2 FreeRTOS V8.1.2 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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69 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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70 all the API functions to use the MPU wrappers. That should only be done when
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71 task.h is included from an application file. */
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72 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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74 #include "FreeRTOS.h"
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78 #if ( configUSE_CO_ROUTINES == 1 )
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79 #include "croutine.h"
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82 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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83 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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84 header files above, but not in this file, in order to generate the correct
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85 privileged Vs unprivileged linkage and placement. */
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86 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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89 /* Constants used with the xRxLock and xTxLock structure members. */
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90 #define queueUNLOCKED ( ( BaseType_t ) -1 )
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91 #define queueLOCKED_UNMODIFIED ( ( BaseType_t ) 0 )
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93 /* When the Queue_t structure is used to represent a base queue its pcHead and
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94 pcTail members are used as pointers into the queue storage area. When the
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95 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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96 not necessary, and the pcHead pointer is set to NULL to indicate that the
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97 pcTail pointer actually points to the mutex holder (if any). Map alternative
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98 names to the pcHead and pcTail structure members to ensure the readability of
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99 the code is maintained despite this dual use of two structure members. An
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100 alternative implementation would be to use a union, but use of a union is
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101 against the coding standard (although an exception to the standard has been
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102 permitted where the dual use also significantly changes the type of the
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103 structure member). */
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104 #define pxMutexHolder pcTail
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105 #define uxQueueType pcHead
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106 #define queueQUEUE_IS_MUTEX NULL
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108 /* Semaphores do not actually store or copy data, so have an item size of
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110 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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111 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define queueYIELD_IF_USING_PREEMPTION()
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118 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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122 * Definition of the queue used by the scheduler.
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123 * Items are queued by copy, not reference.
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125 typedef struct QueueDefinition
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127 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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128 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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129 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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131 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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133 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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134 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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137 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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138 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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140 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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141 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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142 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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144 volatile BaseType_t xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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145 volatile BaseType_t xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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147 #if ( configUSE_TRACE_FACILITY == 1 )
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148 UBaseType_t uxQueueNumber;
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149 uint8_t ucQueueType;
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152 #if ( configUSE_QUEUE_SETS == 1 )
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153 struct QueueDefinition *pxQueueSetContainer;
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158 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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159 name below to enable the use of older kernel aware debuggers. */
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160 typedef xQUEUE Queue_t;
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162 /*-----------------------------------------------------------*/
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165 * The queue registry is just a means for kernel aware debuggers to locate
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166 * queue structures. It has no other purpose so is an optional component.
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168 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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170 /* The type stored within the queue registry array. This allows a name
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171 to be assigned to each queue making kernel aware debugging a little
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172 more user friendly. */
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173 typedef struct QUEUE_REGISTRY_ITEM
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175 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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176 QueueHandle_t xHandle;
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177 } xQueueRegistryItem;
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179 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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180 new xQueueRegistryItem name below to enable the use of older kernel aware
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182 typedef xQueueRegistryItem QueueRegistryItem_t;
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184 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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185 The pcQueueName member of a structure being NULL is indicative of the
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186 array position being vacant. */
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187 QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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189 #endif /* configQUEUE_REGISTRY_SIZE */
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192 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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193 * prevent an ISR from adding or removing items to the queue, but does prevent
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194 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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195 * queue is locked it will instead increment the appropriate queue lock count
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196 * to indicate that a task may require unblocking. When the queue in unlocked
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197 * these lock counts are inspected, and the appropriate action taken.
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199 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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202 * Uses a critical section to determine if there is any data in a queue.
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204 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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206 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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209 * Uses a critical section to determine if there is any space in a queue.
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211 * @return pdTRUE if there is no space, otherwise pdFALSE;
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213 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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216 * Copies an item into the queue, either at the front of the queue or the
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217 * back of the queue.
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219 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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222 * Copies an item out of a queue.
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224 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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226 #if ( configUSE_QUEUE_SETS == 1 )
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228 * Checks to see if a queue is a member of a queue set, and if so, notifies
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229 * the queue set that the queue contains data.
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231 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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234 /*-----------------------------------------------------------*/
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237 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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238 * accessing the queue event lists.
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240 #define prvLockQueue( pxQueue ) \
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241 taskENTER_CRITICAL(); \
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243 if( ( pxQueue )->xRxLock == queueUNLOCKED ) \
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245 ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \
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247 if( ( pxQueue )->xTxLock == queueUNLOCKED ) \
