2 * FreeRTOS Kernel V10.3.1
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3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 all the API functions to use the MPU wrappers. That should only be done when
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33 task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 #include "FreeRTOS.h"
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40 #if ( configUSE_CO_ROUTINES == 1 )
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41 #include "croutine.h"
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44 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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45 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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46 for the header files above, but not in this file, in order to generate the
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47 correct privileged Vs unprivileged linkage and placement. */
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48 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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51 /* Constants used with the cRxLock and cTxLock structure members. */
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52 #define queueUNLOCKED ( ( int8_t ) -1 )
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53 #define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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54 #define queueINT8_MAX ( ( int8_t ) 127 )
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56 /* When the Queue_t structure is used to represent a base queue its pcHead and
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57 pcTail members are used as pointers into the queue storage area. When the
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58 Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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59 not necessary, and the pcHead pointer is set to NULL to indicate that the
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60 structure instead holds a pointer to the mutex holder (if any). Map alternative
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61 names to the pcHead and structure member to ensure the readability of the code
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62 is maintained. The QueuePointers_t and SemaphoreData_t types are used to form
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63 a union as their usage is mutually exclusive dependent on what the queue is
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65 #define uxQueueType pcHead
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66 #define queueQUEUE_IS_MUTEX NULL
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68 typedef struct QueuePointers
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70 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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71 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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74 typedef struct SemaphoreData
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76 TaskHandle_t xMutexHolder; /*< The handle of the task that holds the mutex. */
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77 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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80 /* Semaphores do not actually store or copy data, so have an item size of
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82 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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83 #define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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85 #if( configUSE_PREEMPTION == 0 )
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86 /* If the cooperative scheduler is being used then a yield should not be
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87 performed just because a higher priority task has been woken. */
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88 #define queueYIELD_IF_USING_PREEMPTION()
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90 #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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94 * Definition of the queue used by the scheduler.
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95 * Items are queued by copy, not reference. See the following link for the
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96 * rationale: https://www.freertos.org/Embedded-RTOS-Queues.html
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98 typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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100 int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
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101 int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
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105 QueuePointers_t xQueue; /*< Data required exclusively when this structure is used as a queue. */
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106 SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */
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109 List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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110 List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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112 volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
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113 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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114 UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
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116 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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117 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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119 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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120 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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123 #if ( configUSE_QUEUE_SETS == 1 )
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124 struct QueueDefinition *pxQueueSetContainer;
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127 #if ( configUSE_TRACE_FACILITY == 1 )
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128 UBaseType_t uxQueueNumber;
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129 uint8_t ucQueueType;
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134 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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135 name below to enable the use of older kernel aware debuggers. */
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136 typedef xQUEUE Queue_t;
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138 /*-----------------------------------------------------------*/
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141 * The queue registry is just a means for kernel aware debuggers to locate
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142 * queue structures. It has no other purpose so is an optional component.
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144 #if ( configQUEUE_REGISTRY_SIZE > 0 )
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146 /* The type stored within the queue registry array. This allows a name
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147 to be assigned to each queue making kernel aware debugging a little
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148 more user friendly. */
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149 typedef struct QUEUE_REGISTRY_ITEM
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151 const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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152 QueueHandle_t xHandle;
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153 } xQueueRegistryItem;
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155 /* The old xQueueRegistryItem name is maintained above then typedefed to the
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156 new xQueueRegistryItem name below to enable the use of older kernel aware
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158 typedef xQueueRegistryItem QueueRegistryItem_t;
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160 /* The queue registry is simply an array of QueueRegistryItem_t structures.
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161 The pcQueueName member of a structure being NULL is indicative of the
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162 array position being vacant. */
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163 PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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165 #endif /* configQUEUE_REGISTRY_SIZE */
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168 * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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169 * prevent an ISR from adding or removing items to the queue, but does prevent
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170 * an ISR from removing tasks from the queue event lists. If an ISR finds a
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171 * queue is locked it will instead increment the appropriate queue lock count
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172 * to indicate that a task may require unblocking. When the queue in unlocked
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173 * these lock counts are inspected, and the appropriate action taken.
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175 static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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178 * Uses a critical section to determine if there is any data in a queue.
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180 * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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182 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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185 * Uses a critical section to determine if there is any space in a queue.
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187 * @return pdTRUE if there is no space, otherwise pdFALSE;
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189 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
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192 * Copies an item into the queue, either at the front of the queue or the
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193 * back of the queue.
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195 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
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198 * Copies an item out of a queue.
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200 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
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202 #if ( configUSE_QUEUE_SETS == 1 )
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204 * Checks to see if a queue is a member of a queue set, and if so, notifies
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205 * the queue set that the queue contains data.
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207 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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211 * Called after a Queue_t structure has been allocated either statically or
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212 * dynamically to fill in the structure's members.
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214 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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217 * Mutexes are a special type of queue. When a mutex is created, first the
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218 * queue is created, then prvInitialiseMutex() is called to configure the queue
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221 #if( configUSE_MUTEXES == 1 )
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222 static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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225 #if( configUSE_MUTEXES == 1 )
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227 * If a task waiting for a mutex causes the mutex holder to inherit a
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228 * priority, but the waiting task times out, then the holder should
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229 * disinherit the priority - but only down to the highest priority of any
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230 * other tasks that are waiting for the same mutex. This function returns
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233 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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235 /*-----------------------------------------------------------*/
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238 * Macro to mark a queue as locked. Locking a queue prevents an ISR from
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239 * accessing the queue event lists.
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241 #define prvLockQueue( pxQueue ) \
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242 taskENTER_CRITICAL(); \
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244 if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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246 ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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248 if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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250 ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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253 taskEXIT_CRITICAL()
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254 /*-----------------------------------------------------------*/
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256 BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
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258 Queue_t * const pxQueue = xQueue;
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260 configASSERT( pxQueue );
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262 taskENTER_CRITICAL();
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264 pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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265 pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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266 pxQueue->pcWriteTo = pxQueue->pcHead;
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267 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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268 pxQueue->cRxLock = queueUNLOCKED;
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269 pxQueue->cTxLock = queueUNLOCKED;
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271 if( xNewQueue == pdFALSE )
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273 /* If there are tasks blocked waiting to read from the queue, then
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274 the tasks will remain blocked as after this function exits the queue
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275 will still be empty. If there are tasks blocked waiting to write to
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276 the queue, then one should be unblocked as after this function exits
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277 it will be possible to write to it. */
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278 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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280 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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282 queueYIELD_IF_USING_PREEMPTION();
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286 mtCOVERAGE_TEST_MARKER();
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291 mtCOVERAGE_TEST_MARKER();
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296 /* Ensure the event queues start in the correct state. */
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297 vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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298 vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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301 taskEXIT_CRITICAL();
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303 /* A value is returned for calling semantic consistency with previous
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307 /*-----------------------------------------------------------*/
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309 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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311 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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313 Queue_t *pxNewQueue;
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315 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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317 /* The StaticQueue_t structure and the queue storage area must be
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319 configASSERT( pxStaticQueue != NULL );
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321 /* A queue storage area should be provided if the item size is not 0, and
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322 should not be provided if the item size is 0. */
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323 configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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324 configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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326 #if( configASSERT_DEFINED == 1 )
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328 /* Sanity check that the size of the structure used to declare a
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329 variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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330 the real queue and semaphore structures. */
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331 volatile size_t xSize = sizeof( StaticQueue_t );
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332 configASSERT( xSize == sizeof( Queue_t ) );
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333 ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
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335 #endif /* configASSERT_DEFINED */
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337 /* The address of a statically allocated queue was passed in, use it.
