2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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40 #if ( configUSE_CO_ROUTINES == 1 )
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41 #include "croutine.h"
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44 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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45 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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46 header files above, but not in this file, in order to generate the correct
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47 privileged Vs unprivileged linkage and placement. */
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48 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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51 /* Constants used with the cRxLock and cTxLock structure members. */
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52 #define queueUNLOCKED ( ( int8_t ) -1 )
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53 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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55 /* When the Queue_t structure is used to represent a base queue its pcHead and
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56 pcTail members are used as pointers into the queue storage area. When the
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57 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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58 not necessary, and the pcHead pointer is set to NULL to indicate that the
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59 pcTail pointer actually points to the mutex holder (if any). Map alternative
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60 names to the pcHead and pcTail structure members to ensure the readability of
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61 the code is maintained despite this dual use of two structure members. An
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62 alternative implementation would be to use a union, but use of a union is
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63 against the coding standard (although an exception to the standard has been
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64 permitted where the dual use also significantly changes the type of the
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65 structure member). */
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66 #define pxMutexHolder pcTail
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67 #define uxQueueType pcHead
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68 #define queueQUEUE_IS_MUTEX NULL
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70 /* Semaphores do not actually store or copy data, so have an item size of
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72 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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73 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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75 #if( configUSE_PREEMPTION == 0 )
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76 /* If the cooperative scheduler is being used then a yield should not be
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77 performed just because a higher priority task has been woken. */
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78 #define queueYIELD_IF_USING_PREEMPTION()
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80 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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84 * Definition of the queue used by the scheduler.
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85 * Items are queued by copy, not reference. See the following link for the
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86 * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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88 typedef struct QueueDefinition
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90 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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91 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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92 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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94 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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96 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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97 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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100 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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101 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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103 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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104 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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105 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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107 volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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108 volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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110 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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111 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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114 #if ( configUSE_QUEUE_SETS == 1 )
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115 struct QueueDefinition *pxQueueSetContainer;
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118 #if ( configUSE_TRACE_FACILITY == 1 )
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119 UBaseType_t uxQueueNumber;
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120 uint8_t ucQueueType;
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125 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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126 name below to enable the use of older kernel aware debuggers. */
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127 typedef xQUEUE Queue_t;
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129 /*-----------------------------------------------------------*/
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132 * The queue registry is just a means for kernel aware debuggers to locate
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133 * queue structures. It has no other purpose so is an optional component.
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135 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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137 /* The type stored within the queue registry array. This allows a name
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138 to be assigned to each queue making kernel aware debugging a little
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139 more user friendly. */
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140 typedef struct QUEUE_REGISTRY_ITEM
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142 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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143 QueueHandle_t xHandle;
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144 } xQueueRegistryItem;
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146 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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147 new xQueueRegistryItem name below to enable the use of older kernel aware
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149 typedef xQueueRegistryItem QueueRegistryItem_t;
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151 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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152 The pcQueueName member of a structure being NULL is indicative of the
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153 array position being vacant. */
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154 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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156 #endif /* configQUEUE_REGISTRY_SIZE */
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159 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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160 * prevent an ISR from adding or removing items to the queue, but does prevent
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161 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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162 * queue is locked it will instead increment the appropriate queue lock count
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163 * to indicate that a task may require unblocking. When the queue in unlocked
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164 * these lock counts are inspected, and the appropriate action taken.
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166 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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169 * Uses a critical section to determine if there is any data in a queue.
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171 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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173 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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176 * Uses a critical section to determine if there is any space in a queue.
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178 * @return pdTRUE if there is no space, otherwise pdFALSE;
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180 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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183 * Copies an item into the queue, either at the front of the queue or the
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184 * back of the queue.
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186 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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189 * Copies an item out of a queue.
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191 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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193 #if ( configUSE_QUEUE_SETS == 1 )
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195 * Checks to see if a queue is a member of a queue set, and if so, notifies
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196 * the queue set that the queue contains data.
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198 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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202 * Called after a Queue_t structure has been allocated either statically or
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203 * dynamically to fill in the structure's members.
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205 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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208 * Mutexes are a special type of queue. When a mutex is created, first the
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209 * queue is created, then prvInitialiseMutex() is called to configure the queue
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212 #if( configUSE_MUTEXES == 1 )
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213 static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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216 #if( configUSE_MUTEXES == 1 )
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218 * If a task waiting for a mutex causes the mutex holder to inherit a
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219 * priority, but the waiting task times out, then the holder should
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220 * disinherit the priority - but only down to the highest priority of any
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221 * other tasks that are waiting for the same mutex. This function returns
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224 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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226 /*-----------------------------------------------------------*/
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229 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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230 * accessing the queue event lists.
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232 #define prvLockQueue( pxQueue ) \
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233 taskENTER_CRITICAL(); \
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235 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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237 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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239 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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241 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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244 taskEXIT_CRITICAL()
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245 /*-----------------------------------------------------------*/
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247 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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249 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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251 configASSERT( pxQueue );
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253 taskENTER_CRITICAL();
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255 pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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256 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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257 pxQueue->pcWriteTo = pxQueue->pcHead;
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258 pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 1U ) * pxQueue->uxItemSize );
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259 pxQueue->cRxLock = queueUNLOCKED;
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260 pxQueue->cTxLock = queueUNLOCKED;
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262 if( xNewQueue == pdFALSE )
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264 /* If there are tasks blocked waiting to read from the queue, then
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265 the tasks will remain blocked as after this function exits the queue
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266 will still be empty. If there are tasks blocked waiting to write to
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267 the queue, then one should be unblocked as after this function exits
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268 it will be possible to write to it. */
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269 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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271 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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273 queueYIELD_IF_USING_PREEMPTION();
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277 mtCOVERAGE_TEST_MARKER();
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282 mtCOVERAGE_TEST_MARKER();
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287 /* Ensure the event queues start in the correct state. */
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288 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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289 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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292 taskEXIT_CRITICAL();
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294 /* A value is returned for calling semantic consistency with previous
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298 /*-----------------------------------------------------------*/
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300 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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302 QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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304 Queue_t *pxNewQueue;
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306 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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308 /* The StaticQueue_t structure and the queue storage area must be
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310 configASSERT( pxStaticQueue != NULL );
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312 /* A queue storage area should be provided if the item size is not 0, and
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313 should not be provided if the item size is 0. */
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314 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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315 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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317 #if( configASSERT_DEFINED == 1 )
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319 /* Sanity check that the size of the structure used to declare a
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320 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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321 the real queue and semaphore structures. */
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322 volatile size_t xSize = sizeof( StaticQueue_t );
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323 configASSERT( xSize == sizeof( Queue_t ) );
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325 #endif /* configASSERT_DEFINED */
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327 /* The address of a statically allocated queue was passed in, use it.