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249 ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \
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252 taskEXIT_CRITICAL()
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253 /*-----------------------------------------------------------*/
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255 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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257 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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259 configASSERT( pxQueue );
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261 taskENTER_CRITICAL();
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263 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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264 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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265 pxQueue->pcWriteTo = pxQueue->pcHead;
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266 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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267 pxQueue->xRxLock = queueUNLOCKED;
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268 pxQueue->xTxLock = queueUNLOCKED;
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270 if( xNewQueue == pdFALSE )
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272 /* If there are tasks blocked waiting to read from the queue, then
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273 the tasks will remain blocked as after this function exits the queue
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274 will still be empty. If there are tasks blocked waiting to write to
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275 the queue, then one should be unblocked as after this function exits
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276 it will be possible to write to it. */
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277 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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279 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
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281 queueYIELD_IF_USING_PREEMPTION();
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285 mtCOVERAGE_TEST_MARKER();
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290 mtCOVERAGE_TEST_MARKER();
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295 /* Ensure the event queues start in the correct state. */
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296 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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297 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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300 taskEXIT_CRITICAL();
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302 /* A value is returned for calling semantic consistency with previous
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306 /*-----------------------------------------------------------*/
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308 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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310 Queue_t *pxNewQueue;
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311 size_t xQueueSizeInBytes;
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312 QueueHandle_t xReturn = NULL;
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314 /* Remove compiler warnings about unused parameters should
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315 configUSE_TRACE_FACILITY not be set to 1. */
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316 ( void ) ucQueueType;
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318 /* Allocate the new queue structure. */
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319 if( uxQueueLength > ( UBaseType_t ) 0 )
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321 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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322 if( pxNewQueue != NULL )
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324 /* Create the list of pointers to queue items. The queue is one byte
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325 longer than asked for to make wrap checking easier/faster. */
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326 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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328 pxNewQueue->pcHead = ( int8_t * ) pvPortMalloc( xQueueSizeInBytes );
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329 if( pxNewQueue->pcHead != NULL )
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331 /* Initialise the queue members as described above where the
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332 queue type is defined. */
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333 pxNewQueue->uxLength = uxQueueLength;
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334 pxNewQueue->uxItemSize = uxItemSize;
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335 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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337 #if ( configUSE_TRACE_FACILITY == 1 )
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339 pxNewQueue->ucQueueType = ucQueueType;
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341 #endif /* configUSE_TRACE_FACILITY */
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343 #if( configUSE_QUEUE_SETS == 1 )
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345 pxNewQueue->pxQueueSetContainer = NULL;
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347 #endif /* configUSE_QUEUE_SETS */
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349 traceQUEUE_CREATE( pxNewQueue );
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350 xReturn = pxNewQueue;
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354 traceQUEUE_CREATE_FAILED( ucQueueType );
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355 vPortFree( pxNewQueue );
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360 mtCOVERAGE_TEST_MARKER();
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365 mtCOVERAGE_TEST_MARKER();
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368 configASSERT( xReturn );
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372 /*-----------------------------------------------------------*/
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374 #if ( configUSE_MUTEXES == 1 )
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376 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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378 Queue_t *pxNewQueue;
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380 /* Prevent compiler warnings about unused parameters if
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381 configUSE_TRACE_FACILITY does not equal 1. */
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382 ( void ) ucQueueType;
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384 /* Allocate the new queue structure. */
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385 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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386 if( pxNewQueue != NULL )
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388 /* Information required for priority inheritance. */
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389 pxNewQueue->pxMutexHolder = NULL;
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390 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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392 /* Queues used as a mutex no data is actually copied into or out
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394 pxNewQueue->pcWriteTo = NULL;
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395 pxNewQueue->u.pcReadFrom = NULL;
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397 /* Each mutex has a length of 1 (like a binary semaphore) and
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398 an item size of 0 as nothing is actually copied into or out
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400 pxNewQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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401 pxNewQueue->uxLength = ( UBaseType_t ) 1U;
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402 pxNewQueue->uxItemSize = ( UBaseType_t ) 0U;
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403 pxNewQueue->xRxLock = queueUNLOCKED;
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404 pxNewQueue->xTxLock = queueUNLOCKED;
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406 #if ( configUSE_TRACE_FACILITY == 1 )
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408 pxNewQueue->ucQueueType = ucQueueType;
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412 #if ( configUSE_QUEUE_SETS == 1 )
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414 pxNewQueue->pxQueueSetContainer = NULL;
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418 /* Ensure the event queues start with the correct state. */
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419 vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
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420 vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
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422 traceCREATE_MUTEX( pxNewQueue );
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424 /* Start with the semaphore in the expected state. */
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425 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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429 traceCREATE_MUTEX_FAILED();
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432 configASSERT( pxNewQueue );
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436 #endif /* configUSE_MUTEXES */
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437 /*-----------------------------------------------------------*/
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439 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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441 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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445 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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446 be called directly. Note: This is a good way of determining if the
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447 calling task is the mutex holder, but not a good way of determining the
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448 identity of the mutex holder, as the holder may change between the
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449 following critical section exiting and the function returning. */
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450 taskENTER_CRITICAL();
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452 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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454 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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461 taskEXIT_CRITICAL();
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464 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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467 /*-----------------------------------------------------------*/
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469 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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471 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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473 BaseType_t xReturn;