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338 The address of a statically allocated storage area was also passed in
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339 but is already set. */
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340 pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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342 if( pxNewQueue != NULL )
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344 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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346 /* Queues can be allocated wither statically or dynamically, so
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347 note this queue was allocated statically in case the queue is
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349 pxNewQueue->ucStaticallyAllocated = pdTRUE;
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351 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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353 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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357 traceQUEUE_CREATE_FAILED( ucQueueType );
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358 mtCOVERAGE_TEST_MARKER();
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364 #endif /* configSUPPORT_STATIC_ALLOCATION */
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365 /*-----------------------------------------------------------*/
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367 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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369 QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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371 Queue_t *pxNewQueue;
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372 size_t xQueueSizeInBytes;
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373 uint8_t *pucQueueStorage;
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375 configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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377 /* Allocate enough space to hold the maximum number of items that
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378 can be in the queue at any time. It is valid for uxItemSize to be
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379 zero in the case the queue is used as a semaphore. */
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380 xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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382 /* Check for multiplication overflow. */
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383 configASSERT( ( uxItemSize == 0 ) || ( uxQueueLength == ( xQueueSizeInBytes / uxItemSize ) ) );
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385 /* Allocate the queue and storage area. Justification for MISRA
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386 deviation as follows: pvPortMalloc() always ensures returned memory
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387 blocks are aligned per the requirements of the MCU stack. In this case
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388 pvPortMalloc() must return a pointer that is guaranteed to meet the
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389 alignment requirements of the Queue_t structure - which in this case
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390 is an int8_t *. Therefore, whenever the stack alignment requirements
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391 are greater than or equal to the pointer to char requirements the cast
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392 is safe. In other cases alignment requirements are not strict (one or
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394 pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */
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396 if( pxNewQueue != NULL )
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398 /* Jump past the queue structure to find the location of the queue
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400 pucQueueStorage = ( uint8_t * ) pxNewQueue;
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401 pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
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403 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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405 /* Queues can be created either statically or dynamically, so
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406 note this task was created dynamically in case it is later
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408 pxNewQueue->ucStaticallyAllocated = pdFALSE;
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410 #endif /* configSUPPORT_STATIC_ALLOCATION */
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412 prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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416 traceQUEUE_CREATE_FAILED( ucQueueType );
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417 mtCOVERAGE_TEST_MARKER();
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423 #endif /* configSUPPORT_STATIC_ALLOCATION */
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424 /*-----------------------------------------------------------*/
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426 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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428 /* Remove compiler warnings about unused parameters should
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429 configUSE_TRACE_FACILITY not be set to 1. */
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430 ( void ) ucQueueType;
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432 if( uxItemSize == ( UBaseType_t ) 0 )
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434 /* No RAM was allocated for the queue storage area, but PC head cannot
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435 be set to NULL because NULL is used as a key to say the queue is used as
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436 a mutex. Therefore just set pcHead to point to the queue as a benign
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437 value that is known to be within the memory map. */
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438 pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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442 /* Set the head to the start of the queue storage area. */
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443 pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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446 /* Initialise the queue members as described where the queue type is
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448 pxNewQueue->uxLength = uxQueueLength;
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449 pxNewQueue->uxItemSize = uxItemSize;
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450 ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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452 #if ( configUSE_TRACE_FACILITY == 1 )
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454 pxNewQueue->ucQueueType = ucQueueType;
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456 #endif /* configUSE_TRACE_FACILITY */
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458 #if( configUSE_QUEUE_SETS == 1 )
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460 pxNewQueue->pxQueueSetContainer = NULL;
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462 #endif /* configUSE_QUEUE_SETS */
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464 traceQUEUE_CREATE( pxNewQueue );
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466 /*-----------------------------------------------------------*/
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468 #if( configUSE_MUTEXES == 1 )
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470 static void prvInitialiseMutex( Queue_t *pxNewQueue )
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472 if( pxNewQueue != NULL )
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474 /* The queue create function will set all the queue structure members
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475 correctly for a generic queue, but this function is creating a
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476 mutex. Overwrite those members that need to be set differently -
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477 in particular the information required for priority inheritance. */
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478 pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
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479 pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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481 /* In case this is a recursive mutex. */
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482 pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
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484 traceCREATE_MUTEX( pxNewQueue );
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486 /* Start with the semaphore in the expected state. */
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487 ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
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491 traceCREATE_MUTEX_FAILED();
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495 #endif /* configUSE_MUTEXES */
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496 /*-----------------------------------------------------------*/
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498 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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500 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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502 QueueHandle_t xNewQueue;
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503 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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505 xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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506 prvInitialiseMutex( ( Queue_t * ) xNewQueue );
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511 #endif /* configUSE_MUTEXES */
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512 /*-----------------------------------------------------------*/
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514 #if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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516 QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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518 QueueHandle_t xNewQueue;
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519 const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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521 /* Prevent compiler warnings about unused parameters if
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522 configUSE_TRACE_FACILITY does not equal 1. */
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523 ( void ) ucQueueType;
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525 xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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526 prvInitialiseMutex( ( Queue_t * ) xNewQueue );
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531 #endif /* configUSE_MUTEXES */
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532 /*-----------------------------------------------------------*/
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534 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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536 TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
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538 TaskHandle_t pxReturn;
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539 Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
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541 /* This function is called by xSemaphoreGetMutexHolder(), and should not
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542 be called directly. Note: This is a good way of determining if the
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543 calling task is the mutex holder, but not a good way of determining the
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544 identity of the mutex holder, as the holder may change between the
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545 following critical section exiting and the function returning. */
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546 taskENTER_CRITICAL();
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548 if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
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550 pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
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557 taskEXIT_CRITICAL();
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560 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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563 /*-----------------------------------------------------------*/
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565 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
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567 TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
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569 TaskHandle_t pxReturn;
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571 configASSERT( xSemaphore );
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573 /* Mutexes cannot be used in interrupt service routines, so the mutex
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574 holder should not change in an ISR, and therefore a critical section is
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575 not required here. */
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576 if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
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578 pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
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586 } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
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589 /*-----------------------------------------------------------*/
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591 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
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593 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
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595 BaseType_t xReturn;
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596 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
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598 configASSERT( pxMutex );
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600 /* If this is the task that holds the mutex then xMutexHolder will not
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601 change outside of this task. If this task does not hold the mutex then
\r
602 pxMutexHolder can never coincidentally equal the tasks handle, and as
\r
603 this is the only condition we are interested in it does not matter if
\r