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328 The address of a statically allocated storage area was also passed in
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329 but is already set. */
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330 pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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332 if( pxNewQueue != NULL )
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334 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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336 /* Queues can be allocated wither statically or dynamically, so
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337 note this queue was allocated statically in case the queue is
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339 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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341 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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343 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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347 traceQUEUE_CREATE_FAILED( ucQueueType );
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353 #endif /* configSUPPORT_STATIC_ALLOCATION */
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354 /*-----------------------------------------------------------*/
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356 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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358 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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360 Queue_t *pxNewQueue;
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361 size_t xQueueSizeInBytes;
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362 uint8_t *pucQueueStorage;
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364 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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366 if( uxItemSize == ( UBaseType_t ) 0 )
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368 /* There is not going to be a queue storage area. */
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369 xQueueSizeInBytes = ( size_t ) 0;
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373 /* Allocate enough space to hold the maximum number of items that
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374 can be in the queue at any time. */
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375 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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378 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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380 if( pxNewQueue != NULL )
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382 /* Jump past the queue structure to find the location of the queue
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384 pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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386 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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388 /* Queues can be created either statically or dynamically, so
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389 note this task was created dynamically in case it is later
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391 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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393 #endif /* configSUPPORT_STATIC_ALLOCATION */
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395 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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399 traceQUEUE_CREATE_FAILED( ucQueueType );
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405 #endif /* configSUPPORT_STATIC_ALLOCATION */
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406 /*-----------------------------------------------------------*/
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408 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
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410 /* Remove compiler warnings about unused parameters should
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411 configUSE_TRACE_FACILITY not be set to 1. */
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412 ( void ) ucQueueType;
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414 if( uxItemSize == ( UBaseType_t ) 0 )
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416 /* No RAM was allocated for the queue storage area, but PC head cannot
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417 be set to NULL because NULL is used as a key to say the queue is used as
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418 a mutex. Therefore just set pcHead to point to the queue as a benign
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419 value that is known to be within the memory map. */
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420 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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424 /* Set the head to the start of the queue storage area. */
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425 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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428 /* Initialise the queue members as described where the queue type is
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430 pxNewQueue->uxLength = uxQueueLength;
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431 pxNewQueue->uxItemSize = uxItemSize;
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432 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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434 #if ( configUSE_TRACE_FACILITY == 1 )
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436 pxNewQueue->ucQueueType = ucQueueType;
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438 #endif /* configUSE_TRACE_FACILITY */
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440 #if( configUSE_QUEUE_SETS == 1 )
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442 pxNewQueue->pxQueueSetContainer = NULL;
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444 #endif /* configUSE_QUEUE_SETS */
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446 traceQUEUE_CREATE( pxNewQueue );
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448 /*-----------------------------------------------------------*/
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450 #if( configUSE_MUTEXES == 1 )
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452 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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454 if( pxNewQueue != NULL )
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456 /* The queue create function will set all the queue structure members
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457 correctly for a generic queue, but this function is creating a
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458 mutex. Overwrite those members that need to be set differently -
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459 in particular the information required for priority inheritance. */
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460 pxNewQueue->pxMutexHolder = NULL;
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461 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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463 /* In case this is a recursive mutex. */
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464 pxNewQueue->u.uxRecursiveCallCount = 0;
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466 traceCREATE_MUTEX( pxNewQueue );
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468 /* Start with the semaphore in the expected state. */
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469 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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473 traceCREATE_MUTEX_FAILED();
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477 #endif /* configUSE_MUTEXES */
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478 /*-----------------------------------------------------------*/
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480 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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482 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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484 Queue_t *pxNewQueue;
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485 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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487 pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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488 prvInitialiseMutex( pxNewQueue );
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493 #endif /* configUSE_MUTEXES */
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494 /*-----------------------------------------------------------*/
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496 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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498 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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500 Queue_t *pxNewQueue;
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501 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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503 /* Prevent compiler warnings about unused parameters if
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504 configUSE_TRACE_FACILITY does not equal 1. */
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505 ( void ) ucQueueType;
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507 pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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508 prvInitialiseMutex( pxNewQueue );
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513 #endif /* configUSE_MUTEXES */
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514 /*-----------------------------------------------------------*/
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516 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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518 void* xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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522 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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523 be called directly. Note: This is a good way of determining if the
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524 calling task is the mutex holder, but not a good way of determining the
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525 identity of the mutex holder, as the holder may change between the
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526 following critical section exiting and the function returning. */
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527 taskENTER_CRITICAL();
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529 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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531 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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538 taskEXIT_CRITICAL();
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541 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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544 /*-----------------------------------------------------------*/
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546 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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548 void* xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
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552 configASSERT( xSemaphore );
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554 /* Mutexes cannot be used in interrupt service routines, so the mutex
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555 holder should not change in an ISR, and therefore a critical section is
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556 not required here. */
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557 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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559 pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder;
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567 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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570 /*-----------------------------------------------------------*/
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572 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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574 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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576 BaseType_t xReturn;
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577 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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579 configASSERT( pxMutex );
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581 /* If this is the task that holds the mutex then pxMutexHolder will not
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582 change outside of this task. If this task does not hold the mutex then
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583 pxMutexHolder can never coincidentally equal the tasks handle, and as
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584 this is the only condition we are interested in it does not matter if
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585 pxMutexHolder is accessed simultaneously by another task. Therefore no
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586 mutual exclusion is required to test the pxMutexHolder variable. */
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587 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */
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589 traceGIVE_MUTEX_RECURSIVE( pxMutex );
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591 /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
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592 the task handle, therefore no underflow check is required. Also,