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474 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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476 configASSERT( pxMutex );
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478 /* If this is the task that holds the mutex then pxMutexHolder will not
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479 change outside of this task. If this task does not hold the mutex then
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480 pxMutexHolder can never coincidentally equal the tasks handle, and as
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481 this is the only condition we are interested in it does not matter if
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482 pxMutexHolder is accessed simultaneously by another task. Therefore no
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483 mutual exclusion is required to test the pxMutexHolder variable. */
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484 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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486 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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488 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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489 the task handle, therefore no underflow check is required. Also,
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490 uxRecursiveCallCount is only modified by the mutex holder, and as
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491 there can only be one, no mutual exclusion is required to modify the
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492 uxRecursiveCallCount member. */
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493 ( pxMutex->u.uxRecursiveCallCount )--;
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495 /* Have we unwound the call count? */
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496 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
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498 /* Return the mutex. This will automatically unblock any other
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499 task that might be waiting to access the mutex. */
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500 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
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504 mtCOVERAGE_TEST_MARKER();
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511 /* The mutex cannot be given because the calling task is not the
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515 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
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521 #endif /* configUSE_RECURSIVE_MUTEXES */
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522 /*-----------------------------------------------------------*/
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524 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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526 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
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528 BaseType_t xReturn;
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529 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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531 configASSERT( pxMutex );
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533 /* Comments regarding mutual exclusion as per those within
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534 xQueueGiveMutexRecursive(). */
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536 traceTAKE_MUTEX_RECURSIVE( pxMutex );
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538 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
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540 ( pxMutex->u.uxRecursiveCallCount )++;
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545 xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
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547 /* pdPASS will only be returned if the mutex was successfully
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548 obtained. The calling task may have entered the Blocked state
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549 before reaching here. */
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550 if( xReturn == pdPASS )
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552 ( pxMutex->u.uxRecursiveCallCount )++;
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556 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
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563 #endif /* configUSE_RECURSIVE_MUTEXES */
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564 /*-----------------------------------------------------------*/
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566 #if ( configUSE_COUNTING_SEMAPHORES == 1 )
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568 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
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570 QueueHandle_t xHandle;
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572 configASSERT( uxMaxCount != 0 );
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573 configASSERT( uxInitialCount <= uxMaxCount );
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575 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
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577 if( xHandle != NULL )
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579 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
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581 traceCREATE_COUNTING_SEMAPHORE();
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585 traceCREATE_COUNTING_SEMAPHORE_FAILED();
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588 configASSERT( xHandle );
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592 #endif /* configUSE_COUNTING_SEMAPHORES */
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593 /*-----------------------------------------------------------*/
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595 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
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597 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
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598 TimeOut_t xTimeOut;
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599 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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601 configASSERT( pxQueue );
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602 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
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603 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
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604 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
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606 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
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611 /* This function relaxes the coding standard somewhat to allow return
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612 statements within the function itself. This is done in the interest
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613 of execution time efficiency. */
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616 taskENTER_CRITICAL();
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618 /* Is there room on the queue now? The running task must be
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619 the highest priority task wanting to access the queue. If
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620 the head item in the queue is to be overwritten then it does
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621 not matter if the queue is full. */
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622 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
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624 traceQUEUE_SEND( pxQueue );
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625 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
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627 #if ( configUSE_QUEUE_SETS == 1 )
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629 if( pxQueue->pxQueueSetContainer != NULL )
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631 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
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633 /* The queue is a member of a queue set, and posting
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634 to the queue set caused a higher priority task to
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635 unblock. A context switch is required. */
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636 queueYIELD_IF_USING_PREEMPTION();
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640 mtCOVERAGE_TEST_MARKER();
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645 /* If there was a task waiting for data to arrive on the
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646 queue then unblock it now. */
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647 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
649 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
651 /* The unblocked task has a priority higher than
\r
652 our own so yield immediately. Yes it is ok to
\r
653 do this from within the critical section - the
\r
654 kernel takes care of that. */
\r
655 queueYIELD_IF_USING_PREEMPTION();
\r
659 mtCOVERAGE_TEST_MARKER();
\r
662 else if( xYieldRequired != pdFALSE )
\r
664 /* This path is a special case that will only get
\r
665 executed if the task was holding multiple mutexes
\r
666 and the mutexes were given back in an order that is
\r
667 different to that in which they were taken. */
\r
668 queueYIELD_IF_USING_PREEMPTION();
\r
672 mtCOVERAGE_TEST_MARKER();
\r
676 #else /* configUSE_QUEUE_SETS */
\r
678 /* If there was a task waiting for data to arrive on the
\r
679 queue then unblock it now. */
\r
680 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
682 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
684 /* The unblocked task has a priority higher than
\r
685 our own so yield immediately. Yes it is ok to do
\r
686 this from within the critical section - the kernel
\r
687 takes care of that. */
\r
688 queueYIELD_IF_USING_PREEMPTION();
\r
692 mtCOVERAGE_TEST_MARKER();
\r
695 else if( xYieldRequired != pdFALSE )
\r
697 /* This path is a special case that will only get
\r
698 executed if the task was holding multiple mutexes and
\r
699 the mutexes were given back in an order that is
\r
700 different to that in which they were taken. */
\r
701 queueYIELD_IF_USING_PREEMPTION();
\r
705 mtCOVERAGE_TEST_MARKER();
\r
708 #endif /* configUSE_QUEUE_SETS */
\r
710 taskEXIT_CRITICAL();
\r
715 if( xTicksToWait == ( TickType_t ) 0 )
\r
717 /* The queue was full and no block time is specified (or
\r
718 the block time has expired) so leave now. */
\r
719 taskEXIT_CRITICAL();
\r
721 /* Return to the original privilege level before exiting
\r
723 traceQUEUE_SEND_FAILED( pxQueue );
\r
724 return errQUEUE_FULL;
\r
726 else if( xEntryTimeSet == pdFALSE )
\r
728 /* The queue was full and a block time was specified so
\r
729 configure the timeout structure. */
\r
730 vTaskSetTimeOutState( &xTimeOut );
\r
731 xEntryTimeSet = pdTRUE;
\r
735 /* Entry time was already set. */
\r
736 mtCOVERAGE_TEST_MARKER();
\r
740 taskEXIT_CRITICAL();
\r
742 /* Interrupts and other tasks can send to and receive from the queue
\r