604 pxMutexHolder is accessed simultaneously by another task. Therefore no
\r
605 mutual exclusion is required to test the pxMutexHolder variable. */
\r
606 if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
\r
608 traceGIVE_MUTEX_RECURSIVE( pxMutex );
\r
610 /* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
\r
611 the task handle, therefore no underflow check is required. Also,
\r
612 uxRecursiveCallCount is only modified by the mutex holder, and as
\r
613 there can only be one, no mutual exclusion is required to modify the
\r
614 uxRecursiveCallCount member. */
\r
615 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )--;
\r
617 /* Has the recursive call count unwound to 0? */
\r
618 if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 )
\r
620 /* Return the mutex. This will automatically unblock any other
\r
621 task that might be waiting to access the mutex. */
\r
622 ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
\r
626 mtCOVERAGE_TEST_MARKER();
\r
633 /* The mutex cannot be given because the calling task is not the
\r
637 traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
643 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
644 /*-----------------------------------------------------------*/
\r
646 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
\r
648 BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
\r
650 BaseType_t xReturn;
\r
651 Queue_t * const pxMutex = ( Queue_t * ) xMutex;
\r
653 configASSERT( pxMutex );
\r
655 /* Comments regarding mutual exclusion as per those within
\r
656 xQueueGiveMutexRecursive(). */
\r
658 traceTAKE_MUTEX_RECURSIVE( pxMutex );
\r
660 if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
\r
662 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
\r
667 xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
\r
669 /* pdPASS will only be returned if the mutex was successfully
\r
670 obtained. The calling task may have entered the Blocked state
\r
671 before reaching here. */
\r
672 if( xReturn != pdFAIL )
\r
674 ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
\r
678 traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
\r
685 #endif /* configUSE_RECURSIVE_MUTEXES */
\r
686 /*-----------------------------------------------------------*/
\r
688 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
690 QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
\r
692 QueueHandle_t xHandle;
\r
694 configASSERT( uxMaxCount != 0 );
\r
695 configASSERT( uxInitialCount <= uxMaxCount );
\r
697 xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
699 if( xHandle != NULL )
\r
701 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
703 traceCREATE_COUNTING_SEMAPHORE();
\r
707 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
713 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
714 /*-----------------------------------------------------------*/
\r
716 #if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
718 QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
\r
720 QueueHandle_t xHandle;
\r
722 configASSERT( uxMaxCount != 0 );
\r
723 configASSERT( uxInitialCount <= uxMaxCount );
\r
725 xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
\r
727 if( xHandle != NULL )
\r
729 ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
\r
731 traceCREATE_COUNTING_SEMAPHORE();
\r
735 traceCREATE_COUNTING_SEMAPHORE_FAILED();
\r
741 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
742 /*-----------------------------------------------------------*/
\r
744 BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
\r
746 BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
\r
747 TimeOut_t xTimeOut;
\r
748 Queue_t * const pxQueue = xQueue;
\r
750 configASSERT( pxQueue );
\r
751 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
752 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
753 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
755 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
760 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
761 allow return statements within the function itself. This is done in the
\r
762 interest of execution time efficiency. */
\r
765 taskENTER_CRITICAL();
\r
767 /* Is there room on the queue now? The running task must be the
\r
768 highest priority task wanting to access the queue. If the head item
\r
769 in the queue is to be overwritten then it does not matter if the
\r
771 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
773 traceQUEUE_SEND( pxQueue );
\r
775 #if ( configUSE_QUEUE_SETS == 1 )
\r
777 const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
779 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
781 if( pxQueue->pxQueueSetContainer != NULL )
\r
783 if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
\r
785 /* Do not notify the queue set as an existing item
\r
786 was overwritten in the queue so the number of items
\r
787 in the queue has not changed. */
\r
788 mtCOVERAGE_TEST_MARKER();
\r
790 else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
792 /* The queue is a member of a queue set, and posting
\r
793 to the queue set caused a higher priority task to
\r
794 unblock. A context switch is required. */
\r
795 queueYIELD_IF_USING_PREEMPTION();
\r
799 mtCOVERAGE_TEST_MARKER();
\r
804 /* If there was a task waiting for data to arrive on the
\r
805 queue then unblock it now. */
\r
806 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
808 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
810 /* The unblocked task has a priority higher than
\r
811 our own so yield immediately. Yes it is ok to
\r
812 do this from within the critical section - the
\r
813 kernel takes care of that. */
\r
814 queueYIELD_IF_USING_PREEMPTION();
\r
818 mtCOVERAGE_TEST_MARKER();
\r
821 else if( xYieldRequired != pdFALSE )
\r
823 /* This path is a special case that will only get
\r
824 executed if the task was holding multiple mutexes
\r
825 and the mutexes were given back in an order that is
\r
826 different to that in which they were taken. */
\r
827 queueYIELD_IF_USING_PREEMPTION();
\r
831 mtCOVERAGE_TEST_MARKER();
\r
835 #else /* configUSE_QUEUE_SETS */
\r
837 xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
839 /* If there was a task waiting for data to arrive on the
\r
840 queue then unblock it now. */
\r
841 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
843 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
845 /* The unblocked task has a priority higher than
\r
846 our own so yield immediately. Yes it is ok to do
\r
847 this from within the critical section - the kernel
\r
848 takes care of that. */
\r
849 queueYIELD_IF_USING_PREEMPTION();
\r
853 mtCOVERAGE_TEST_MARKER();
\r
856 else if( xYieldRequired != pdFALSE )
\r
858 /* This path is a special case that will only get
\r
859 executed if the task was holding multiple mutexes and
\r
860 the mutexes were given back in an order that is
\r
861 different to that in which they were taken. */
\r
862 queueYIELD_IF_USING_PREEMPTION();
\r
866 mtCOVERAGE_TEST_MARKER();
\r
869 #endif /* configUSE_QUEUE_SETS */
\r
871 taskEXIT_CRITICAL();
\r
876 if( xTicksToWait == ( TickType_t ) 0 )
\r
878 /* The queue was full and no block time is specified (or
\r
879 the block time has expired) so leave now. */
\r
880 taskEXIT_CRITICAL();
\r
882 /* Return to the original privilege level before exiting
\r
884 traceQUEUE_SEND_FAILED( pxQueue );
\r
885 return errQUEUE_FULL;
\r
887 else if( xEntryTimeSet == pdFALSE )
\r
889 /* The queue was full and a block time was specified so
\r
890 configure the timeout structure. */
\r
891 vTaskInternalSetTimeOutState( &xTimeOut );
\r
892 xEntryTimeSet = pdTRUE;
\r
896 /* Entry time was already set. */
\r
897 mtCOVERAGE_TEST_MARKER();
\r
901 taskEXIT_CRITICAL();
\r
903 /* Interrupts and other tasks can send to and receive from the queue
\r
904 now the critical section has been exited. */
\r
907 prvLockQueue( pxQueue );
\r
909 /* Update the timeout state to see if it has expired yet. */
\r
910 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
912 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
914 traceBLOCKING_ON_QUEUE_SEND( pxQueue );
\r
915 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
\r
917 /* Unlocking the queue means queue events can effect the
\r
918 event list. It is possible that interrupts occurring now
\r
919 remove this task from the event list again - but as the
\r
920 scheduler is suspended the task will go onto the pending
\r
921 ready last instead of the actual ready list. */
\r
922 prvUnlockQueue( pxQueue );
\r
924 /* Resuming the scheduler will move tasks from the pending
\r
925 ready list into the ready list - so it is feasible that this
\r
926 task is already in a ready list before it yields - in which
\r
927 case the yield will not cause a context switch unless there
\r
928 is also a higher priority task in the pending ready list. */
\r
929 if( xTaskResumeAll() == pdFALSE )
\r
931 portYIELD_WITHIN_API();
\r
937 prvUnlockQueue( pxQueue );
\r
938 ( void ) xTaskResumeAll();
\r
943 /* The timeout has expired. */
\r
944 prvUnlockQueue( pxQueue );
\r
945 ( void ) xTaskResumeAll();
\r
947 traceQUEUE_SEND_FAILED( pxQueue );
\r
948 return errQUEUE_FULL;
\r
950 } /*lint -restore */
\r
952 /*-----------------------------------------------------------*/
\r
954 BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
\r
956 BaseType_t xReturn;
\r
957 UBaseType_t uxSavedInterruptStatus;
\r
958 Queue_t * const pxQueue = xQueue;
\r
960 configASSERT( pxQueue );
\r
961 configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
962 configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
\r
964 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
965 system call (or maximum API call) interrupt priority. Interrupts that are
\r
966 above the maximum system call priority are kept permanently enabled, even
\r
967 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
968 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
969 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
970 failure if a FreeRTOS API function is called from an interrupt that has been
\r
971 assigned a priority above the configured maximum system call priority.
\r
972 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
973 that have been assigned a priority at or (logically) below the maximum
\r
974 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
975 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
976 More information (albeit Cortex-M specific) is provided on the following
\r
977 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
978 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
980 /* Similar to xQueueGenericSend, except without blocking if there is no room
\r
981 in the queue. Also don't directly wake a task that was blocked on a queue
\r
982 read, instead return a flag to say whether a context switch is required or
\r
983 not (i.e. has a task with a higher priority than us been woken by this
\r
985 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
987 if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
\r
989 const int8_t cTxLock = pxQueue->cTxLock;
\r
990 const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
992 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
994 /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
\r
995 semaphore or mutex. That means prvCopyDataToQueue() cannot result
\r
996 in a task disinheriting a priority and prvCopyDataToQueue() can be
\r
997 called here even though the disinherit function does not check if
\r
998 the scheduler is suspended before accessing the ready lists. */
\r
999 ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
\r
1001 /* The event list is not altered if the queue is locked. This will
\r
1002 be done when the queue is unlocked later. */
\r
1003 if( cTxLock == queueUNLOCKED )
\r
1005 #if ( configUSE_QUEUE_SETS == 1 )
\r
1007 if( pxQueue->pxQueueSetContainer != NULL )
\r
1009 if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
\r
1011 /* Do not notify the queue set as an existing item
\r
1012 was overwritten in the queue so the number of items
\r
1013 in the queue has not changed. */
\r
1014 mtCOVERAGE_TEST_MARKER();
\r
1016 else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
1018 /* The queue is a member of a queue set, and posting
\r
1019 to the queue set caused a higher priority task to
\r
1020 unblock. A context switch is required. */
\r
1021 if( pxHigherPriorityTaskWoken != NULL )
\r
1023 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1027 mtCOVERAGE_TEST_MARKER();
\r
1032 mtCOVERAGE_TEST_MARKER();
\r
1037 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1039 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1041 /* The task waiting has a higher priority so
\r
1042 record that a context switch is required. */
\r
1043 if( pxHigherPriorityTaskWoken != NULL )
\r
1045 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1049 mtCOVERAGE_TEST_MARKER();
\r
1054 mtCOVERAGE_TEST_MARKER();
\r
1059 mtCOVERAGE_TEST_MARKER();
\r
1063 #else /* configUSE_QUEUE_SETS */
\r
1065 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1067 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1069 /* The task waiting has a higher priority so record that a
\r
1070 context switch is required. */
\r
1071 if( pxHigherPriorityTaskWoken != NULL )
\r
1073 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1077 mtCOVERAGE_TEST_MARKER();
\r
1082 mtCOVERAGE_TEST_MARKER();
\r
1087 mtCOVERAGE_TEST_MARKER();
\r
1090 /* Not used in this path. */
\r
1091 ( void ) uxPreviousMessagesWaiting;
\r
1093 #endif /* configUSE_QUEUE_SETS */
\r
1097 /* Increment the lock count so the task that unlocks the queue
\r
1098 knows that data was posted while it was locked. */
\r
1099 configASSERT( cTxLock != queueINT8_MAX);
\r
1101 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1108 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1109 xReturn = errQUEUE_FULL;
\r
1112 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1116 /*-----------------------------------------------------------*/
\r
1118 BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1120 BaseType_t xReturn;
\r
1121 UBaseType_t uxSavedInterruptStatus;
\r
1122 Queue_t * const pxQueue = xQueue;
\r
1124 /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
\r
1125 item size is 0. Don't directly wake a task that was blocked on a queue
\r
1126 read, instead return a flag to say whether a context switch is required or
\r
1127 not (i.e. has a task with a higher priority than us been woken by this
\r
1130 configASSERT( pxQueue );
\r
1132 /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
\r
1133 if the item size is not 0. */
\r
1134 configASSERT( pxQueue->uxItemSize == 0 );
\r
1136 /* Normally a mutex would not be given from an interrupt, especially if
\r
1137 there is a mutex holder, as priority inheritance makes no sense for an
\r
1138 interrupts, only tasks. */
\r
1139 configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
\r
1141 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1142 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1143 above the maximum system call priority are kept permanently enabled, even
\r
1144 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1145 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1146 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1147 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1148 assigned a priority above the configured maximum system call priority.
