately unblocked when the queue is unlocked. */
\r
2364 prvLockQueue( pxQueue );
\r
2365 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2367 /* There is nothing in the queue, block for the specified period. */
\r
2368 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2372 mtCOVERAGE_TEST_MARKER();
\r
2374 prvUnlockQueue( pxQueue );
\r
2377 #endif /* configUSE_TIMERS */
\r
2378 /*-----------------------------------------------------------*/
\r
2380 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2382 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2384 QueueSetHandle_t pxQueue;
\r
2386 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2391 #endif /* configUSE_QUEUE_SETS */
\r
2392 /*-----------------------------------------------------------*/
\r
2394 #if ( configUSE_QUEUE_SETS == 1 )
\r
2396 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2398 BaseType_t xReturn;
\r
2400 taskENTER_CRITICAL();
\r
2402 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2404 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2407 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2409 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2410 items in the queue/semaphore. */
\r
2415 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2419 taskEXIT_CRITICAL();
\r
2424 #endif /* configUSE_QUEUE_SETS */
\r
2425 /*-----------------------------------------------------------*/
\r
2427 #if ( configUSE_QUEUE_SETS == 1 )
\r
2429 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2431 BaseType_t xReturn;
\r
2432 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2434 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2436 /* The queue was not a member of the set. */
\r
2439 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2441 /* It is dangerous to remove a queue from a set when the queue is
\r
2442 not empty because the queue set will still hold pending events for
\r
2448 taskENTER_CRITICAL();
\r
2450 /* The queue is no longer contained in the set. */
\r
2451 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2453 taskEXIT_CRITICAL();
\r
2458 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2460 #endif /* configUSE_QUEUE_SETS */
\r
2461 /*-----------------------------------------------------------*/
\r
2463 #if ( configUSE_QUEUE_SETS == 1 )
\r
2465 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2467 QueueSetMemberHandle_t xReturn = NULL;
\r
2469 ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2473 #endif /* configUSE_QUEUE_SETS */
\r
2474 /*-----------------------------------------------------------*/
\r
2476 #if ( configUSE_QUEUE_SETS == 1 )
\r
2478 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2480 QueueSetMemberHandle_t xReturn = NULL;
\r
2482 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2486 #endif /* configUSE_QUEUE_SETS */
\r
2487 /*-----------------------------------------------------------*/
\r
2489 #if ( configUSE_QUEUE_SETS == 1 )
\r
2491 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2493 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2494 BaseType_t xReturn = pdFALSE;
\r
2496 /* This function must be called form a critical section. */
\r
2498 configASSERT( pxQueueSetContainer );
\r
2499 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2501 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2503 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2505 traceQUEUE_SEND( pxQueueSetContainer );
\r
2507 /* The data copied is the handle of the queue that contains data. */
\r
2508 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2510 if( cTxLock == queueUNLOCKED )
\r
2512 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2514 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2516 /* The task waiting has a higher priority. */
\r
2521 mtCOVERAGE_TEST_MARKER();
\r
2526 mtCOVERAGE_TEST_MARKER();
\r
2531 pxQueueSetContainer->cTxLock = cTxLock + 1;
\r
2536 mtCOVERAGE_TEST_MARKER();
\r
2542 #endif /* configUSE_QUEUE_SETS */
\r
projects / freertos / blob