743 now the critical section has been exited. */
\r
746 prvLockQueue( pxQueue );
\r
748 /* Update the timeout state to see if it has expired yet. */
\r
749 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
751 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
753 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
754 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
756 /* Unlocking the queue means queue events can effect the
\r
757 event list. It is possible that interrupts occurring now
\r
758 remove this task from the event list again - but as the
\r
759 scheduler is suspended the task will go onto the pending
\r
760 ready last instead of the actual ready list. */
\r
761 prvUnlockQueue( pxQueue );
\r
763 /* Resuming the scheduler will move tasks from the pending
\r
764 ready list into the ready list - so it is feasible that this
\r
765 task is already in a ready list before it yields - in which
\r
766 case the yield will not cause a context switch unless there
\r
767 is also a higher priority task in the pending ready list. */
\r
768 if( xTaskResumeAll() == pdFALSE )
\r
770 portYIELD_WITHIN_API();
\r
776 prvUnlockQueue( pxQueue );
\r
777 ( void ) xTaskResumeAll();
\r
782 /* The timeout has expired. */
\r
783 prvUnlockQueue( pxQueue );
\r
784 ( void ) xTaskResumeAll();
\r
786 /* Return to the original privilege level before exiting the
\r
788 traceQUEUE_SEND_FAILED( pxQueue );
\r
789 return errQUEUE_FULL;
\r
793 /*-----------------------------------------------------------*/
\r
795 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
797 BaseType_t xQueueAltGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, BaseType_t xCopyPosition )
\r
799 BaseType_t xEntryTimeSet = pdFALSE;
\r
800 TimeOut_t xTimeOut;
\r
801 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
803 configASSERT( pxQueue );
\r
804 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
808 taskENTER_CRITICAL();
\r
810 /* Is there room on the queue now? To be running we must be
\r
811 the highest priority task wanting to access the queue. */
\r
812 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
814 traceQUEUE_SEND( pxQueue );
\r
815 prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
817 /* If there was a task waiting for data to arrive on the
\r
818 queue then unblock it now. */
\r
819 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
821 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
\r
823 /* The unblocked task has a priority higher than
\r
824 our own so yield immediately. */
\r
825 portYIELD_WITHIN_API();
\r
829 mtCOVERAGE_TEST_MARKER();
\r
834 mtCOVERAGE_TEST_MARKER();
\r
837 taskEXIT_CRITICAL();
\r
842 if( xTicksToWait == ( TickType_t ) 0 )
\r
844 taskEXIT_CRITICAL();
\r
845 return errQUEUE_FULL;
\r
847 else if( xEntryTimeSet == pdFALSE )
\r
849 vTaskSetTimeOutState( &xTimeOut );
\r
850 xEntryTimeSet = pdTRUE;
\r
854 taskEXIT_CRITICAL();
\r
856 taskENTER_CRITICAL();
\r
858 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
860 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
862 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
863 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
864 portYIELD_WITHIN_API();
\r
868 mtCOVERAGE_TEST_MARKER();
\r
873 taskEXIT_CRITICAL();
\r
874 traceQUEUE_SEND_FAILED( pxQueue );
\r
875 return errQUEUE_FULL;
\r
878 taskEXIT_CRITICAL();
\r
882 #endif /* configUSE_ALTERNATIVE_API */
\r
883 /*-----------------------------------------------------------*/
\r
885 #if ( configUSE_ALTERNATIVE_API == 1 )
\r
887 BaseType_t xQueueAltGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, BaseType_t xJustPeeking )
\r
889 BaseType_t xEntryTimeSet = pdFALSE;
\r
890 TimeOut_t xTimeOut;
\r
891 int8_t *pcOriginalReadPosition;
\r
892 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
894 configASSERT( pxQueue );
\r
895 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
899 taskENTER_CRITICAL();
\r
901 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
903 /* Remember our read position in case we are just peeking. */
\r
904 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
906 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
908 if( xJustPeeking == pdFALSE )
\r
910 traceQUEUE_RECEIVE( pxQueue );
\r
912 /* Data is actually being removed (not just peeked). */
\r
913 --( pxQueue->uxMessagesWaiting );
\r
915 #if ( configUSE_MUTEXES == 1 )
\r
917 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
919 /* Record the information required to implement
\r
920 priority inheritance should it become necessary. */
\r
921 pxQueue->pxMutexHolder = ( int8_t * ) xTaskGetCurrentTaskHandle();
\r
925 mtCOVERAGE_TEST_MARKER();
\r
930 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
932 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
934 portYIELD_WITHIN_API();
\r
938 mtCOVERAGE_TEST_MARKER();
\r
944 traceQUEUE_PEEK( pxQueue );
\r
946 /* We are not removing the data, so reset our read
\r
948 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
950 /* The data is being left in the queue, so see if there are
\r
951 any other tasks waiting for the data. */
\r
952 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
954 /* Tasks that are removed from the event list will get added to
\r
955 the pending ready list as the scheduler is still suspended. */
\r
956 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
958 /* The task waiting has a higher priority than this task. */
\r
959 portYIELD_WITHIN_API();
\r
963 mtCOVERAGE_TEST_MARKER();
\r
968 mtCOVERAGE_TEST_MARKER();
\r
972 taskEXIT_CRITICAL();
\r
977 if( xTicksToWait == ( TickType_t ) 0 )
\r
979 taskEXIT_CRITICAL();
\r
980 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
981 return errQUEUE_EMPTY;
\r
983 else if( xEntryTimeSet == pdFALSE )
\r
985 vTaskSetTimeOutState( &xTimeOut );
\r
986 xEntryTimeSet = pdTRUE;
\r
990 taskEXIT_CRITICAL();
\r
992 taskENTER_CRITICAL();
\r
994 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
996 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
998 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1000 #if ( configUSE_MUTEXES == 1 )
\r
1002 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1004 taskENTER_CRITICAL();
\r
1006 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1008 taskEXIT_CRITICAL();
\r
1012 mtCOVERAGE_TEST_MARKER();
\r
1017 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1018 portYIELD_WITHIN_API();
\r
1022 mtCOVERAGE_TEST_MARKER();
\r
1027 taskEXIT_CRITICAL();
\r
1028 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1029 return errQUEUE_EMPTY;
\r
1032 taskEXIT_CRITICAL();
\r
1037 #endif /* configUSE_ALTERNATIVE_API */
\r
1038 /*-----------------------------------------------------------*/
\r
1040 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
1042 BaseType_t xReturn;
\r
1043 UBaseType_t uxSavedInterruptStatus;
\r
1044 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1046 configASSERT( pxQueue );
\r
1047 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1048 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
1050 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1051 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1052 above the maximum system call priority are kept permanently enabled, even
\r
1053 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1054 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1055 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1056 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1057 assigned a priority above the configured maximum system call priority.
\r
1058 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1059 that have been assigned a priority at or (logically) below the maximum
\r
1060 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1061 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1062 More information (albeit Cortex-M specific) is provided on the following
\r
1063 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1064 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1066 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
1067 in the queue. Also don't directly wake a task that was blocked on a queue
\r
1068 read, instead return a flag to say whether a context switch is required or
\r
1069 not (i.e. has a task with a higher priority than us been woken by this
\r
1071 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1073 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
1075 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1077 /* A task can only have an inherited priority if it is a mutex
\r
1078 holder - and if there is a mutex holder then the mutex cannot be
\r
1079 given from an ISR. Therefore, unlike the xQueueGenericGive()
\r
1080 function, there is no need to determine the need for priority
\r
1081 disinheritance here or to clear the mutex holder TCB member. */
\r
1082 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1084 /* The event list is not altered if the queue is locked. This will
\r
1085 be done when the queue is unlocked later. */
\r
1086 if( pxQueue->xTxLock == queueUNLOCKED )
\r
1088 #if ( configUSE_QUEUE_SETS == 1 )
\r
1090 if( pxQueue->pxQueueSetContainer != NULL )
\r
1092 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
\r
1094 /* The queue is a member of a queue set, and posting
\r
1095 to the queue set caused a higher priority task to
\r
1096 unblock. A context switch is required. */
\r
1097 if( pxHigherPriorityTaskWoken != NULL )
\r
1099 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1103 mtCOVERAGE_TEST_MARKER();
\r
1108 mtCOVERAGE_TEST_MARKER();
\r
1113 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1115 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1117 /* The task waiting has a higher priority so
\r
1118 record that a context switch is required. */
\r
1119 if( pxHigherPriorityTaskWoken != NULL )
\r
1121 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1125 mtCOVERAGE_TEST_MARKER();
\r
1130 mtCOVERAGE_TEST_MARKER();
\r
1135 mtCOVERAGE_TEST_MARKER();
\r
1139 #else /* configUSE_QUEUE_SETS */
\r
1141 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1143 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1145 /* The task waiting has a higher priority so record that a
\r
1146 context switch is required. */
\r
1147 if( pxHigherPriorityTaskWoken != NULL )
\r
1149 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1153 mtCOVERAGE_TEST_MARKER();
\r
1158 mtCOVERAGE_TEST_MARKER();
\r
1163 mtCOVERAGE_TEST_MARKER();
\r
1166 #endif /* configUSE_QUEUE_SETS */
\r
1170 /* Increment the lock count so the task that unlocks the queue
\r
1171 knows that data was posted while it was locked. */
\r
1172 ++( pxQueue->xTxLock );
\r
1179 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1180 xReturn = errQUEUE_FULL;
\r
1183 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1187 /*-----------------------------------------------------------*/
\r
1189 BaseType_t xQueueGenericGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1191 BaseType_t xReturn;
\r
1192 UBaseType_t uxSavedInterruptStatus;
\r
1193 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1195 configASSERT( pxQueue );
\r
1197 /* xQueueGenericSendFromISR() should be used in the item size is not 0. */
\r
1198 configASSERT( pxQueue->uxItemSize == 0 );
\r
1200 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1201 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1202 above the maximum system call priority are kept permanently enabled, even
\r
1203 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1204 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1205 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1206 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1207 assigned a priority above the configured maximum system call priority.