\r
1149 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1150 that have been assigned a priority at or (logically) below the maximum
\r
1151 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1152 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1153 More information (albeit Cortex-M specific) is provided on the following
\r
1154 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1155 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1157 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1159 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1161 /* When the queue is used to implement a semaphore no data is ever
\r
1162 moved through the queue but it is still valid to see if the queue 'has
\r
1164 if( uxMessagesWaiting < pxQueue->uxLength )
\r
1166 const int8_t cTxLock = pxQueue->cTxLock;
\r
1168 traceQUEUE_SEND_FROM_ISR( pxQueue );
\r
1170 /* A task can only have an inherited priority if it is a mutex
\r
1171 holder - and if there is a mutex holder then the mutex cannot be
\r
1172 given from an ISR. As this is the ISR version of the function it
\r
1173 can be assumed there is no mutex holder and no need to determine if
\r
1174 priority disinheritance is needed. Simply increase the count of
\r
1175 messages (semaphores) available. */
\r
1176 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
1178 /* The event list is not altered if the queue is locked. This will
\r
1179 be done when the queue is unlocked later. */
\r
1180 if( cTxLock == queueUNLOCKED )
\r
1182 #if ( configUSE_QUEUE_SETS == 1 )
\r
1184 if( pxQueue->pxQueueSetContainer != NULL )
\r
1186 if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
1188 /* The semaphore is a member of a queue set, and
\r
1189 posting to the queue set caused a higher priority
\r
1190 task to unblock. A context switch is required. */
\r
1191 if( pxHigherPriorityTaskWoken != NULL )
\r
1193 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1197 mtCOVERAGE_TEST_MARKER();
\r
1202 mtCOVERAGE_TEST_MARKER();
\r
1207 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1209 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1211 /* The task waiting has a higher priority so
\r
1212 record that a context switch is required. */
\r
1213 if( pxHigherPriorityTaskWoken != NULL )
\r
1215 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1219 mtCOVERAGE_TEST_MARKER();
\r
1224 mtCOVERAGE_TEST_MARKER();
\r
1229 mtCOVERAGE_TEST_MARKER();
\r
1233 #else /* configUSE_QUEUE_SETS */
\r
1235 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1237 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1239 /* The task waiting has a higher priority so record that a
\r
1240 context switch is required. */
\r
1241 if( pxHigherPriorityTaskWoken != NULL )
\r
1243 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1247 mtCOVERAGE_TEST_MARKER();
\r
1252 mtCOVERAGE_TEST_MARKER();
\r
1257 mtCOVERAGE_TEST_MARKER();
\r
1260 #endif /* configUSE_QUEUE_SETS */
\r
1264 /* Increment the lock count so the task that unlocks the queue
\r
1265 knows that data was posted while it was locked. */
\r
1266 configASSERT( cTxLock != queueINT8_MAX);
\r
1268 pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
1275 traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
\r
1276 xReturn = errQUEUE_FULL;
\r
1279 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1283 /*-----------------------------------------------------------*/
\r
1285 BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1287 BaseType_t xEntryTimeSet = pdFALSE;
\r
1288 TimeOut_t xTimeOut;
\r
1289 Queue_t * const pxQueue = xQueue;
\r
1291 /* Check the pointer is not NULL. */
\r
1292 configASSERT( ( pxQueue ) );
\r
1294 /* The buffer into which data is received can only be NULL if the data size
\r
1295 is zero (so no data is copied into the buffer). */
\r
1296 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1298 /* Cannot block if the scheduler is suspended. */
\r
1299 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1301 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1306 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1307 allow return statements within the function itself. This is done in the
\r
1308 interest of execution time efficiency. */
\r
1311 taskENTER_CRITICAL();
\r
1313 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1315 /* Is there data in the queue now? To be running the calling task
\r
1316 must be the highest priority task wanting to access the queue. */
\r
1317 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1319 /* Data available, remove one item. */
\r
1320 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1321 traceQUEUE_RECEIVE( pxQueue );
\r
1322 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1324 /* There is now space in the queue, were any tasks waiting to
\r
1325 post to the queue? If so, unblock the highest priority waiting
\r
1327 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1329 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1331 queueYIELD_IF_USING_PREEMPTION();
\r
1335 mtCOVERAGE_TEST_MARKER();
\r
1340 mtCOVERAGE_TEST_MARKER();
\r
1343 taskEXIT_CRITICAL();
\r
1348 if( xTicksToWait == ( TickType_t ) 0 )
\r
1350 /* The queue was empty and no block time is specified (or
\r
1351 the block time has expired) so leave now. */
\r
1352 taskEXIT_CRITICAL();
\r
1353 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1354 return errQUEUE_EMPTY;
\r
1356 else if( xEntryTimeSet == pdFALSE )
\r
1358 /* The queue was empty and a block time was specified so
\r
1359 configure the timeout structure. */
\r
1360 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1361 xEntryTimeSet = pdTRUE;
\r
1365 /* Entry time was already set. */
\r
1366 mtCOVERAGE_TEST_MARKER();
\r
1370 taskEXIT_CRITICAL();
\r
1372 /* Interrupts and other tasks can send to and receive from the queue
\r
1373 now the critical section has been exited. */
\r
1375 vTaskSuspendAll();
\r
1376 prvLockQueue( pxQueue );
\r
1378 /* Update the timeout state to see if it has expired yet. */
\r
1379 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1381 /* The timeout has not expired. If the queue is still empty place
\r
1382 the task on the list of tasks waiting to receive from the queue. */
\r
1383 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1385 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1386 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1387 prvUnlockQueue( pxQueue );
\r
1388 if( xTaskResumeAll() == pdFALSE )
\r
1390 portYIELD_WITHIN_API();
\r
1394 mtCOVERAGE_TEST_MARKER();
\r
1399 /* The queue contains data again. Loop back to try and read the
\r
1401 prvUnlockQueue( pxQueue );
\r
1402 ( void ) xTaskResumeAll();
\r
1407 /* Timed out. If there is no data in the queue exit, otherwise loop
\r
1408 back and attempt to read the data. */
\r
1409 prvUnlockQueue( pxQueue );
\r
1410 ( void ) xTaskResumeAll();
\r
1412 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1414 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1415 return errQUEUE_EMPTY;
\r
1419 mtCOVERAGE_TEST_MARKER();
\r
1422 } /*lint -restore */
\r
1424 /*-----------------------------------------------------------*/
\r
1426 BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
\r
1428 BaseType_t xEntryTimeSet = pdFALSE;
\r
1429 TimeOut_t xTimeOut;
\r
1430 Queue_t * const pxQueue = xQueue;
\r
1432 #if( configUSE_MUTEXES == 1 )
\r
1433 BaseType_t xInheritanceOccurred = pdFALSE;
\r
1436 /* Check the queue pointer is not NULL. */
\r
1437 configASSERT( ( pxQueue ) );
\r
1439 /* Check this really is a semaphore, in which case the item size will be
\r
1441 configASSERT( pxQueue->uxItemSize == 0 );
\r
1443 /* Cannot block if the scheduler is suspended. */
\r
1444 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1446 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1451 /*lint -save -e904 This function relaxes the coding standard somewhat to allow return
\r
1452 statements within the function itself. This is done in the interest
\r
1453 of execution time efficiency. */
\r
1456 taskENTER_CRITICAL();
\r
1458 /* Semaphores are queues with an item size of 0, and where the
\r
1459 number of messages in the queue is the semaphore's count value. */
\r
1460 const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
\r
1462 /* Is there data in the queue now? To be running the calling task
\r
1463 must be the highest priority task wanting to access the queue. */
\r
1464 if( uxSemaphoreCount > ( UBaseType_t ) 0 )
\r
1466 traceQUEUE_RECEIVE( pxQueue );
\r
1468 /* Semaphores are queues with a data size of zero and where the
\r
1469 messages waiting is the semaphore's count. Reduce the count. */
\r
1470 pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
\r
1472 #if ( configUSE_MUTEXES == 1 )
\r
1474 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1476 /* Record the information required to implement
\r
1477 priority inheritance should it become necessary. */
\r
1478 pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
\r
1482 mtCOVERAGE_TEST_MARKER();
\r
1485 #endif /* configUSE_MUTEXES */
\r
1487 /* Check to see if other tasks are blocked waiting to give the
\r