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593 uxRecursiveCallCount is only modified by the mutex holder, and as
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594 there can only be one, no mutual exclusion is required to modify the
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595 uxRecursiveCallCount member. */
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596 ( pxMutex->u.uxRecursiveCallCount )--;
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598 /* Has the recursive call count unwound to 0? */
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599 if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 )
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601 /* Return the mutex. This will automatically unblock any other
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602 task that might be waiting to access the mutex. */
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603 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
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607 mtCOVERAGE_TEST_MARKER();
\r
614 /* The mutex cannot be given because the calling task is not the
\r
618 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
624 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
625 /*-----------------------------------------------------------*/
\r
627 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
629 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
631 BaseType_t xReturn;
\r
632 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
634 configASSERT( pxMutex );
\r
636 /* Comments regarding mutual exclusion as per those within
\r
637 xQueueGiveMutexRecursive(). */
\r
639 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
641 if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
643 ( pxMutex->u.uxRecursiveCallCount )++;
\r
648 xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
\r
650 /* pdPASS will only be returned if the mutex was successfully
\r
651 obtained. The calling task may have entered the Blocked state
\r
652 before reaching here. */
\r
653 if( xReturn != pdFAIL )
\r
655 ( pxMutex->u.uxRecursiveCallCount )++;
\r
659 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
666 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
667 /*-----------------------------------------------------------*/
\r
669 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
671 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
673 QueueHandle_t xHandle;
\r
675 configASSERT( uxMaxCount != 0 );
\r
676 configASSERT( uxInitialCount <= uxMaxCount );
\r
678 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
680 if( xHandle != NULL )
\r
682 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
684 traceCREATE_COUNTING_SEMAPHORE();
\r
688 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
694 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
695 /*-----------------------------------------------------------*/
\r
697 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
699 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
701 QueueHandle_t xHandle;
\r
703 configASSERT( uxMaxCount != 0 );
\r
704 configASSERT( uxInitialCount <= uxMaxCount );
\r
706 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
708 if( xHandle != NULL )
\r
710 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
712 traceCREATE_COUNTING_SEMAPHORE();
\r
716 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
722 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
723 /*-----------------------------------------------------------*/
\r
725 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
727 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
728 TimeOut_t xTimeOut;
\r
729 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
731 configASSERT( pxQueue );
\r
732 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
733 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
734 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
736 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
741 /* This function relaxes the coding standard somewhat to allow return
\r
742 statements within the function itself. This is done in the interest
\r
743 of execution time efficiency. */
\r
746 taskENTER_CRITICAL();
\r
748 /* Is there room on the queue now? The running task must be the
\r
749 highest priority task wanting to access the queue. If the head item
\r
750 in the queue is to be overwritten then it does not matter if the
\r
752 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
754 traceQUEUE_SEND( pxQueue );
\r
755 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
757 #if ( configUSE_QUEUE_SETS == 1 )
\r
759 if( pxQueue->pxQueueSetContainer != NULL )
\r
761 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
763 /* The queue is a member of a queue set, and posting
\r
764 to the queue set caused a higher priority task to
\r
765 unblock. A context switch is required. */
\r
766 queueYIELD_IF_USING_PREEMPTION();
\r
770 mtCOVERAGE_TEST_MARKER();
\r
775 /* If there was a task waiting for data to arrive on the
\r
776 queue then unblock it now. */
\r
777 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
779 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
781 /* The unblocked task has a priority higher than
\r
782 our own so yield immediately. Yes it is ok to
\r
783 do this from within the critical section - the
\r
784 kernel takes care of that. */
\r
785 queueYIELD_IF_USING_PREEMPTION();
\r
789 mtCOVERAGE_TEST_MARKER();
\r
792 else if( xYieldRequired != pdFALSE )
\r
794 /* This path is a special case that will only get
\r
795 executed if the task was holding multiple mutexes
\r
796 and the mutexes were given back in an order that is
\r
797 different to that in which they were taken. */
\r
798 queueYIELD_IF_USING_PREEMPTION();
\r
802 mtCOVERAGE_TEST_MARKER();
\r
806 #else /* configUSE_QUEUE_SETS */
\r
808 /* If there was a task waiting for data to arrive on the
\r
809 queue then unblock it now. */
\r
810 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
812 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
814 /* The unblocked task has a priority higher than
\r
815 our own so yield immediately. Yes it is ok to do
\r
816 this from within the critical section - the kernel
\r
817 takes care of that. */
\r
818 queueYIELD_IF_USING_PREEMPTION();
\r
822 mtCOVERAGE_TEST_MARKER();
\r
825 else if( xYieldRequired != pdFALSE )
\r
827 /* This path is a special case that will only get
\r
828 executed if the task was holding multiple mutexes and
\r
829 the mutexes were given back in an order that is
\r
830 different to that in which they were taken. */
\r
831 queueYIELD_IF_USING_PREEMPTION();
\r
835 mtCOVERAGE_TEST_MARKER();
\r
838 #endif /* configUSE_QUEUE_SETS */
\r
840 taskEXIT_CRITICAL();
\r
845 if( xTicksToWait == ( TickType_t ) 0 )
\r
847 /* The queue was full and no block time is specified (or
\r
848 the block time has expired) so leave now. */
\r
849 taskEXIT_CRITICAL();
\r
851 /* Return to the original privilege level before exiting
\r
853 traceQUEUE_SEND_FAILED( pxQueue );
\r
854 return errQUEUE_FULL;
\r
856 else if( xEntryTimeSet == pdFALSE )
\r
858 /* The queue was full and a block time was specified so
\r
859 configure the timeout structure. */
\r
860 vTaskInternalSetTimeOutState( &xTimeOut );
\r
861 xEntryTimeSet = pdTRUE;
\r
865 /* Entry time was already set. */
\r
866 mtCOVERAGE_TEST_MARKER();
\r
870 taskEXIT_CRITICAL();
\r
872 /* Interrupts and other tasks can send to and receive from the queue
\r
873 now the critical section has been exited. */
\r
876 prvLockQueue( pxQueue );
\r
878 /* Update the timeout state to see if it has expired yet. */
\r
879 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
881 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
883 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
884 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
886 /* Unlocking the queue means queue events can effect the
\r
887 event list. It is possible that interrupts occurring now
\r
888 remove this task from the event list again - but as the
\r
889 scheduler is suspended the task will go onto the pending
\r
890 ready last instead of the actual ready list. */
\r
891 prvUnlockQueue( pxQueue );
\r
893 /* Resuming the scheduler will move tasks from the pending
\r
894 ready list into the ready list - so it is feasible that this
\r
895 task is already in a ready list before it yields - in which
\r
896 case the yield will not cause a context switch unless there
\r
897 is also a higher priority task in the pending ready list. */
\r
898 if( xTaskResumeAll() == pdFALSE )
\r
900 portYIELD_WITHIN_API();
\r
906 prvUnlockQueue( pxQueue );
\r
907 ( void ) xTaskResumeAll();
\r
912 /* The timeout has expired. */
\r
913 prvUnlockQueue( pxQueue );
\r
914 ( void ) xTaskResumeAll();
\r
916 traceQUEUE_SEND_FAILED( pxQueue );
\r
917 return errQUEUE_FULL;
\r
921 /*-----------------------------------------------------------*/
\r
923 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
925 BaseType_t xReturn;
\r
926 UBaseType_t uxSavedInterruptStatus;
\r
927 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
929 configASSERT( pxQueue );
\r
930 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
931 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
933 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
934 system call (or maximum API call) interrupt priority. Interrupts that are
\r
935 above the maximum system call priority are kept permanently enabled, even
\r
936 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
937 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
938 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
939 failure if a FreeRTOS API function is called from an interrupt that has been
\r
940 assigned a priority above the configured maximum system call priority.
\r
941 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
942 that have been assigned a priority at or (logically) below the maximum
\r
943 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
944 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
945 More information (albeit Cortex-M specific) is provided on the following
\r
946 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
947 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
949 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
950 in the queue. Also don't directly wake a task that was blocked on a queue
\r
951 read, instead return a flag to say whether a context switch is required or
\r
952 not (i.e. has a task with a higher priority than us been woken by this
\r
954 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
956 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
958 const int8_t cTxLock = pxQueue->cTxLock;
\r
960 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
962 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
963 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
964 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
965 called here even though the disinherit function does not check if
\r
966 the scheduler is suspended before accessing the ready lists. */
\r
967 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
969 /* The event list is not altered if the queue is locked. This will
\r
970 be done when the queue is unlocked later. */
\r
971 if( cTxLock == queueUNLOCKED )
\r
973 #if ( configUSE_QUEUE_SETS == 1 )
\r
975 if( pxQueue->pxQueueSetContainer != NULL )
\r
977 if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
\r
979 /* The queue is a member of a queue set, and posting
\r
980 to the queue set caused a higher priority task to
\r
981 unblock. A context switch is required. */
\r
982 if( pxHigherPriorityTaskWoken != NULL )
\r
984 *pxHigherPriorityTaskWoken = pdTRUE;
\r
988 mtCOVERAGE_TEST_MARKER();
\r
993 mtCOVERAGE_TEST_MARKER();
\r
998 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1000 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1002 /* The task waiting has a higher priority so
\r
1003 record that a context switch is required. */
\r
1004 if( pxHigherPriorityTaskWoken != NULL )
\r
1006 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1010 mtCOVERAGE_TEST_MARKER();
\r
1015 mtCOVERAGE_TEST_MARKER();
\r
1020 mtCOVERAGE_TEST_MARKER();
\r
1024 #else /* configUSE_QUEUE_SETS */
\r
1026 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1028 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1030 /* The task waiting has a higher priority so record that a
\r
1031 context switch is required. */
\r
1032 if( pxHigherPriorityTaskWoken != NULL )
\r
1034 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1038 mtCOVERAGE_TEST_MARKER();
\r
1043 mtCOVERAGE_TEST_MARKER();
\r
1048 mtCOVERAGE_TEST_MARKER();
\r
1051 #endif /* configUSE_QUEUE_SETS */
\r
1055 /* Increment the lock count so the task that unlocks the queue
\r
1056 knows that data was posted while it was locked. */
\r
1057 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1064 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1065 xReturn = errQUEUE_FULL;
\r
1068 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1072 /*-----------------------------------------------------------*/
\r
1074 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1076 BaseType_t xReturn;
\r
1077 UBaseType_t uxSavedInterruptStatus;
\r
1078 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1080 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1081 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1082 read, instead return a flag to say whether a context switch is required or
\r
1083 not (i.e. has a task with a higher priority than us been woken by this
\r
1086 configASSERT( pxQueue );
\r
1088 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1089 if the item size is not 0. */
\r
1090 configASSERT( pxQueue->uxItemSize == 0 );
\r
1092 /* Normally a mutex would not be given from an interrupt, especially if
\r
1093 there is a mutex holder, as priority inheritance makes no sense for an
\r
1094 interrupts, only tasks. */
\r
1095 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) );
\r
1097 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1098 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1099 above the maximum system call priority are kept permanently enabled, even
\r
1100 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1101 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1102 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1103 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1104 assigned a priority above the configured maximum system call priority.