\r
1208 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1209 that have been assigned a priority at or (logically) below the maximum
\r
1210 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1211 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1212 More information (albeit Cortex-M specific) is provided on the following
\r
1213 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1214 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1216 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1217 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1218 read, instead return a flag to say whether a context switch is required or
\r
1219 not (i.e. has a task with a higher priority than us been woken by this
\r
1221 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1223 /* When the queue is used to implement a semaphore no data is ever
\r
1224 moved through the queue but it is still valid to see if the queue 'has
\r
1226 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
1228 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1230 /* A task can only have an inherited priority if it is a mutex
\r
1231 holder - and if there is a mutex holder then the mutex cannot be
\r
1232 given from an ISR. Therefore, unlike the xQueueGenericGive()
\r
1233 function, there is no need to determine the need for priority
\r
1234 disinheritance here or to clear the mutex holder TCB member. */
\r
1236 ++( pxQueue->uxMessagesWaiting );
\r
1238 /* The event list is not altered if the queue is locked. This will
\r
1239 be done when the queue is unlocked later. */
\r
1240 if( pxQueue->xTxLock == queueUNLOCKED )
\r
1242 #if ( configUSE_QUEUE_SETS == 1 )
\r
1244 if( pxQueue->pxQueueSetContainer != NULL )
\r
1246 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
\r
1248 /* The semaphore is a member of a queue set, and
\r
1249 posting to the queue set caused a higher priority
\r
1250 task to unblock. A context switch is required. */
\r
1251 if( pxHigherPriorityTaskWoken != NULL )
\r
1253 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1257 mtCOVERAGE_TEST_MARKER();
\r
1262 mtCOVERAGE_TEST_MARKER();
\r
1267 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1269 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1271 /* The task waiting has a higher priority so
\r
1272 record that a context switch is required. */
\r
1273 if( pxHigherPriorityTaskWoken != NULL )
\r
1275 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1279 mtCOVERAGE_TEST_MARKER();
\r
1284 mtCOVERAGE_TEST_MARKER();
\r
1289 mtCOVERAGE_TEST_MARKER();
\r
1293 #else /* configUSE_QUEUE_SETS */
\r
1295 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1297 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1299 /* The task waiting has a higher priority so record that a
\r
1300 context switch is required. */
\r
1301 if( pxHigherPriorityTaskWoken != NULL )
\r
1303 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1307 mtCOVERAGE_TEST_MARKER();
\r
1312 mtCOVERAGE_TEST_MARKER();
\r
1317 mtCOVERAGE_TEST_MARKER();
\r
1320 #endif /* configUSE_QUEUE_SETS */
\r
1324 /* Increment the lock count so the task that unlocks the queue
\r
1325 knows that data was posted while it was locked. */
\r
1326 ++( pxQueue->xTxLock );
\r
1333 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1334 xReturn = errQUEUE_FULL;
\r
1337 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); //0.36
\r
1341 /*-----------------------------------------------------------*/
\r
1343 BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking )
\r
1345 BaseType_t xEntryTimeSet = pdFALSE;
\r
1346 TimeOut_t xTimeOut;
\r
1347 int8_t *pcOriginalReadPosition;
\r
1348 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1350 configASSERT( pxQueue );
\r
1351 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1352 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1354 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1358 /* This function relaxes the coding standard somewhat to allow return
\r
1359 statements within the function itself. This is done in the interest
\r
1360 of execution time efficiency. */
\r
1364 taskENTER_CRITICAL();
\r
1366 /* Is there data in the queue now? To be running we must be
\r
1367 the highest priority task wanting to access the queue. */
\r
1368 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1370 /* Remember the read position in case the queue is only being
\r
1372 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1374 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1376 if( xJustPeeking == pdFALSE )
\r
1378 traceQUEUE_RECEIVE( pxQueue );
\r
1380 /* Actually removing data, not just peeking. */
\r
1381 --( pxQueue->uxMessagesWaiting );
\r
1383 #if ( configUSE_MUTEXES == 1 )
\r
1385 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1387 /* Record the information required to implement
\r
1388 priority inheritance should it become necessary. */
\r
1389 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1393 mtCOVERAGE_TEST_MARKER();
\r
1396 #endif /* configUSE_MUTEXES */
\r
1398 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1400 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
\r
1402 queueYIELD_IF_USING_PREEMPTION();
\r
1406 mtCOVERAGE_TEST_MARKER();
\r
1411 mtCOVERAGE_TEST_MARKER();
\r
1416 traceQUEUE_PEEK( pxQueue );
\r
1418 /* The data is not being removed, so reset the read
\r
1420 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1422 /* The data is being left in the queue, so see if there are
\r
1423 any other tasks waiting for the data. */
\r
1424 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1426 /* Tasks that are removed from the event list will get added to
\r
1427 the pending ready list as the scheduler is still suspended. */
\r
1428 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1430 /* The task waiting has a higher priority than this task. */
\r
1431 queueYIELD_IF_USING_PREEMPTION();
\r
1435 mtCOVERAGE_TEST_MARKER();
\r
1440 mtCOVERAGE_TEST_MARKER();
\r
1444 taskEXIT_CRITICAL();
\r
1449 if( xTicksToWait == ( TickType_t ) 0 )
\r
1451 /* The queue was empty and no block time is specified (or
\r
1452 the block time has expired) so leave now. */
\r
1453 taskEXIT_CRITICAL();
\r
1454 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1455 return errQUEUE_EMPTY;
\r
1457 else if( xEntryTimeSet == pdFALSE )
\r
1459 /* The queue was empty and a block time was specified so
\r
1460 configure the timeout structure. */
\r
1461 vTaskSetTimeOutState( &xTimeOut );
\r
1462 xEntryTimeSet = pdTRUE;
\r
1466 /* Entry time was already set. */
\r
1467 mtCOVERAGE_TEST_MARKER();
\r
1471 taskEXIT_CRITICAL();
\r
1473 /* Interrupts and other tasks can send to and receive from the queue
\r
1474 now the critical section has been exited. */
\r
1476 vTaskSuspendAll();
\r
1477 prvLockQueue( pxQueue );
\r
1479 /* Update the timeout state to see if it has expired yet. */
\r
1480 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1482 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1484 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1486 #if ( configUSE_MUTEXES == 1 )
\r
1488 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1490 taskENTER_CRITICAL();
\r
1492 vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1494 taskEXIT_CRITICAL();
\r
1498 mtCOVERAGE_TEST_MARKER();
\r
1503 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1504 prvUnlockQueue( pxQueue );
\r
1505 if( xTaskResumeAll() == pdFALSE )
\r
1507 portYIELD_WITHIN_API();
\r
1511 mtCOVERAGE_TEST_MARKER();
\r
1517 prvUnlockQueue( pxQueue );
\r
1518 ( void ) xTaskResumeAll();
\r
1523 prvUnlockQueue( pxQueue );
\r
1524 ( void ) xTaskResumeAll();
\r
1525 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1526 return errQUEUE_EMPTY;
\r
1530 /*-----------------------------------------------------------*/
\r
1532 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1534 BaseType_t xReturn;
\r
1535 UBaseType_t uxSavedInterruptStatus;
\r
1536 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1538 configASSERT( pxQueue );
\r
1539 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1541 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1542 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1543 above the maximum system call priority are kept permanently enabled, even
\r
1544 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1545 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1546 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1547 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1548 assigned a priority above the configured maximum system call priority.