1488 semaphore, and if so, unblock the highest priority such task. */
\r
1489 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1491 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1493 queueYIELD_IF_USING_PREEMPTION();
\r
1497 mtCOVERAGE_TEST_MARKER();
\r
1502 mtCOVERAGE_TEST_MARKER();
\r
1505 taskEXIT_CRITICAL();
\r
1510 if( xTicksToWait == ( TickType_t ) 0 )
\r
1512 /* For inheritance to have occurred there must have been an
\r
1513 initial timeout, and an adjusted timeout cannot become 0, as
\r
1514 if it were 0 the function would have exited. */
\r
1515 #if( configUSE_MUTEXES == 1 )
\r
1517 configASSERT( xInheritanceOccurred == pdFALSE );
\r
1519 #endif /* configUSE_MUTEXES */
\r
1521 /* The semaphore count was 0 and no block time is specified
\r
1522 (or the block time has expired) so exit now. */
\r
1523 taskEXIT_CRITICAL();
\r
1524 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1525 return errQUEUE_EMPTY;
\r
1527 else if( xEntryTimeSet == pdFALSE )
\r
1529 /* The semaphore count was 0 and a block time was specified
\r
1530 so configure the timeout structure ready to block. */
\r
1531 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1532 xEntryTimeSet = pdTRUE;
\r
1536 /* Entry time was already set. */
\r
1537 mtCOVERAGE_TEST_MARKER();
\r
1541 taskEXIT_CRITICAL();
\r
1543 /* Interrupts and other tasks can give to and take from the semaphore
\r
1544 now the critical section has been exited. */
\r
1546 vTaskSuspendAll();
\r
1547 prvLockQueue( pxQueue );
\r
1549 /* Update the timeout state to see if it has expired yet. */
\r
1550 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1552 /* A block time is specified and not expired. If the semaphore
\r
1553 count is 0 then enter the Blocked state to wait for a semaphore to
\r
1554 become available. As semaphores are implemented with queues the
\r
1555 queue being empty is equivalent to the semaphore count being 0. */
\r
1556 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1558 traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
\r
1560 #if ( configUSE_MUTEXES == 1 )
\r
1562 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
1564 taskENTER_CRITICAL();
\r
1566 xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
1568 taskEXIT_CRITICAL();
\r
1572 mtCOVERAGE_TEST_MARKER();
\r
1577 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1578 prvUnlockQueue( pxQueue );
\r
1579 if( xTaskResumeAll() == pdFALSE )
\r
1581 portYIELD_WITHIN_API();
\r
1585 mtCOVERAGE_TEST_MARKER();
\r
1590 /* There was no timeout and the semaphore count was not 0, so
\r
1591 attempt to take the semaphore again. */
\r
1592 prvUnlockQueue( pxQueue );
\r
1593 ( void ) xTaskResumeAll();
\r
1599 prvUnlockQueue( pxQueue );
\r
1600 ( void ) xTaskResumeAll();
\r
1602 /* If the semaphore count is 0 exit now as the timeout has
\r
1603 expired. Otherwise return to attempt to take the semaphore that is
\r
1604 known to be available. As semaphores are implemented by queues the
\r
1605 queue being empty is equivalent to the semaphore count being 0. */
\r
1606 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1608 #if ( configUSE_MUTEXES == 1 )
\r
1610 /* xInheritanceOccurred could only have be set if
\r
1611 pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
\r
1612 test the mutex type again to check it is actually a mutex. */
\r
1613 if( xInheritanceOccurred != pdFALSE )
\r
1615 taskENTER_CRITICAL();
\r
1617 UBaseType_t uxHighestWaitingPriority;
\r
1619 /* This task blocking on the mutex caused another
\r
1620 task to inherit this task's priority. Now this task
\r
1621 has timed out the priority should be disinherited
\r
1622 again, but only as low as the next highest priority
\r
1623 task that is waiting for the same mutex. */
\r
1624 uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
\r
1625 vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
\r
1627 taskEXIT_CRITICAL();
\r
1630 #endif /* configUSE_MUTEXES */
\r
1632 traceQUEUE_RECEIVE_FAILED( pxQueue );
\r
1633 return errQUEUE_EMPTY;
\r
1637 mtCOVERAGE_TEST_MARKER();
\r
1640 } /*lint -restore */
\r
1642 /*-----------------------------------------------------------*/
\r
1644 BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
\r
1646 BaseType_t xEntryTimeSet = pdFALSE;
\r
1647 TimeOut_t xTimeOut;
\r
1648 int8_t *pcOriginalReadPosition;
\r
1649 Queue_t * const pxQueue = xQueue;
\r
1651 /* Check the pointer is not NULL. */
\r
1652 configASSERT( ( pxQueue ) );
\r
1654 /* The buffer into which data is received can only be NULL if the data size
\r
1655 is zero (so no data is copied into the buffer. */
\r
1656 configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1658 /* Cannot block if the scheduler is suspended. */
\r
1659 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
1661 configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
\r
1666 /*lint -save -e904 This function relaxes the coding standard somewhat to
\r
1667 allow return statements within the function itself. This is done in the
\r
1668 interest of execution time efficiency. */
\r
1671 taskENTER_CRITICAL();
\r
1673 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1675 /* Is there data in the queue now? To be running the calling task
\r
1676 must be the highest priority task wanting to access the queue. */
\r
1677 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1679 /* Remember the read position so it can be reset after the data
\r
1680 is read from the queue as this function is only peeking the
\r
1681 data, not removing it. */
\r
1682 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1684 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1685 traceQUEUE_PEEK( pxQueue );
\r
1687 /* The data is not being removed, so reset the read pointer. */
\r
1688 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1690 /* The data is being left in the queue, so see if there are
\r
1691 any other tasks waiting for the data. */
\r
1692 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
1694 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
1696 /* The task waiting has a higher priority than this task. */
\r
1697 queueYIELD_IF_USING_PREEMPTION();
\r
1701 mtCOVERAGE_TEST_MARKER();
\r
1706 mtCOVERAGE_TEST_MARKER();
\r
1709 taskEXIT_CRITICAL();
\r
1714 if( xTicksToWait == ( TickType_t ) 0 )
\r
1716 /* The queue was empty and no block time is specified (or
\r
1717 the block time has expired) so leave now. */
\r
1718 taskEXIT_CRITICAL();
\r
1719 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1720 return errQUEUE_EMPTY;
\r
1722 else if( xEntryTimeSet == pdFALSE )
\r
1724 /* The queue was empty and a block time was specified so
\r
1725 configure the timeout structure ready to enter the blocked
\r
1727 vTaskInternalSetTimeOutState( &xTimeOut );
\r
1728 xEntryTimeSet = pdTRUE;
\r
1732 /* Entry time was already set. */
\r
1733 mtCOVERAGE_TEST_MARKER();
\r
1737 taskEXIT_CRITICAL();
\r
1739 /* Interrupts and other tasks can send to and receive from the queue
\r
1740 now the critical section has been exited. */
\r
1742 vTaskSuspendAll();
\r
1743 prvLockQueue( pxQueue );
\r
1745 /* Update the timeout state to see if it has expired yet. */
\r
1746 if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
\r
1748 /* Timeout has not expired yet, check to see if there is data in the
\r
1749 queue now, and if not enter the Blocked state to wait for data. */
\r
1750 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1752 traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
\r
1753 vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
\r
1754 prvUnlockQueue( pxQueue );
\r
1755 if( xTaskResumeAll() == pdFALSE )
\r
1757 portYIELD_WITHIN_API();
\r
1761 mtCOVERAGE_TEST_MARKER();
\r
1766 /* There is data in the queue now, so don't enter the blocked
\r
1767 state, instead return to try and obtain the data. */
\r
1768 prvUnlockQueue( pxQueue );
\r
1769 ( void ) xTaskResumeAll();
\r
1774 /* The timeout has expired. If there is still no data in the queue
\r
1775 exit, otherwise go back and try to read the data again. */
\r
1776 prvUnlockQueue( pxQueue );
\r
1777 ( void ) xTaskResumeAll();
\r
1779 if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
\r
1781 traceQUEUE_PEEK_FAILED( pxQueue );
\r
1782 return errQUEUE_EMPTY;
\r
1786 mtCOVERAGE_TEST_MARKER();
\r
1789 } /*lint -restore */
\r
1791 /*-----------------------------------------------------------*/
\r
1793 BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
\r
1795 BaseType_t xReturn;
\r
1796 UBaseType_t uxSavedInterruptStatus;
\r
1797 Queue_t * const pxQueue = xQueue;
\r
1799 configASSERT( pxQueue );
\r
1800 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1802 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1803 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1804 above the maximum system call priority are kept permanently enabled, even
\r
1805 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1806 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1807 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1808 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1809 assigned a priority above the configured maximum system call priority.