\r
1105 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1106 that have been assigned a priority at or (logically) below the maximum
\r
1107 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1108 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1109 More information (albeit Cortex-M specific) is provided on the following
\r
1110 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1111 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1113 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1115 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1117 /* When the queue is used to implement a semaphore no data is ever
\r
1118 moved through the queue but it is still valid to see if the queue 'has
\r
1120 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1122 const int8_t cTxLock = pxQueue->cTxLock;
\r
1124 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1126 /* A task can only have an inherited priority if it is a mutex
\r
1127 holder - and if there is a mutex holder then the mutex cannot be
\r
1128 given from an ISR. As this is the ISR version of the function it
\r
1129 can be assumed there is no mutex holder and no need to determine if
\r
1130 priority disinheritance is needed. Simply increase the count of
\r
1131 messages (semaphores) available. */
\r
1132 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1134 /* The event list is not altered if the queue is locked. This will
\r
1135 be done when the queue is unlocked later. */
\r
1136 if( cTxLock == queueUNLOCKED )
\r
1138 #if ( configUSE_QUEUE_SETS == 1 )
\r
1140 if( pxQueue->pxQueueSetContainer != NULL )
\r
1142 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
1144 /* The semaphore is a member of a queue set, and
\r
1145 posting to the queue set caused a higher priority
\r
1146 task to unblock. A 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 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1165 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1167 /* The task waiting has a higher priority so
\r
1168 record that a context switch is required. */
\r
1169 if( pxHigherPriorityTaskWoken != NULL )
\r
1171 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1175 mtCOVERAGE_TEST_MARKER();
\r
1180 mtCOVERAGE_TEST_MARKER();
\r
1185 mtCOVERAGE_TEST_MARKER();
\r
1189 #else /* configUSE_QUEUE_SETS */
\r
1191 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1193 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1195 /* The task waiting has a higher priority so record that a
\r
1196 context switch is required. */
\r
1197 if( pxHigherPriorityTaskWoken != NULL )
\r
1199 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1203 mtCOVERAGE_TEST_MARKER();
\r
1208 mtCOVERAGE_TEST_MARKER();
\r
1213 mtCOVERAGE_TEST_MARKER();
\r
1216 #endif /* configUSE_QUEUE_SETS */
\r
1220 /* Increment the lock count so the task that unlocks the queue
\r
1221 knows that data was posted while it was locked. */
\r
1222 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1229 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1230 xReturn = errQUEUE_FULL;
\r
1233 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1237 /*-----------------------------------------------------------*/
\r
1239 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1241 BaseType_t xEntryTimeSet = pdFALSE;
\r
1242 TimeOut_t xTimeOut;
\r
1243 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1245 /* Check the pointer is not NULL. */
\r
1246 configASSERT( ( pxQueue ) );
\r
1248 /* The buffer into which data is received can only be NULL if the data size
\r
1249 is zero (so no data is copied into the buffer. */
\r
1250 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1252 /* Cannot block if the scheduler is suspended. */
\r
1253 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1255 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1260 /* This function relaxes the coding standard somewhat to allow return
\r
1261 statements within the function itself. This is done in the interest
\r
1262 of execution time efficiency. */
\r
1266 taskENTER_CRITICAL();
\r
1268 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1270 /* Is there data in the queue now? To be running the calling task
\r
1271 must be the highest priority task wanting to access the queue. */
\r
1272 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1274 /* Data available, remove one item. */
\r
1275 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1276 traceQUEUE_RECEIVE( pxQueue );
\r
1277 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1279 /* There is now space in the queue, were any tasks waiting to
\r
1280 post to the queue? If so, unblock the highest priority waiting
\r
1282 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1284 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1286 queueYIELD_IF_USING_PREEMPTION();
\r
1290 mtCOVERAGE_TEST_MARKER();
\r
1295 mtCOVERAGE_TEST_MARKER();
\r
1298 taskEXIT_CRITICAL();
\r
1303 if( xTicksToWait == ( TickType_t ) 0 )
\r
1305 /* The queue was empty and no block time is specified (or
\r
1306 the block time has expired) so leave now. */
\r
1307 taskEXIT_CRITICAL();
\r
1308 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1309 return errQUEUE_EMPTY;
\r
1311 else if( xEntryTimeSet == pdFALSE )
\r
1313 /* The queue was empty and a block time was specified so
\r
1314 configure the timeout structure. */
\r
1315 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1316 xEntryTimeSet = pdTRUE;
\r
1320 /* Entry time was already set. */
\r
1321 mtCOVERAGE_TEST_MARKER();
\r
1325 taskEXIT_CRITICAL();
\r
1327 /* Interrupts and other tasks can send to and receive from the queue
\r
1328 now the critical section has been exited. */
\r
1330 vTaskSuspendAll();
\r
1331 prvLockQueue( pxQueue );
\r
1333 /* Update the timeout state to see if it has expired yet. */
\r
1334 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1336 /* The timeout has not expired. If the queue is still empty place
\r
1337 the task on the list of tasks waiting to receive from the queue. */
\r
1338 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1340 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1341 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1342 prvUnlockQueue( pxQueue );
\r
1343 if( xTaskResumeAll() == pdFALSE )
\r
1345 portYIELD_WITHIN_API();
\r
1349 mtCOVERAGE_TEST_MARKER();
\r
1354 /* The queue contains data again. Loop back to try and read the
\r
1356 prvUnlockQueue( pxQueue );
\r
1357 ( void ) xTaskResumeAll();
\r
1362 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1363 back and attempt to read the data. */
\r
1364 prvUnlockQueue( pxQueue );
\r
1365 ( void ) xTaskResumeAll();
\r
1367 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1369 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1370 return errQUEUE_EMPTY;
\r
1374 mtCOVERAGE_TEST_MARKER();
\r
1379 /*-----------------------------------------------------------*/
\r
1381 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1383 BaseType_t xEntryTimeSet = pdFALSE;
\r
1384 TimeOut_t xTimeOut;
\r
1385 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1387 #if( configUSE_MUTEXES == 1 )
\r
1388 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1391 /* Check the queue pointer is not NULL. */
\r
1392 configASSERT( ( pxQueue ) );
\r
1394 /* Check this really is a semaphore, in which case the item size will be
\r
1396 configASSERT( pxQueue->uxItemSize == 0 );
\r
1398 /* Cannot block if the scheduler is suspended. */
\r
1399 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1401 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1406 /* This function relaxes the coding standard somewhat to allow return
\r
1407 statements within the function itself. This is done in the interest
\r
1408 of execution time efficiency. */
\r
1412 taskENTER_CRITICAL();
\r
1414 /* Semaphores are queues with an item size of 0, and where the
\r
1415 number of messages in the queue is the semaphore's count value. */
\r
1416 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1418 /* Is there data in the queue now? To be running the calling task
\r
1419 must be the highest priority task wanting to access the queue. */
\r
1420 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1422 traceQUEUE_RECEIVE( pxQueue );
\r
1424 /* Semaphores are queues with a data size of zero and where the
\r
1425 messages waiting is the semaphore's count. Reduce the count. */
\r
1426 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1428 #if ( configUSE_MUTEXES == 1 )
\r
1430 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1432 /* Record the information required to implement
\r
1433 priority inheritance should it become necessary. */
\r
1434 pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */
\r
1438 mtCOVERAGE_TEST_MARKER();
\r
1441 #endif /* configUSE_MUTEXES */
\r
1443 /* Check to see if other tasks are blocked waiting to give the
\r
1444 semaphore, and if so, unblock the highest priority such task. */
\r