\r
1549 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1550 that have been assigned a priority at or (logically) below the maximum
\r
1551 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1552 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1553 More information (albeit Cortex-M specific) is provided on the following
\r
1554 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1555 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1557 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1559 /* Cannot block in an ISR, so check there is data available. */
\r
1560 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1562 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1564 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1565 --( pxQueue->uxMessagesWaiting );
\r
1567 /* If the queue is locked the event list will not be modified.
\r
1568 Instead update the lock count so the task that unlocks the queue
\r
1569 will know that an ISR has removed data while the queue was
\r
1571 if( pxQueue->xRxLock == queueUNLOCKED )
\r
1573 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1575 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1577 /* The task waiting has a higher priority than us so
\r
1578 force a context switch. */
\r
1579 if( pxHigherPriorityTaskWoken != NULL )
\r
1581 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1585 mtCOVERAGE_TEST_MARKER();
\r
1590 mtCOVERAGE_TEST_MARKER();
\r
1595 mtCOVERAGE_TEST_MARKER();
\r
1600 /* Increment the lock count so the task that unlocks the queue
\r
1601 knows that data was removed while it was locked. */
\r
1602 ++( pxQueue->xRxLock );
\r
1610 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1613 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1617 /*-----------------------------------------------------------*/
\r
1619 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1621 BaseType_t xReturn;
\r
1622 UBaseType_t uxSavedInterruptStatus;
\r
1623 int8_t *pcOriginalReadPosition;
\r
1624 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1626 configASSERT( pxQueue );
\r
1627 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1629 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1630 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1631 above the maximum system call priority are kept permanently enabled, even
\r
1632 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1633 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1634 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1635 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1636 assigned a priority above the configured maximum system call priority.
\r
1637 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1638 that have been assigned a priority at or (logically) below the maximum
\r
1639 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1640 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1641 More information (albeit Cortex-M specific) is provided on the following
\r
1642 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1643 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1645 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1647 /* Cannot block in an ISR, so check there is data available. */
\r
1648 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1650 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1652 /* Remember the read position so it can be reset as nothing is
\r
1653 actually being removed from the queue. */
\r
1654 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1655 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1656 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1663 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1666 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1670 /*-----------------------------------------------------------*/
\r
1672 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1674 UBaseType_t uxReturn;
\r
1676 configASSERT( xQueue );
\r
1678 taskENTER_CRITICAL();
\r
1680 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1682 taskEXIT_CRITICAL();
\r
1685 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1686 /*-----------------------------------------------------------*/
\r
1688 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1690 UBaseType_t uxReturn;
\r
1693 pxQueue = ( Queue_t * ) xQueue;
\r
1694 configASSERT( pxQueue );
\r
1696 taskENTER_CRITICAL();
\r
1698 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1700 taskEXIT_CRITICAL();
\r
1703 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1704 /*-----------------------------------------------------------*/
\r
1706 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1708 UBaseType_t uxReturn;
\r
1710 configASSERT( xQueue );
\r
1712 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1715 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1716 /*-----------------------------------------------------------*/
\r
1718 void vQueueDelete( QueueHandle_t xQueue )
\r
1720 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1722 configASSERT( pxQueue );
\r
1724 traceQUEUE_DELETE( pxQueue );
\r
1725 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1727 vQueueUnregisterQueue( pxQueue );
\r
1730 if( pxQueue->pcHead != NULL )
\r
1732 vPortFree( pxQueue->pcHead );
\r
1734 vPortFree( pxQueue );
\r
1736 /*-----------------------------------------------------------*/
\r
1738 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1740 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1742 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1745 #endif /* configUSE_TRACE_FACILITY */
\r
1746 /*-----------------------------------------------------------*/
\r
1748 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1750 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1752 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
1755 #endif /* configUSE_TRACE_FACILITY */
\r
1756 /*-----------------------------------------------------------*/
\r
1758 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1760 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
1762 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
1765 #endif /* configUSE_TRACE_FACILITY */
\r
1766 /*-----------------------------------------------------------*/
\r
1768 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
1770 BaseType_t xReturn = pdFALSE;
\r
1772 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
1774 #if ( configUSE_MUTEXES == 1 )
\r
1776 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1778 /* The mutex is no longer being held. */
\r
1779 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
1780 pxQueue->pxMutexHolder = NULL;
\r
1784 mtCOVERAGE_TEST_MARKER();
\r
1787 #endif /* configUSE_MUTEXES */
\r
1789 else if( xPosition == queueSEND_TO_BACK )
\r
1791 ( 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
1792 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
1793 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1795 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
1799 mtCOVERAGE_TEST_MARKER();
\r
1804 ( 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
1805 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
1806 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
1808 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
1812 mtCOVERAGE_TEST_MARKER();
\r
1815 if( xPosition == queueOVERWRITE )
\r
1817 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1819 /* An item is not being added but overwritten, so subtract
\r
1820 one from the recorded number of items in the queue so when
\r
1821 one is added again below the number of recorded items remains
\r
1823 --( pxQueue->uxMessagesWaiting );
\r
1827 mtCOVERAGE_TEST_MARKER();
\r
1832 mtCOVERAGE_TEST_MARKER();
\r
1836 ++( pxQueue->uxMessagesWaiting );
\r
1840 /*-----------------------------------------------------------*/
\r
1842 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
1844 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
1846 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
1847 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
1849 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
1853 mtCOVERAGE_TEST_MARKER();
\r
1855 ( 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
1858 /*-----------------------------------------------------------*/
\r
1860 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
1862 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
1864 /* The lock counts contains the number of extra data items placed or
\r
1865 removed from the queue while the queue was locked. When a queue is
\r
1866 locked items can be added or removed, but the event lists cannot be
\r
1868 taskENTER_CRITICAL();
\r
1870 /* See if data was added to the queue while it was locked. */
\r
1871 while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )
\r
1873 /* Data was posted while the queue was locked. Are any tasks
\r
1874 blocked waiting for data to become available? */
\r
1875 #if ( configUSE_QUEUE_SETS == 1 )
\r
1877 if( pxQueue->pxQueueSetContainer != NULL )
\r
1879 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
\r
1881 /* The queue is a member of a queue set, and posting to
\r
1882 the queue set caused a higher priority task to unblock.