\r
1810 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1811 that have been assigned a priority at or (logically) below the maximum
\r
1812 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1813 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1814 More information (albeit Cortex-M specific) is provided on the following
\r
1815 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1816 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1818 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1820 const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
1822 /* Cannot block in an ISR, so check there is data available. */
\r
1823 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1825 const int8_t cRxLock = pxQueue->cRxLock;
\r
1827 traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
\r
1829 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1830 pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
\r
1832 /* If the queue is locked the event list will not be modified.
\r
1833 Instead update the lock count so the task that unlocks the queue
\r
1834 will know that an ISR has removed data while the queue was
\r
1836 if( cRxLock == queueUNLOCKED )
\r
1838 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
1840 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
1842 /* The task waiting has a higher priority than us so
\r
1843 force a context switch. */
\r
1844 if( pxHigherPriorityTaskWoken != NULL )
\r
1846 *pxHigherPriorityTaskWoken = pdTRUE;
\r
1850 mtCOVERAGE_TEST_MARKER();
\r
1855 mtCOVERAGE_TEST_MARKER();
\r
1860 mtCOVERAGE_TEST_MARKER();
\r
1865 /* Increment the lock count so the task that unlocks the queue
\r
1866 knows that data was removed while it was locked. */
\r
1867 configASSERT( cRxLock != queueINT8_MAX);
\r
1869 pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
\r
1877 traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
\r
1880 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1884 /*-----------------------------------------------------------*/
\r
1886 BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
\r
1888 BaseType_t xReturn;
\r
1889 UBaseType_t uxSavedInterruptStatus;
\r
1890 int8_t *pcOriginalReadPosition;
\r
1891 Queue_t * const pxQueue = xQueue;
\r
1893 configASSERT( pxQueue );
\r
1894 configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
\r
1895 configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
\r
1897 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1898 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1899 above the maximum system call priority are kept permanently enabled, even
\r
1900 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1901 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1902 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1903 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1904 assigned a priority above the configured maximum system call priority.
\r
1905 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1906 that have been assigned a priority at or (logically) below the maximum
\r
1907 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1908 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1909 More information (albeit Cortex-M specific) is provided on the following
\r
1910 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1911 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1913 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1915 /* Cannot block in an ISR, so check there is data available. */
\r
1916 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
1918 traceQUEUE_PEEK_FROM_ISR( pxQueue );
\r
1920 /* Remember the read position so it can be reset as nothing is
\r
1921 actually being removed from the queue. */
\r
1922 pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
\r
1923 prvCopyDataFromQueue( pxQueue, pvBuffer );
\r
1924 pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
\r
1931 traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
\r
1934 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1938 /*-----------------------------------------------------------*/
\r
1940 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
\r
1942 UBaseType_t uxReturn;
\r
1944 configASSERT( xQueue );
\r
1946 taskENTER_CRITICAL();
\r
1948 uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
\r
1950 taskEXIT_CRITICAL();
\r
1953 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1954 /*-----------------------------------------------------------*/
\r
1956 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
\r
1958 UBaseType_t uxReturn;
\r
1959 Queue_t * const pxQueue = xQueue;
\r
1961 configASSERT( pxQueue );
\r
1963 taskENTER_CRITICAL();
\r
1965 uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
\r
1967 taskEXIT_CRITICAL();
\r
1970 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1971 /*-----------------------------------------------------------*/
\r
1973 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
\r
1975 UBaseType_t uxReturn;
\r
1976 Queue_t * const pxQueue = xQueue;
\r
1978 configASSERT( pxQueue );
\r
1979 uxReturn = pxQueue->uxMessagesWaiting;
\r
1982 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
\r
1983 /*-----------------------------------------------------------*/
\r
1985 void vQueueDelete( QueueHandle_t xQueue )
\r
1987 Queue_t * const pxQueue = xQueue;
\r
1989 configASSERT( pxQueue );
\r
1990 traceQUEUE_DELETE( pxQueue );
\r
1992 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
1994 vQueueUnregisterQueue( pxQueue );
\r
1998 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
2000 /* The queue can only have been allocated dynamically - free it
\r
2002 vPortFree( pxQueue );
\r
2004 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
2006 /* The queue could have been allocated statically or dynamically, so
\r
2007 check before attempting to free the memory. */
\r
2008 if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
2010 vPortFree( pxQueue );
\r
2014 mtCOVERAGE_TEST_MARKER();
\r
2019 /* The queue must have been statically allocated, so is not going to be
\r
2020 deleted. Avoid compiler warnings about the unused parameter. */
\r
2023 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
2025 /*-----------------------------------------------------------*/
\r
2027 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2029 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
\r
2031 return ( ( Queue_t * ) xQueue )->uxQueueNumber;
\r
2034 #endif /* configUSE_TRACE_FACILITY */
\r
2035 /*-----------------------------------------------------------*/
\r
2037 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2039 void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
\r
2041 ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
\r
2044 #endif /* configUSE_TRACE_FACILITY */
\r
2045 /*-----------------------------------------------------------*/
\r
2047 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2049 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
\r
2051 return ( ( Queue_t * ) xQueue )->ucQueueType;
\r
2054 #endif /* configUSE_TRACE_FACILITY */
\r
2055 /*-----------------------------------------------------------*/
\r
2057 #if( configUSE_MUTEXES == 1 )
\r
2059 static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
\r
2061 UBaseType_t uxHighestPriorityOfWaitingTasks;
\r
2063 /* If a task waiting for a mutex causes the mutex holder to inherit a
\r
2064 priority, but the waiting task times out, then the holder should
\r
2065 disinherit the priority - but only down to the highest priority of any
\r
2066 other tasks that are waiting for the same mutex. For this purpose,
\r
2067 return the priority of the highest priority task that is waiting for the
\r
2069 if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
\r
2071 uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
\r
2075 uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
\r
2078 return uxHighestPriorityOfWaitingTasks;
\r
2081 #endif /* configUSE_MUTEXES */
\r
2082 /*-----------------------------------------------------------*/
\r
2084 static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
\r
2086 BaseType_t xReturn = pdFALSE;
\r
2087 UBaseType_t uxMessagesWaiting;
\r
2089 /* This function is called from a critical section. */
\r
2091 uxMessagesWaiting = pxQueue->uxMessagesWaiting;
\r
2093 if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
\r
2095 #if ( configUSE_MUTEXES == 1 )
\r
2097 if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
\r
2099 /* The mutex is no longer being held. */
\r
2100 xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
\r
2101 pxQueue->u.xSemaphore.xMutexHolder = NULL;
\r
2105 mtCOVERAGE_TEST_MARKER();
\r
2108 #endif /* configUSE_MUTEXES */
\r
2110 else if( xPosition == queueSEND_TO_BACK )
\r
2112 ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
\r
2113 pxQueue->pcWriteTo += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
\r
2114 if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2116 pxQueue->pcWriteTo = pxQueue->pcHead;
\r
2120 mtCOVERAGE_TEST_MARKER();
\r
2125 ( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e9087 !e418 MISRA exception as the casts are only redundant for some ports. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. Assert checks null pointer only used when length is 0. */
\r
2126 pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
\r
2127 if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
\r
2129 pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
\r
2133 mtCOVERAGE_TEST_MARKER();
\r
2136 if( xPosition == queueOVERWRITE )
\r
2138 if( uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2140 /* An item is not being added but overwritten, so subtract
\r
2141 one from the recorded number of items in the queue so when
\r
2142 one is added again below the number of recorded items remains
\r
2144 --uxMessagesWaiting;
\r
2148 mtCOVERAGE_TEST_MARKER();
\r
2153 mtCOVERAGE_TEST_MARKER();
\r
2157 pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
\r
2161 /*-----------------------------------------------------------*/
\r
2163 static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
\r
2165 if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
\r
2167 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
\r
2168 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
\r
2170 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2174 mtCOVERAGE_TEST_MARKER();
\r
2176 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
\r
2179 /*-----------------------------------------------------------*/
\r
2181 static void prvUnlockQueue( Queue_t * const pxQueue )
\r
2183 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
\r
2185 /* The lock counts contains the number of extra data items placed or
\r
2186 removed from the queue while the queue was locked. When a queue is
\r
2187 locked items can be added or removed, but the event lists cannot be
\r
2189 taskENTER_CRITICAL();
\r
2191 int8_t cTxLock = pxQueue->cTxLock;
\r
2193 /* See if data was added to the queue while it was locked. */
\r
2194 while( cTxLock > queueLOCKED_UNMODIFIED )
\r
2196 /* Data was posted while the queue was locked. Are any tasks
\r
2197 blocked waiting for data to become available? */
\r
2198 #if ( configUSE_QUEUE_SETS == 1 )
\r
2200 if( pxQueue->pxQueueSetContainer != NULL )
\r
2202 if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
\r
2204 /* The queue is a member of a queue set, and posting to
\r
2205 the queue set caused a higher priority task to unblock.