1445 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1447 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1449 queueYIELD_IF_USING_PREEMPTION();
\r
1453 mtCOVERAGE_TEST_MARKER();
\r
1458 mtCOVERAGE_TEST_MARKER();
\r
1461 taskEXIT_CRITICAL();
\r
1466 if( xTicksToWait == ( TickType_t ) 0 )
\r
1468 /* For inheritance to have occurred there must have been an
\r
1469 initial timeout, and an adjusted timeout cannot become 0, as
\r
1470 if it were 0 the function would have exited. */
\r
1471 #if( configUSE_MUTEXES == 1 )
\r
1473 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1475 #endif /* configUSE_MUTEXES */
\r
1477 /* The semaphore count was 0 and no block time is specified
\r
1478 (or the block time has expired) so exit now. */
\r
1479 taskEXIT_CRITICAL();
\r
1480 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1481 return errQUEUE_EMPTY;
\r
1483 else if( xEntryTimeSet == pdFALSE )
\r
1485 /* The semaphore count was 0 and a block time was specified
\r
1486 so configure the timeout structure ready to block. */
\r
1487 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1488 xEntryTimeSet = pdTRUE;
\r
1492 /* Entry time was already set. */
\r
1493 mtCOVERAGE_TEST_MARKER();
\r
1497 taskEXIT_CRITICAL();
\r
1499 /* Interrupts and other tasks can give to and take from the semaphore
\r
1500 now the critical section has been exited. */
\r
1502 vTaskSuspendAll();
\r
1503 prvLockQueue( pxQueue );
\r
1505 /* Update the timeout state to see if it has expired yet. */
\r
1506 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1508 /* A block time is specified and not expired. If the semaphore
\r
1509 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1510 become available. As semaphores are implemented with queues the
\r
1511 queue being empty is equivalent to the semaphore count being 0. */
\r
1512 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1514 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1516 #if ( configUSE_MUTEXES == 1 )
\r
1518 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1520 taskENTER_CRITICAL();
\r
1522 xInheritanceOccurred = xTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
\r
1524 taskEXIT_CRITICAL();
\r
1528 mtCOVERAGE_TEST_MARKER();
\r
1533 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1534 prvUnlockQueue( pxQueue );
\r
1535 if( xTaskResumeAll() == pdFALSE )
\r
1537 portYIELD_WITHIN_API();
\r
1541 mtCOVERAGE_TEST_MARKER();
\r
1546 /* There was no timeout and the semaphore count was not 0, so
\r
1547 attempt to take the semaphore again. */
\r
1548 prvUnlockQueue( pxQueue );
\r
1549 ( void ) xTaskResumeAll();
\r
1555 prvUnlockQueue( pxQueue );
\r
1556 ( void ) xTaskResumeAll();
\r
1558 /* If the semaphore count is 0 exit now as the timeout has
\r
1559 expired. Otherwise return to attempt to take the semaphore that is
\r
1560 known to be available. As semaphores are implemented by queues the
\r
1561 queue being empty is equivalent to the semaphore count being 0. */
\r
1562 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1564 #if ( configUSE_MUTEXES == 1 )
\r
1566 /* xInheritanceOccurred could only have be set if
\r
1567 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1568 test the mutex type again to check it is actually a mutex. */
\r
1569 if( xInheritanceOccurred != pdFALSE )
\r
1571 taskENTER_CRITICAL();
\r
1573 UBaseType_t uxHighestWaitingPriority;
\r
1575 /* This task blocking on the mutex caused another
\r
1576 task to inherit this task's priority. Now this task
\r
1577 has timed out the priority should be disinherited
\r
1578 again, but only as low as the next highest priority
\r
1579 task that is waiting for the same mutex. */
\r
1580 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1581 vTaskPriorityDisinheritAfterTimeout( ( void * ) pxQueue->pxMutexHolder, uxHighestWaitingPriority );
\r
1583 taskEXIT_CRITICAL();
\r
1586 #endif /* configUSE_MUTEXES */
\r
1588 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1589 return errQUEUE_EMPTY;
\r
1593 mtCOVERAGE_TEST_MARKER();
\r
1598 /*-----------------------------------------------------------*/
\r
1600 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1602 BaseType_t xEntryTimeSet = pdFALSE;
\r
1603 TimeOut_t xTimeOut;
\r
1604 int8_t *pcOriginalReadPosition;
\r
1605 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1607 /* Check the pointer is not NULL. */
\r
1608 configASSERT( ( pxQueue ) );
\r
1610 /* The buffer into which data is received can only be NULL if the data size
\r
1611 is zero (so no data is copied into the buffer. */
\r
1612 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1614 /* Cannot block if the scheduler is suspended. */
\r
1615 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1617 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1622 /* This function relaxes the coding standard somewhat to allow return
\r
1623 statements within the function itself. This is done in the interest
\r
1624 of execution time efficiency. */
\r
1628 taskENTER_CRITICAL();
\r
1630 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1632 /* Is there data in the queue now? To be running the calling task
\r
1633 must be the highest priority task wanting to access the queue. */
\r
1634 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1636 /* Remember the read position so it can be reset after the data
\r
1637 is read from the queue as this function is only peeking the
\r
1638 data, not removing it. */
\r
1639 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1641 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1642 traceQUEUE_PEEK( pxQueue );
\r
1644 /* The data is not being removed, so reset the read pointer. */
\r
1645 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1647 /* The data is being left in the queue, so see if there are
\r
1648 any other tasks waiting for the data. */
\r
1649 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1651 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1653 /* The task waiting has a higher priority than this task. */
\r
1654 queueYIELD_IF_USING_PREEMPTION();
\r
1658 mtCOVERAGE_TEST_MARKER();
\r
1663 mtCOVERAGE_TEST_MARKER();
\r
1666 taskEXIT_CRITICAL();
\r
1671 if( xTicksToWait == ( TickType_t ) 0 )
\r
1673 /* The queue was empty and no block time is specified (or
\r
1674 the block time has expired) so leave now. */
\r
1675 taskEXIT_CRITICAL();
\r
1676 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1677 return errQUEUE_EMPTY;
\r
1679 else if( xEntryTimeSet == pdFALSE )
\r
1681 /* The queue was empty and a block time was specified so
\r
1682 configure the timeout structure ready to enter the blocked
\r
1684 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1685 xEntryTimeSet = pdTRUE;
\r
1689 /* Entry time was already set. */
\r
1690 mtCOVERAGE_TEST_MARKER();
\r
1694 taskEXIT_CRITICAL();
\r
1696 /* Interrupts and other tasks can send to and receive from the queue
\r
1697 now the critical section has been exited. */
\r
1699 vTaskSuspendAll();
\r
1700 prvLockQueue( pxQueue );
\r
1702 /* Update the timeout state to see if it has expired yet. */
\r
1703 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1705 /* Timeout has not expired yet, check to see if there is data in the
\r
1706 queue now, and if not enter the Blocked state to wait for data. */
\r
1707 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1709 traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
\r
1710 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1711 prvUnlockQueue( pxQueue );
\r
1712 if( xTaskResumeAll() == pdFALSE )
\r
1714 portYIELD_WITHIN_API();
\r
1718 mtCOVERAGE_TEST_MARKER();
\r
1723 /* There is data in the queue now, so don't enter the blocked
\r
1724 state, instead return to try and obtain the data. */
\r
1725 prvUnlockQueue( pxQueue );
\r
1726 ( void ) xTaskResumeAll();
\r
1731 /* The timeout has expired. If there is still no data in the queue
\r
1732 exit, otherwise go back and try to read the data again. */
\r
1733 prvUnlockQueue( pxQueue );
\r
1734 ( void ) xTaskResumeAll();
\r
1736 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1738 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1739 return errQUEUE_EMPTY;
\r
1743 mtCOVERAGE_TEST_MARKER();
\r
1748 /*-----------------------------------------------------------*/
\r
1750 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1752 BaseType_t xReturn;
\r
1753 UBaseType_t uxSavedInterruptStatus;
\r
1754 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1756 configASSERT( pxQueue );
\r
1757 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1759 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1760 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1761 above the maximum system call priority are kept permanently enabled, even
\r
1762 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1763 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1764 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1765 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1766 assigned a priority above the configured maximum system call priority.