\r
1883 A context switch is required. */
\r
1884 vTaskMissedYield();
\r
1888 mtCOVERAGE_TEST_MARKER();
\r
1893 /* Tasks that are removed from the event list will get added to
\r
1894 the pending ready list as the scheduler is still suspended. */
\r
1895 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1897 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1899 /* The task waiting has a higher priority so record that a
\r
1900 context switch is required. */
\r
1901 vTaskMissedYield();
\r
1905 mtCOVERAGE_TEST_MARKER();
\r
1914 #else /* configUSE_QUEUE_SETS */
\r
1916 /* Tasks that are removed from the event list will get added to
\r
1917 the pending ready list as the scheduler is still suspended. */
\r
1918 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1920 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1922 /* The task waiting has a higher priority so record that a
\r
1923 context switch is required. */
\r
1924 vTaskMissedYield();
\r
1928 mtCOVERAGE_TEST_MARKER();
\r
1936 #endif /* configUSE_QUEUE_SETS */
\r
1938 --( pxQueue->xTxLock );
\r
1941 pxQueue->xTxLock = queueUNLOCKED;
\r
1943 taskEXIT_CRITICAL();
\r
1945 /* Do the same for the Rx lock. */
\r
1946 taskENTER_CRITICAL();
\r
1948 while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
\r
1950 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1952 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1954 vTaskMissedYield();
\r
1958 mtCOVERAGE_TEST_MARKER();
\r
1961 --( pxQueue->xRxLock );
\r
1969 pxQueue->xRxLock = queueUNLOCKED;
\r
1971 taskEXIT_CRITICAL();
\r
1973 /*-----------------------------------------------------------*/
\r
1975 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
1977 BaseType_t xReturn;
\r
1979 taskENTER_CRITICAL();
\r
1981 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
1987 xReturn = pdFALSE;
\r
1990 taskEXIT_CRITICAL();
\r
1994 /*-----------------------------------------------------------*/
\r
1996 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
1998 BaseType_t xReturn;
\r
2000 configASSERT( xQueue );
\r
2001 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2007 xReturn = pdFALSE;
\r
2011 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2012 /*-----------------------------------------------------------*/
\r
2014 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2016 BaseType_t xReturn;
\r
2018 taskENTER_CRITICAL();
\r
2020 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2026 xReturn = pdFALSE;
\r
2029 taskEXIT_CRITICAL();
\r
2033 /*-----------------------------------------------------------*/
\r
2035 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2037 BaseType_t xReturn;
\r
2039 configASSERT( xQueue );
\r
2040 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
2046 xReturn = pdFALSE;
\r
2050 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2051 /*-----------------------------------------------------------*/
\r
2053 #if ( configUSE_CO_ROUTINES == 1 )
\r
2055 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2057 BaseType_t xReturn;
\r
2058 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2060 /* If the queue is already full we may have to block. A critical section
\r
2061 is required to prevent an interrupt removing something from the queue
\r
2062 between the check to see if the queue is full and blocking on the queue. */
\r
2063 portDISABLE_INTERRUPTS();
\r
2065 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2067 /* The queue is full - do we want to block or just leave without
\r
2069 if( xTicksToWait > ( TickType_t ) 0 )
\r
2071 /* As this is called from a coroutine we cannot block directly, but
\r
2072 return indicating that we need to block. */
\r
2073 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2074 portENABLE_INTERRUPTS();
\r
2075 return errQUEUE_BLOCKED;
\r
2079 portENABLE_INTERRUPTS();
\r
2080 return errQUEUE_FULL;
\r
2084 portENABLE_INTERRUPTS();
\r
2086 portDISABLE_INTERRUPTS();
\r
2088 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2090 /* There is room in the queue, copy the data into the queue. */
\r
2091 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2094 /* Were any co-routines waiting for data to become available? */
\r
2095 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2097 /* In this instance the co-routine could be placed directly
\r
2098 into the ready list as we are within a critical section.
\r
2099 Instead the same pending ready list mechanism is used as if
\r
2100 the event were caused from within an interrupt. */
\r
2101 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2103 /* The co-routine waiting has a higher priority so record
\r
2104 that a yield might be appropriate. */
\r
2105 xReturn = errQUEUE_YIELD;
\r
2109 mtCOVERAGE_TEST_MARKER();
\r
2114 mtCOVERAGE_TEST_MARKER();
\r
2119 xReturn = errQUEUE_FULL;
\r
2122 portENABLE_INTERRUPTS();
\r
2127 #endif /* configUSE_CO_ROUTINES */
\r
2128 /*-----------------------------------------------------------*/
\r
2130 #if ( configUSE_CO_ROUTINES == 1 )
\r
2132 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2134 BaseType_t xReturn;
\r
2135 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2137 /* If the queue is already empty we may have to block. A critical section
\r
2138 is required to prevent an interrupt adding something to the queue
\r
2139 between the check to see if the queue is empty and blocking on the queue. */
\r
2140 portDISABLE_INTERRUPTS();
\r
2142 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2144 /* There are no messages in the queue, do we want to block or just
\r
2145 leave with nothing? */
\r
2146 if( xTicksToWait > ( TickType_t ) 0 )
\r
2148 /* As this is a co-routine we cannot block directly, but return
\r
2149 indicating that we need to block. */
\r
2150 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2151 portENABLE_INTERRUPTS();
\r
2152 return errQUEUE_BLOCKED;
\r
2156 portENABLE_INTERRUPTS();
\r
2157 return errQUEUE_FULL;
\r
2162 mtCOVERAGE_TEST_MARKER();
\r
2165 portENABLE_INTERRUPTS();
\r
2167 portDISABLE_INTERRUPTS();
\r
2169 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2171 /* Data is available from the queue. */
\r
2172 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2173 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2175 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2179 mtCOVERAGE_TEST_MARKER();
\r
2181 --( pxQueue->uxMessagesWaiting );
\r
2182 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2186 /* Were any co-routines waiting for space to become available? */
\r
2187 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2189 /* In this instance the co-routine could be placed directly
\r
2190 into the ready list as we are within a critical section.