\r
2206 A context switch is required. */
\r
2207 vTaskMissedYield();
\r
2211 mtCOVERAGE_TEST_MARKER();
\r
2216 /* Tasks that are removed from the event list will get
\r
2217 added to the pending ready list as the scheduler is still
\r
2219 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2221 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2223 /* The task waiting has a higher priority so record that a
\r
2224 context switch is required. */
\r
2225 vTaskMissedYield();
\r
2229 mtCOVERAGE_TEST_MARKER();
\r
2238 #else /* configUSE_QUEUE_SETS */
\r
2240 /* Tasks that are removed from the event list will get added to
\r
2241 the pending ready list as the scheduler is still suspended. */
\r
2242 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2244 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2246 /* The task waiting has a higher priority so record that
\r
2247 a context switch is required. */
\r
2248 vTaskMissedYield();
\r
2252 mtCOVERAGE_TEST_MARKER();
\r
2260 #endif /* configUSE_QUEUE_SETS */
\r
2265 pxQueue->cTxLock = queueUNLOCKED;
\r
2267 taskEXIT_CRITICAL();
\r
2269 /* Do the same for the Rx lock. */
\r
2270 taskENTER_CRITICAL();
\r
2272 int8_t cRxLock = pxQueue->cRxLock;
\r
2274 while( cRxLock > queueLOCKED_UNMODIFIED )
\r
2276 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2278 if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2280 vTaskMissedYield();
\r
2284 mtCOVERAGE_TEST_MARKER();
\r
2295 pxQueue->cRxLock = queueUNLOCKED;
\r
2297 taskEXIT_CRITICAL();
\r
2299 /*-----------------------------------------------------------*/
\r
2301 static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
\r
2303 BaseType_t xReturn;
\r
2305 taskENTER_CRITICAL();
\r
2307 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2313 xReturn = pdFALSE;
\r
2316 taskEXIT_CRITICAL();
\r
2320 /*-----------------------------------------------------------*/
\r
2322 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
\r
2324 BaseType_t xReturn;
\r
2325 Queue_t * const pxQueue = xQueue;
\r
2327 configASSERT( pxQueue );
\r
2328 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2334 xReturn = pdFALSE;
\r
2338 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2339 /*-----------------------------------------------------------*/
\r
2341 static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
\r
2343 BaseType_t xReturn;
\r
2345 taskENTER_CRITICAL();
\r
2347 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2353 xReturn = pdFALSE;
\r
2356 taskEXIT_CRITICAL();
\r
2360 /*-----------------------------------------------------------*/
\r
2362 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
\r
2364 BaseType_t xReturn;
\r
2365 Queue_t * const pxQueue = xQueue;
\r
2367 configASSERT( pxQueue );
\r
2368 if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
\r
2374 xReturn = pdFALSE;
\r
2378 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2379 /*-----------------------------------------------------------*/
\r
2381 #if ( configUSE_CO_ROUTINES == 1 )
\r
2383 BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
\r
2385 BaseType_t xReturn;
\r
2386 Queue_t * const pxQueue = xQueue;
\r
2388 /* If the queue is already full we may have to block. A critical section
\r
2389 is required to prevent an interrupt removing something from the queue
\r
2390 between the check to see if the queue is full and blocking on the queue. */
\r
2391 portDISABLE_INTERRUPTS();
\r
2393 if( prvIsQueueFull( pxQueue ) != pdFALSE )
\r
2395 /* The queue is full - do we want to block or just leave without
\r
2397 if( xTicksToWait > ( TickType_t ) 0 )
\r
2399 /* As this is called from a coroutine we cannot block directly, but
\r
2400 return indicating that we need to block. */
\r
2401 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
\r
2402 portENABLE_INTERRUPTS();
\r
2403 return errQUEUE_BLOCKED;
\r
2407 portENABLE_INTERRUPTS();
\r
2408 return errQUEUE_FULL;
\r
2412 portENABLE_INTERRUPTS();
\r
2414 portDISABLE_INTERRUPTS();
\r
2416 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2418 /* There is room in the queue, copy the data into the queue. */
\r
2419 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2422 /* Were any co-routines waiting for data to become available? */
\r
2423 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2425 /* In this instance the co-routine could be placed directly
\r
2426 into the ready list as we are within a critical section.
\r
2427 Instead the same pending ready list mechanism is used as if
\r
2428 the event were caused from within an interrupt. */
\r
2429 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2431 /* The co-routine waiting has a higher priority so record
\r
2432 that a yield might be appropriate. */
\r
2433 xReturn = errQUEUE_YIELD;
\r
2437 mtCOVERAGE_TEST_MARKER();
\r
2442 mtCOVERAGE_TEST_MARKER();
\r
2447 xReturn = errQUEUE_FULL;
\r
2450 portENABLE_INTERRUPTS();
\r
2455 #endif /* configUSE_CO_ROUTINES */
\r
2456 /*-----------------------------------------------------------*/
\r
2458 #if ( configUSE_CO_ROUTINES == 1 )
\r
2460 BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
\r
2462 BaseType_t xReturn;
\r
2463 Queue_t * const pxQueue = xQueue;
\r
2465 /* If the queue is already empty we may have to block. A critical section
\r
2466 is required to prevent an interrupt adding something to the queue
\r
2467 between the check to see if the queue is empty and blocking on the queue. */
\r
2468 portDISABLE_INTERRUPTS();
\r
2470 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
\r
2472 /* There are no messages in the queue, do we want to block or just
\r
2473 leave with nothing? */
\r
2474 if( xTicksToWait > ( TickType_t ) 0 )
\r
2476 /* As this is a co-routine we cannot block directly, but return
\r
2477 indicating that we need to block. */
\r
2478 vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
\r
2479 portENABLE_INTERRUPTS();
\r
2480 return errQUEUE_BLOCKED;
\r
2484 portENABLE_INTERRUPTS();
\r
2485 return errQUEUE_FULL;
\r
2490 mtCOVERAGE_TEST_MARKER();
\r
2493 portENABLE_INTERRUPTS();
\r
2495 portDISABLE_INTERRUPTS();
\r
2497 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2499 /* Data is available from the queue. */
\r
2500 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2501 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2503 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2507 mtCOVERAGE_TEST_MARKER();
\r
2509 --( pxQueue->uxMessagesWaiting );
\r
2510 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2514 /* Were any co-routines waiting for space to become available? */
\r
2515 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2517 /* In this instance the co-routine could be placed directly
\r
2518 into the ready list as we are within a critical section.