\r
1767 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1768 that have been assigned a priority at or (logically) below the maximum
\r
1769 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1770 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1771 More information (albeit Cortex-M specific) is provided on the following
\r
1772 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1773 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1775 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1777 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1779 /* Cannot block in an ISR, so check there is data available. */
\r
1780 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1782 const int8_t cRxLock = pxQueue->cRxLock;
\r
1784 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1786 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1787 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1789 /* If the queue is locked the event list will not be modified.
\r
1790 Instead update the lock count so the task that unlocks the queue
\r
1791 will know that an ISR has removed data while the queue was
\r
1793 if( cRxLock == queueUNLOCKED )
\r
1795 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1797 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1799 /* The task waiting has a higher priority than us so
\r
1800 force a context switch. */
\r
1801 if( pxHigherPriorityTaskWoken != NULL )
\r
1803 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1807 mtCOVERAGE_TEST_MARKER();
\r
1812 mtCOVERAGE_TEST_MARKER();
\r
1817 mtCOVERAGE_TEST_MARKER();
\r
1822 /* Increment the lock count so the task that unlocks the queue
\r
1823 knows that data was removed while it was locked. */
\r
1824 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1832 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1835 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1839 /*-----------------------------------------------------------*/
\r
1841 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1843 BaseType_t xReturn;
\r
1844 UBaseType_t uxSavedInterruptStatus;
\r
1845 int8_t *pcOriginalReadPosition;
\r
1846 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1848 configASSERT( pxQueue );
\r
1849 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1850 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1852 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1853 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1854 above the maximum system call priority are kept permanently enabled, even
\r
1855 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1856 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1857 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1858 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1859 assigned a priority above the configured maximum system call priority.
\r
1860 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1861 that have been assigned a priority at or (logically) below the maximum
\r
1862 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1863 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1864 More information (albeit Cortex-M specific) is provided on the following
\r
1865 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1866 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1868 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1870 /* Cannot block in an ISR, so check there is data available. */
\r
1871 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1873 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1875 /* Remember the read position so it can be reset as nothing is
\r
1876 actually being removed from the queue. */
\r
1877 pcOriginalReadPosition = pxQueue->u.pcReadFrom;
\r
1878 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1879 pxQueue->u.pcReadFrom = pcOriginalReadPosition;
\r
1886 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1889 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1893 /*-----------------------------------------------------------*/
\r
1895 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1897 UBaseType_t uxReturn;
\r
1899 configASSERT( xQueue );
\r
1901 taskENTER_CRITICAL();
\r
1903 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1905 taskEXIT_CRITICAL();
\r
1908 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1909 /*-----------------------------------------------------------*/
\r
1911 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1913 UBaseType_t uxReturn;
\r
1916 pxQueue = ( Queue_t * ) xQueue;
\r
1917 configASSERT( pxQueue );
\r
1919 taskENTER_CRITICAL();
\r
1921 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1923 taskEXIT_CRITICAL();
\r
1926 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1927 /*-----------------------------------------------------------*/
\r
1929 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1931 UBaseType_t uxReturn;
\r
1933 configASSERT( xQueue );
\r
1935 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1938 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1939 /*-----------------------------------------------------------*/
\r
1941 void vQueueDelete( QueueHandle_t xQueue )
\r
1943 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
1945 configASSERT( pxQueue );
\r
1946 traceQUEUE_DELETE( pxQueue );
\r
1948 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1950 vQueueUnregisterQueue( pxQueue );
\r
1954 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
1956 /* The queue can only have been allocated dynamically - free it
\r
1958 vPortFree( pxQueue );
\r
1960 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
1962 /* The queue could have been allocated statically or dynamically, so
\r
1963 check before attempting to free the memory. */
\r
1964 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
1966 vPortFree( pxQueue );
\r
1970 mtCOVERAGE_TEST_MARKER();
\r
1975 /* The queue must have been statically allocated, so is not going to be
\r
1976 deleted. Avoid compiler warnings about the unused parameter. */
\r
1979 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
1981 /*-----------------------------------------------------------*/
\r
1983 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1985 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
1987 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
1990 #endif /* configUSE_TRACE_FACILITY */
\r
1991 /*-----------------------------------------------------------*/
\r
1993 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1995 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
1997 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2000 #endif /* configUSE_TRACE_FACILITY */
\r
2001 /*-----------------------------------------------------------*/
\r
2003 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2005 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2007 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2010 #endif /* configUSE_TRACE_FACILITY */
\r
2011 /*-----------------------------------------------------------*/
\r
2013 #if( configUSE_MUTEXES == 1 )
\r
2015 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2017 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2019 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2020 priority, but the waiting task times out, then the holder should
\r
2021 disinherit the priority - but only down to the highest priority of any
\r
2022 other tasks that are waiting for the same mutex. For this purpose,
\r
2023 return the priority of the highest priority task that is waiting for the
\r
2025 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0 )
\r
2027 uxHighestPriorityOfWaitingTasks = configMAX_PRIORITIES - listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2031 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2034 return uxHighestPriorityOfWaitingTasks;
\r
2037 #endif /* configUSE_MUTEXES */
\r
2038 /*-----------------------------------------------------------*/
\r
2040 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2042 BaseType_t xReturn = pdFALSE;
\r
2043 UBaseType_t uxMessagesWaiting;
\r
2045 /* This function is called from a critical section. */
\r
2047 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2049 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2051 #if ( configUSE_MUTEXES == 1 )
\r
2053 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2055 /* The mutex is no longer being held. */
\r
2056 xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
\r
2057 pxQueue->pxMutexHolder = NULL;
\r
2061 mtCOVERAGE_TEST_MARKER();
\r
2064 #endif /* configUSE_MUTEXES */
\r
2066 else if( xPosition == queueSEND_TO_BACK )
\r
2068 ( 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
2069 pxQueue->pcWriteTo += pxQueue->uxItemSize;
\r
2070 if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2072 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2076 mtCOVERAGE_TEST_MARKER();
\r
2081 ( 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
2082 pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
\r
2083 if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2085 pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
\r
2089 mtCOVERAGE_TEST_MARKER();
\r
2092 if( xPosition == queueOVERWRITE )
\r
2094 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2096 /* An item is not being added but overwritten, so subtract
\r
2097 one from the recorded number of items in the queue so when
\r
2098 one is added again below the number of recorded items remains
\r
2100 --uxMessagesWaiting;
\r
2104 mtCOVERAGE_TEST_MARKER();
\r
2109 mtCOVERAGE_TEST_MARKER();
\r
2113 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2117 /*-----------------------------------------------------------*/
\r
2119 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2121 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2123 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2124 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
2126 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2130 mtCOVERAGE_TEST_MARKER();
\r
2132 ( 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
2135 /*-----------------------------------------------------------*/
\r
2137 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2139 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2141 /* The lock counts contains the number of extra data items placed or
\r
2142 removed from the queue while the queue was locked. When a queue is
\r
2143 locked items can be added or removed, but the event lists cannot be
\r
2145 taskENTER_CRITICAL();
\r
2147 int8_t cTxLock = pxQueue->cTxLock;
\r
2149 /* See if data was added to the queue while it was locked. */
\r
2150 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2152 /* Data was posted while the queue was locked. Are any tasks
\r
2153 blocked waiting for data to become available? */
\r
2154 #if ( configUSE_QUEUE_SETS == 1 )
\r
2156 if( pxQueue->pxQueueSetContainer != NULL )
\r
2158 if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
\r
2160 /* The queue is a member of a queue set, and posting to
\r
2161 the queue set caused a higher priority task to unblock.