\r
2191 Instead the same pending ready list mechanism is used as if
\r
2192 the event were caused from within an interrupt. */
\r
2193 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2195 xReturn = errQUEUE_YIELD;
\r
2199 mtCOVERAGE_TEST_MARKER();
\r
2204 mtCOVERAGE_TEST_MARKER();
\r
2212 portENABLE_INTERRUPTS();
\r
2217 #endif /* configUSE_CO_ROUTINES */
\r
2218 /*-----------------------------------------------------------*/
\r
2220 #if ( configUSE_CO_ROUTINES == 1 )
\r
2222 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2224 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2226 /* Cannot block within an ISR so if there is no space on the queue then
\r
2227 exit without doing anything. */
\r
2228 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2230 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2232 /* We only want to wake one co-routine per ISR, so check that a
\r
2233 co-routine has not already been woken. */
\r
2234 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2236 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2238 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2244 mtCOVERAGE_TEST_MARKER();
\r
2249 mtCOVERAGE_TEST_MARKER();
\r
2254 mtCOVERAGE_TEST_MARKER();
\r
2259 mtCOVERAGE_TEST_MARKER();
\r
2262 return xCoRoutinePreviouslyWoken;
\r
2265 #endif /* configUSE_CO_ROUTINES */
\r
2266 /*-----------------------------------------------------------*/
\r
2268 #if ( configUSE_CO_ROUTINES == 1 )
\r
2270 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2272 BaseType_t xReturn;
\r
2273 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2275 /* We cannot block from an ISR, so check there is data available. If
\r
2276 not then just leave without doing anything. */
\r
2277 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2279 /* Copy the data from the queue. */
\r
2280 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2281 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2283 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2287 mtCOVERAGE_TEST_MARKER();
\r
2289 --( pxQueue->uxMessagesWaiting );
\r
2290 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2292 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2294 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2296 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2298 *pxCoRoutineWoken = pdTRUE;
\r
2302 mtCOVERAGE_TEST_MARKER();
\r
2307 mtCOVERAGE_TEST_MARKER();
\r
2312 mtCOVERAGE_TEST_MARKER();
\r
2325 #endif /* configUSE_CO_ROUTINES */
\r
2326 /*-----------------------------------------------------------*/
\r
2328 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2330 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2334 /* See if there is an empty space in the registry. A NULL name denotes
\r
2336 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2338 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2340 /* Store the information on this queue. */
\r
2341 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2342 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2344 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2349 mtCOVERAGE_TEST_MARKER();
\r
2354 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2355 /*-----------------------------------------------------------*/
\r
2357 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2359 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2363 /* See if the handle of the queue being unregistered in actually in the
\r
2365 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2367 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2369 /* Set the name to NULL to show that this slot if free again. */
\r
2370 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2375 mtCOVERAGE_TEST_MARKER();
\r
2379 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2381 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2382 /*-----------------------------------------------------------*/
\r
2384 #if ( configUSE_TIMERS == 1 )
\r
2386 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
2388 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2390 /* This function should not be called by application code hence the
\r
2391 'Restricted' in its name. It is not part of the public API. It is
\r
2392 designed for use by kernel code, and has special calling requirements.
\r
2393 It can result in vListInsert() being called on a list that can only
\r
2394 possibly ever have one item in it, so the list will be fast, but even
\r
2395 so it should be called with the scheduler locked and not from a critical
\r
2398 /* Only do anything if there are no messages in the queue. This function
\r
2399 will not actually cause the task to block, just place it on a blocked
\r
2400 list. It will not block until the scheduler is unlocked - at which
\r
2401 time a yield will be performed. If an item is added to the queue while
\r
2402 the queue is locked, and the calling task blocks on the queue, then the
\r
2403 calling task will be immediately unblocked when the queue is unlocked. */
\r
2404 prvLockQueue( pxQueue );
\r
2405 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2407 /* There is nothing in the queue, block for the specified period. */
\r
2408 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
2412 mtCOVERAGE_TEST_MARKER();
\r
2414 prvUnlockQueue( pxQueue );
\r
2417 #endif /* configUSE_TIMERS */
\r
2418 /*-----------------------------------------------------------*/
\r
2420 #if ( configUSE_QUEUE_SETS == 1 )
\r
2422 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2424 QueueSetHandle_t pxQueue;
\r
2426 pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2431 #endif /* configUSE_QUEUE_SETS */
\r
2432 /*-----------------------------------------------------------*/
\r
2434 #if ( configUSE_QUEUE_SETS == 1 )
\r
2436 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2438 BaseType_t xReturn;
\r
2440 taskENTER_CRITICAL();
\r
2442 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2444 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2447 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2449 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2450 items in the queue/semaphore. */
\r
2455 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2459 taskEXIT_CRITICAL();
\r
2464 #endif /* configUSE_QUEUE_SETS */
\r
2465 /*-----------------------------------------------------------*/
\r
2467 #if ( configUSE_QUEUE_SETS == 1 )
\r
2469 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2471 BaseType_t xReturn;
\r
2472 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2474 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2476 /* The queue was not a member of the set. */
\r
2479 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2481 /* It is dangerous to remove a queue from a set when the queue is
\r
2482 not empty because the queue set will still hold pending events for
\r
2488 taskENTER_CRITICAL();
\r
2490 /* The queue is no longer contained in the set. */
\r
2491 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2493 taskEXIT_CRITICAL();
\r
2498 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2500 #endif /* configUSE_QUEUE_SETS */
\r
2501 /*-----------------------------------------------------------*/
\r
2503 #if ( configUSE_QUEUE_SETS == 1 )
\r
2505 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2507 QueueSetMemberHandle_t xReturn = NULL;
\r
2509 ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2513 #endif /* configUSE_QUEUE_SETS */
\r
2514 /*-----------------------------------------------------------*/
\r
2516 #if ( configUSE_QUEUE_SETS == 1 )
\r
2518 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2520 QueueSetMemberHandle_t xReturn = NULL;
\r
2522 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2526 #endif /* configUSE_QUEUE_SETS */
\r
2527 /*-----------------------------------------------------------*/
\r
2529 #if ( configUSE_QUEUE_SETS == 1 )
\r
2531 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2533 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2534 BaseType_t xReturn = pdFALSE;
\r
2536 /* This function must be called form a critical section. */
\r
2538 configASSERT( pxQueueSetContainer );
\r
2539 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2541 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2543 traceQUEUE_SEND( pxQueueSetContainer );
\r
2544 /* The data copied is the handle of the queue that contains data. */
\r
2545 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2547 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2549 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2551 /* The task waiting has a higher priority */
\r
2556 mtCOVERAGE_TEST_MARKER();
\r
2561 mtCOVERAGE_TEST_MARKER();
\r
2566 mtCOVERAGE_TEST_MARKER();
\r
2572 #endif /* configUSE_QUEUE_SETS */
\r