\r
2519 Instead the same pending ready list mechanism is used as if
\r
2520 the event were caused from within an interrupt. */
\r
2521 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2523 xReturn = errQUEUE_YIELD;
\r
2527 mtCOVERAGE_TEST_MARKER();
\r
2532 mtCOVERAGE_TEST_MARKER();
\r
2540 portENABLE_INTERRUPTS();
\r
2545 #endif /* configUSE_CO_ROUTINES */
\r
2546 /*-----------------------------------------------------------*/
\r
2548 #if ( configUSE_CO_ROUTINES == 1 )
\r
2550 BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
\r
2552 Queue_t * const pxQueue = xQueue;
\r
2554 /* Cannot block within an ISR so if there is no space on the queue then
\r
2555 exit without doing anything. */
\r
2556 if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
\r
2558 prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
\r
2560 /* We only want to wake one co-routine per ISR, so check that a
\r
2561 co-routine has not already been woken. */
\r
2562 if( xCoRoutinePreviouslyWoken == pdFALSE )
\r
2564 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2566 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2572 mtCOVERAGE_TEST_MARKER();
\r
2577 mtCOVERAGE_TEST_MARKER();
\r
2582 mtCOVERAGE_TEST_MARKER();
\r
2587 mtCOVERAGE_TEST_MARKER();
\r
2590 return xCoRoutinePreviouslyWoken;
\r
2593 #endif /* configUSE_CO_ROUTINES */
\r
2594 /*-----------------------------------------------------------*/
\r
2596 #if ( configUSE_CO_ROUTINES == 1 )
\r
2598 BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
\r
2600 BaseType_t xReturn;
\r
2601 Queue_t * const pxQueue = xQueue;
\r
2603 /* We cannot block from an ISR, so check there is data available. If
\r
2604 not then just leave without doing anything. */
\r
2605 if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
\r
2607 /* Copy the data from the queue. */
\r
2608 pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
\r
2609 if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
\r
2611 pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
\r
2615 mtCOVERAGE_TEST_MARKER();
\r
2617 --( pxQueue->uxMessagesWaiting );
\r
2618 ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
\r
2620 if( ( *pxCoRoutineWoken ) == pdFALSE )
\r
2622 if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
\r
2624 if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
\r
2626 *pxCoRoutineWoken = pdTRUE;
\r
2630 mtCOVERAGE_TEST_MARKER();
\r
2635 mtCOVERAGE_TEST_MARKER();
\r
2640 mtCOVERAGE_TEST_MARKER();
\r
2653 #endif /* configUSE_CO_ROUTINES */
\r
2654 /*-----------------------------------------------------------*/
\r
2656 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2658 void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2662 /* See if there is an empty space in the registry. A NULL name denotes
\r
2664 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2666 if( xQueueRegistry[ ux ].pcQueueName == NULL )
\r
2668 /* Store the information on this queue. */
\r
2669 xQueueRegistry[ ux ].pcQueueName = pcQueueName;
\r
2670 xQueueRegistry[ ux ].xHandle = xQueue;
\r
2672 traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
\r
2677 mtCOVERAGE_TEST_MARKER();
\r
2682 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2683 /*-----------------------------------------------------------*/
\r
2685 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2687 const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2690 const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2692 /* Note there is nothing here to protect against another task adding or
\r
2693 removing entries from the registry while it is being searched. */
\r
2694 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2696 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2698 pcReturn = xQueueRegistry[ ux ].pcQueueName;
\r
2703 mtCOVERAGE_TEST_MARKER();
\r
2708 } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
\r
2710 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2711 /*-----------------------------------------------------------*/
\r
2713 #if ( configQUEUE_REGISTRY_SIZE > 0 )
\r
2715 void vQueueUnregisterQueue( QueueHandle_t xQueue )
\r
2719 /* See if the handle of the queue being unregistered in actually in the
\r
2721 for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
\r
2723 if( xQueueRegistry[ ux ].xHandle == xQueue )
\r
2725 /* Set the name to NULL to show that this slot if free again. */
\r
2726 xQueueRegistry[ ux ].pcQueueName = NULL;
\r
2728 /* Set the handle to NULL to ensure the same queue handle cannot
\r
2729 appear in the registry twice if it is added, removed, then
\r
2731 xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
\r
2736 mtCOVERAGE_TEST_MARKER();
\r
2740 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
\r
2742 #endif /* configQUEUE_REGISTRY_SIZE */
\r
2743 /*-----------------------------------------------------------*/
\r
2745 #if ( configUSE_TIMERS == 1 )
\r
2747 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2749 Queue_t * const pxQueue = xQueue;
\r
2751 /* This function should not be called by application code hence the
\r
2752 'Restricted' in its name. It is not part of the public API. It is
\r
2753 designed for use by kernel code, and has special calling requirements.
\r
2754 It can result in vListInsert() being called on a list that can only
\r
2755 possibly ever have one item in it, so the list will be fast, but even
\r
2756 so it should be called with the scheduler locked and not from a critical
\r
2759 /* Only do anything if there are no messages in the queue. This function
\r
2760 will not actually cause the task to block, just place it on a blocked
\r
2761 list. It will not block until the scheduler is unlocked - at which
\r
2762 time a yield will be performed. If an item is added to the queue while
\r
2763 the queue is locked, and the calling task blocks on the queue, then the
\r
2764 calling task will be immediately unblocked when the queue is unlocked. */
\r
2765 prvLockQueue( pxQueue );
\r
2766 if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
\r
2768 /* There is nothing in the queue, block for the specified period. */
\r
2769 vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
\r
2773 mtCOVERAGE_TEST_MARKER();
\r
2775 prvUnlockQueue( pxQueue );
\r
2778 #endif /* configUSE_TIMERS */
\r
2779 /*-----------------------------------------------------------*/
\r
2781 #if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
2783 QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
\r
2785 QueueSetHandle_t pxQueue;
\r
2787 pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
\r
2792 #endif /* configUSE_QUEUE_SETS */
\r
2793 /*-----------------------------------------------------------*/
\r
2795 #if ( configUSE_QUEUE_SETS == 1 )
\r
2797 BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2799 BaseType_t xReturn;
\r
2801 taskENTER_CRITICAL();
\r
2803 if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
\r
2805 /* Cannot add a queue/semaphore to more than one queue set. */
\r
2808 else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2810 /* Cannot add a queue/semaphore to a queue set if there are already
\r
2811 items in the queue/semaphore. */
\r
2816 ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
\r
2820 taskEXIT_CRITICAL();
\r
2825 #endif /* configUSE_QUEUE_SETS */
\r
2826 /*-----------------------------------------------------------*/
\r
2828 #if ( configUSE_QUEUE_SETS == 1 )
\r
2830 BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
\r
2832 BaseType_t xReturn;
\r
2833 Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
\r
2835 if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
\r
2837 /* The queue was not a member of the set. */
\r
2840 else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
\r
2842 /* It is dangerous to remove a queue from a set when the queue is
\r
2843 not empty because the queue set will still hold pending events for
\r
2849 taskENTER_CRITICAL();
\r
2851 /* The queue is no longer contained in the set. */
\r
2852 pxQueueOrSemaphore->pxQueueSetContainer = NULL;
\r
2854 taskEXIT_CRITICAL();
\r
2859 } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
\r
2861 #endif /* configUSE_QUEUE_SETS */
\r
2862 /*-----------------------------------------------------------*/
\r
2864 #if ( configUSE_QUEUE_SETS == 1 )
\r
2866 QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
\r
2868 QueueSetMemberHandle_t xReturn = NULL;
\r
2870 ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2874 #endif /* configUSE_QUEUE_SETS */
\r
2875 /*-----------------------------------------------------------*/
\r
2877 #if ( configUSE_QUEUE_SETS == 1 )
\r
2879 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
\r
2881 QueueSetMemberHandle_t xReturn = NULL;
\r
2883 ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
\r
2887 #endif /* configUSE_QUEUE_SETS */
\r
2888 /*-----------------------------------------------------------*/
\r
2890 #if ( configUSE_QUEUE_SETS == 1 )
\r
2892 static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
\r
2894 Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
\r
2895 BaseType_t xReturn = pdFALSE;
\r
2897 /* This function must be called form a critical section. */
\r
2899 configASSERT( pxQueueSetContainer );
\r
2900 configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
\r
2902 if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
\r
2904 const int8_t cTxLock = pxQueueSetContainer->cTxLock;
\r
2906 traceQUEUE_SET_SEND( pxQueueSetContainer );
\r
2908 /* The data copied is the handle of the queue that contains data. */
\r
2909 xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
\r
2911 if( cTxLock == queueUNLOCKED )
\r
2913 if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
\r
2915 if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
\r
2917 /* The task waiting has a higher priority. */
\r
2922 mtCOVERAGE_TEST_MARKER();
\r
2927 mtCOVERAGE_TEST_MARKER();
\r
2932 configASSERT( cTxLock != queueINT8_MAX);
\r
2934 pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
\r
2939 mtCOVERAGE_TEST_MARKER();
\r
2945 #endif /* configUSE_QUEUE_SETS */
\r
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