\r
2162 A context switch is required. */
\r
2163 vTaskMissedYield();
\r
2167 mtCOVERAGE_TEST_MARKER();
\r
2172 /* Tasks that are removed from the event list will get
\r
2173 added to the pending ready list as the scheduler is still
\r
2175 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2177 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2179 /* The task waiting has a higher priority so record that a
\r
2180 context switch is required. */
\r
2181 vTaskMissedYield();
\r
2185 mtCOVERAGE_TEST_MARKER();
\r
2194 #else /* configUSE_QUEUE_SETS */
\r
2196 /* Tasks that are removed from the event list will get added to
\r
2197 the pending ready list as the scheduler is still suspended. */
\r
2198 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2200 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2202 /* The task waiting has a higher priority so record that
\r
2203 a context switch is required. */
\r
2204 vTaskMissedYield();
\r
2208 mtCOVERAGE_TEST_MARKER();
\r
2216 #endif /* configUSE_QUEUE_SETS */
\r
2221 pxQueue->cTxLock = queueUNLOCKED;
\r
2223 taskEXIT_CRITICAL();
\r
2225 /* Do the same for the Rx lock. */
\r
2226 taskENTER_CRITICAL();
\r
2228 int8_t cRxLock = pxQueue->cRxLock;
\r
2230 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2232 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2234 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2236 vTaskMissedYield();
\r
2240 mtCOVERAGE_TEST_MARKER();
\r
2251 pxQueue->cRxLock = queueUNLOCKED;
\r
2253 taskEXIT_CRITICAL();
\r
2255 /*-----------------------------------------------------------*/
\r
2257 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2259 BaseType_t xReturn;
\r
2261 taskENTER_CRITICAL();
\r
2263 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2269 xReturn = pdFALSE;
\r
2272 taskEXIT_CRITICAL();
\r
2276 /*-----------------------------------------------------------*/
\r
2278 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2280 BaseType_t xReturn;
\r
2282 configASSERT( xQueue );
\r
2283 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2289 xReturn = pdFALSE;
\r
2293 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2294 /*-----------------------------------------------------------*/
\r
2296 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2298 BaseType_t xReturn;
\r
2300 taskENTER_CRITICAL();
\r
2302 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2308 xReturn = pdFALSE;
\r
2311 taskEXIT_CRITICAL();
\r
2315 /*-----------------------------------------------------------*/
\r
2317 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2319 BaseType_t xReturn;
\r
2321 configASSERT( xQueue );
\r
2322 if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength )
\r
2328 xReturn = pdFALSE;
\r
2332 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2333 /*-----------------------------------------------------------*/
\r
2335 #if ( configUSE_CO_ROUTINES == 1 )
\r
2337 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2339 BaseType_t xReturn;
\r
2340 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2342 /* If the queue is already full we may have to block. A critical section
\r
2343 is required to prevent an interrupt removing something from the queue
\r
2344 between the check to see if the queue is full and blocking on the queue. */
\r
2345 portDISABLE_INTERRUPTS();
\r
2347 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2349 /* The queue is full - do we want to block or just leave without
\r
2351 if( xTicksToWait > ( TickType_t ) 0 )
\r
2353 /* As this is called from a coroutine we cannot block directly, but
\r
2354 return indicating that we need to block. */
\r
2355 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2356 portENABLE_INTERRUPTS();
\r
2357 return errQUEUE_BLOCKED;
\r
2361 portENABLE_INTERRUPTS();
\r
2362 return errQUEUE_FULL;
\r
2366 portENABLE_INTERRUPTS();
\r
2368 portDISABLE_INTERRUPTS();
\r
2370 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2372 /* There is room in the queue, copy the data into the queue. */
\r
2373 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2376 /* Were any co-routines waiting for data to become available? */
\r
2377 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2379 /* In this instance the co-routine could be placed directly
\r
2380 into the ready list as we are within a critical section.
\r
2381 Instead the same pending ready list mechanism is used as if
\r
2382 the event were caused from within an interrupt. */
\r
2383 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2385 /* The co-routine waiting has a higher priority so record
\r
2386 that a yield might be appropriate. */
\r
2387 xReturn = errQUEUE_YIELD;
\r
2391 mtCOVERAGE_TEST_MARKER();
\r
2396 mtCOVERAGE_TEST_MARKER();
\r
2401 xReturn = errQUEUE_FULL;
\r
2404 portENABLE_INTERRUPTS();
\r
2409 #endif /* configUSE_CO_ROUTINES */
\r
2410 /*-----------------------------------------------------------*/
\r
2412 #if ( configUSE_CO_ROUTINES == 1 )
\r
2414 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2416 BaseType_t xReturn;
\r
2417 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2419 /* If the queue is already empty we may have to block. A critical section
\r
2420 is required to prevent an interrupt adding something to the queue
\r
2421 between the check to see if the queue is empty and blocking on the queue. */
\r
2422 portDISABLE_INTERRUPTS();
\r
2424 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2426 /* There are no messages in the queue, do we want to block or just
\r
2427 leave with nothing? */
\r
2428 if( xTicksToWait > ( TickType_t ) 0 )
\r
2430 /* As this is a co-routine we cannot block directly, but return
\r
2431 indicating that we need to block. */
\r
2432 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2433 portENABLE_INTERRUPTS();
\r
2434 return errQUEUE_BLOCKED;
\r
2438 portENABLE_INTERRUPTS();
\r
2439 return errQUEUE_FULL;
\r
2444 mtCOVERAGE_TEST_MARKER();
\r
2447 portENABLE_INTERRUPTS();
\r
2449 portDISABLE_INTERRUPTS();
\r
2451 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2453 /* Data is available from the queue. */
\r
2454 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2455 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2457 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2461 mtCOVERAGE_TEST_MARKER();
\r
2463 --( pxQueue->uxMessagesWaiting );
\r
2464 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2468 /* Were any co-routines waiting for space to become available? */
\r
2469 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2471 /* In this instance the co-routine could be placed directly
\r
2472 into the ready list as we are within a critical section.
\r
2473 Instead the same pending ready list mechanism is used as if
\r
2474 the event were caused from within an interrupt. */
\r
2475 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2477 xReturn = errQUEUE_YIELD;
\r
2481 mtCOVERAGE_TEST_MARKER();
\r
2486 mtCOVERAGE_TEST_MARKER();
\r
2494 portENABLE_INTERRUPTS();
\r
2499 #endif /* configUSE_CO_ROUTINES */
\r
2500 /*-----------------------------------------------------------*/
\r
2502 #if ( configUSE_CO_ROUTINES == 1 )
\r
2504 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2506 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2508 /* Cannot block within an ISR so if there is no space on the queue then
\r
2509 exit without doing anything. */
\r
2510 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2512 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2514 /* We only want to wake one co-routine per ISR, so check that a
\r
2515 co-routine has not already been woken. */
\r
2516 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2518 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2520 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2526 mtCOVERAGE_TEST_MARKER();
\r
2531 mtCOVERAGE_TEST_MARKER();
\r
2536 mtCOVERAGE_TEST_MARKER();
\r
2541 mtCOVERAGE_TEST_MARKER();
\r
2544 return xCoRoutinePreviouslyWoken;
\r
2547 #endif /* configUSE_CO_ROUTINES */
\r
2548 /*-----------------------------------------------------------*/
\r
2550 #if ( configUSE_CO_ROUTINES == 1 )
\r
2552 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2554 BaseType_t xReturn;
\r
2555 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2557 /* We cannot block from an ISR, so check there is data available. If
\r
2558 not then just leave without doing anything. */
\r
2559 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2561 /* Copy the data from the queue. */
\r
2562 pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
\r
2563 if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
\r
2565 pxQueue->u.pcReadFrom = pxQueue->pcHead;
\r
2569 mtCOVERAGE_TEST_MARKER();
\r
2571 --( pxQueue->uxMessagesWaiting );
\r
2572 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2574 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2576 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2578 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2580 *pxCoRoutineWoken = pdTRUE;
\r
2584 mtCOVERAGE_TEST_MARKER();
\r
2589 mtCOVERAGE_TEST_MARKER();
\r
2594 mtCOVERAGE_TEST_MARKER();
\r
2607 #endif /* configUSE_CO_ROUTINES */
\r
2608 /*-----------------------------------------------------------*/
\r
2610 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2612 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2616 /* See if there is an empty space in the registry. A NULL name denotes
\r
2618 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2620 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2622 /* Store the information on this queue. */
\r
2623 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2624 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2626 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2631 mtCOVERAGE_TEST_MARKER();
\r
2636 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2637 /*-----------------------------------------------------------*/
\r
2639 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2641 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2644 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2646 /* Note there is nothing here to protect against another task adding or
\r
2647 removing entries from the registry while it is being searched. */
\r
2648 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2650 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2652 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2657 mtCOVERAGE_TEST_MARKER();
\r
2662 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2664 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2665 /*-----------------------------------------------------------*/
\r
2667 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2669 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2673 /* See if the handle of the queue being unregistered in actually in the
\r
2675 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2677 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2679 /* Set the name to NULL to show that this slot if free again. */
\r
2680 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2682 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2683 appear in the registry twice if it is added, removed, then
\r
2685 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2690 mtCOVERAGE_TEST_MARKER();
\r
2694 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2696 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2697 /*-----------------------------------------------------------*/
\r
2699 #if ( configUSE_TIMERS == 1 )
\r
2701 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2703 Queue_t * const pxQueue = ( Queue_t * ) xQueue;
\r
2705 /* This function should not be called by application code hence the
\r
2706 'Restricted' in its name. It is not part of the public API. It is
\r
2707 designed for use by kernel code, and has special calling requirements.
\r
2708 It can result in vListInsert() being called on a list that can only
\r
2709 possibly ever have one item in it, so the list will be fast, but even
\r
2710 so it should be called with the scheduler locked and not from a critical
\r
2713 /* Only do anything if there are no messages in the queue. This function
\r
2714 will not actually cause the task to block, just place it on a blocked
\r
2715 list. It will not block until the scheduler is unlocked - at which
\r
2716 time a yield will be performed. If an item is added to the queue while
\r
2717 the queue is locked, and the calling task blocks on the queue, then the
\r
2718 calling task will be immediately unblocked when the queue is unlocked. */
\r
2719 prvLockQueue( pxQueue );
\r
2720 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2722 /* There is nothing in the queue, block for the specified period. */
\r
2723 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2727 mtCOVERAGE_TEST_MARKER();
\r
2729 prvUnlockQueue( pxQueue );
\r
2732 #endif /* configUSE_TIMERS */
\r
2733 /*-----------------------------------------------------------*/
\r
2735 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2737 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2739 QueueSetHandle_t pxQueue;
\r
2741 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2746 #endif /* configUSE_QUEUE_SETS */
\r
2747 /*-----------------------------------------------------------*/
\r
2749 #if ( configUSE_QUEUE_SETS == 1 )
\r
2751 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2753 BaseType_t xReturn;
\r
2755 taskENTER_CRITICAL();
\r
2757 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2759 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2762 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2764 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2765 items in the queue/semaphore. */
\r
2770 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2774 taskEXIT_CRITICAL();
\r
2779 #endif /* configUSE_QUEUE_SETS */
\r
2780 /*-----------------------------------------------------------*/
\r
2782 #if ( configUSE_QUEUE_SETS == 1 )
\r
2784 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2786 BaseType_t xReturn;
\r
2787 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2789 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2791 /* The queue was not a member of the set. */
\r
2794 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2796 /* It is dangerous to remove a queue from a set when the queue is
\r
2797 not empty because the queue set will still hold pending events for
\r
2803 taskENTER_CRITICAL();
\r
2805 /* The queue is no longer contained in the set. */
\r
2806 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2808 taskEXIT_CRITICAL();
\r
2813 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2815 #endif /* configUSE_QUEUE_SETS */
\r
2816 /*-----------------------------------------------------------*/
\r
2818 #if ( configUSE_QUEUE_SETS == 1 )
\r
2820 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2822 QueueSetMemberHandle_t xReturn = NULL;
\r
2824 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2828 #endif /* configUSE_QUEUE_SETS */
\r
2829 /*-----------------------------------------------------------*/
\r
2831 #if ( configUSE_QUEUE_SETS == 1 )
\r
2833 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2835 QueueSetMemberHandle_t xReturn = NULL;
\r
2837 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2841 #endif /* configUSE_QUEUE_SETS */
\r
2842 /*-----------------------------------------------------------*/
\r
2844 #if ( configUSE_QUEUE_SETS == 1 )
\r
2846 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
\r
2848 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2849 BaseType_t xReturn = pdFALSE;
\r
2851 /* This function must be called form a critical section. */
\r
2853 configASSERT( pxQueueSetContainer );
\r
2854 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2856 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2858 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2860 traceQUEUE_SEND( pxQueueSetContainer );
\r
2862 /* The data copied is the handle of the queue that contains data. */
\r
2863 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
\r
2865 if( cTxLock == queueUNLOCKED )
\r
2867 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2869 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2871 /* The task waiting has a higher priority. */
\r
2876 mtCOVERAGE_TEST_MARKER();
\r
2881 mtCOVERAGE_TEST_MARKER();
\r
2886 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2891 mtCOVERAGE_TEST_MARKER();
\r
2897 #endif /* configUSE_QUEUE_SETS */
\r
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