/* | |
FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd. | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
>>! NOTE: The modification to the GPL is included to allow you to distribute | |
>>! a combined work that includes FreeRTOS without being obliged to provide | |
>>! the source code for proprietary components outside of the FreeRTOS | |
>>! kernel. | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
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license and Real Time Engineers Ltd. contact details. | |
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*/ | |
#include <stdlib.h> | |
#include <string.h> | |
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining | |
all the API functions to use the MPU wrappers. That should only be done when | |
task.h is included from an application file. */ | |
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#if ( configUSE_CO_ROUTINES == 1 ) | |
#include "croutine.h" | |
#endif | |
/* Lint e961 and e750 are suppressed as a MISRA exception justified because the | |
MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the | |
header files above, but not in this file, in order to generate the correct | |
privileged Vs unprivileged linkage and placement. */ | |
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ | |
/* Constants used with the cRxLock and xTxLock structure members. */ | |
#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 ) | |
#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 ) | |
/* When the xQUEUE structure is used to represent a base queue its pcHead and | |
pcTail members are used as pointers into the queue storage area. When the | |
xQUEUE structure is used to represent a mutex pcHead and pcTail pointers are | |
not necessary, and the pcHead pointer is set to NULL to indicate that the | |
pcTail pointer actually points to the mutex holder (if any). Map alternative | |
names to the pcHead and pcTail structure members to ensure the readability of | |
the code is maintained despite this dual use of two structure members. An | |
alternative implementation would be to use a union, but use of a union is | |
against the coding standard (although an exception to the standard has been | |
permitted where the dual use also significantly changes the type of the | |
structure member). */ | |
#define pxMutexHolder pcTail | |
#define uxQueueType pcHead | |
#define queueQUEUE_IS_MUTEX NULL | |
/* Semaphores do not actually store or copy data, so have an item size of | |
zero. */ | |
#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 ) | |
#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U ) | |
/* | |
* Definition of the queue used by the scheduler. | |
* Items are queued by copy, not reference. | |
*/ | |
typedef struct QueueDefinition | |
{ | |
signed char *pcHead; /*< Points to the beginning of the queue storage area. */ | |
signed char *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ | |
signed char *pcWriteTo; /*< Points to the free next place in the storage area. */ | |
union /* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */ | |
{ | |
signed char *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */ | |
unsigned portBASE_TYPE uxRecursiveCallCount;/*< Maintains a count of the numebr of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */ | |
} u; | |
xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ | |
xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ | |
volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */ | |
unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ | |
unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */ | |
volatile signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ | |
volatile signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ | |
#if ( configUSE_TRACE_FACILITY == 1 ) | |
unsigned char ucQueueNumber; | |
unsigned char ucQueueType; | |
#endif | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
struct QueueDefinition *pxQueueSetContainer; | |
#endif | |
} xQUEUE; | |
/*-----------------------------------------------------------*/ | |
/* | |
* The queue registry is just a means for kernel aware debuggers to locate | |
* queue structures. It has no other purpose so is an optional component. | |
*/ | |
#if ( configQUEUE_REGISTRY_SIZE > 0 ) | |
/* The type stored within the queue registry array. This allows a name | |
to be assigned to each queue making kernel aware debugging a little | |
more user friendly. */ | |
typedef struct QUEUE_REGISTRY_ITEM | |
{ | |
signed char *pcQueueName; | |
xQueueHandle xHandle; | |
} xQueueRegistryItem; | |
/* The queue registry is simply an array of xQueueRegistryItem structures. | |
The pcQueueName member of a structure being NULL is indicative of the | |
array position being vacant. */ | |
xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; | |
#endif /* configQUEUE_REGISTRY_SIZE */ | |
/* | |
* Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not | |
* prevent an ISR from adding or removing items to the queue, but does prevent | |
* an ISR from removing tasks from the queue event lists. If an ISR finds a | |
* queue is locked it will instead increment the appropriate queue lock count | |
* to indicate that a task may require unblocking. When the queue in unlocked | |
* these lock counts are inspected, and the appropriate action taken. | |
*/ | |
static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION; | |
/* | |
* Uses a critical section to determine if there is any data in a queue. | |
* | |
* @return pdTRUE if the queue contains no items, otherwise pdFALSE. | |
*/ | |
static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION; | |
/* | |
* Uses a critical section to determine if there is any space in a queue. | |
* | |
* @return pdTRUE if there is no space, otherwise pdFALSE; | |
*/ | |
static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION; | |
/* | |
* Copies an item into the queue, either at the front of the queue or the | |
* back of the queue. | |
*/ | |
static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION; | |
/* | |
* Copies an item out of a queue. | |
*/ | |
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void * const pvBuffer ) PRIVILEGED_FUNCTION; | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
/* | |
* Checks to see if a queue is a member of a queue set, and if so, notifies | |
* the queue set that the queue contains data. | |
*/ | |
static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* | |
* Macro to mark a queue as locked. Locking a queue prevents an ISR from | |
* accessing the queue event lists. | |
*/ | |
#define prvLockQueue( pxQueue ) \ | |
taskENTER_CRITICAL(); \ | |
{ \ | |
if( ( pxQueue )->xRxLock == queueUNLOCKED ) \ | |
{ \ | |
( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \ | |
} \ | |
if( ( pxQueue )->xTxLock == queueUNLOCKED ) \ | |
{ \ | |
( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \ | |
} \ | |
} \ | |
taskEXIT_CRITICAL() | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue ) | |
{ | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
taskENTER_CRITICAL(); | |
{ | |
pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); | |
pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U; | |
pxQueue->pcWriteTo = pxQueue->pcHead; | |
pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize ); | |
pxQueue->xRxLock = queueUNLOCKED; | |
pxQueue->xTxLock = queueUNLOCKED; | |
if( xNewQueue == pdFALSE ) | |
{ | |
/* If there are tasks blocked waiting to read from the queue, then | |
the tasks will remain blocked as after this function exits the queue | |
will still be empty. If there are tasks blocked waiting to write to | |
the queue, then one should be unblocked as after this function exits | |
it will be possible to write to it. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) | |
{ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
else | |
{ | |
/* Ensure the event queues start in the correct state. */ | |
vListInitialise( &( pxQueue->xTasksWaitingToSend ) ); | |
vListInitialise( &( pxQueue->xTasksWaitingToReceive ) ); | |
} | |
} | |
taskEXIT_CRITICAL(); | |
/* A value is returned for calling semantic consistency with previous | |
versions. */ | |
return pdPASS; | |
} | |
/*-----------------------------------------------------------*/ | |
xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) | |
{ | |
xQUEUE *pxNewQueue; | |
size_t xQueueSizeInBytes; | |
xQueueHandle xReturn = NULL; | |
/* Remove compiler warnings about unused parameters should | |
configUSE_TRACE_FACILITY not be set to 1. */ | |
( void ) ucQueueType; | |
/* Allocate the new queue structure. */ | |
if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); | |
if( pxNewQueue != NULL ) | |
{ | |
/* Create the list of pointers to queue items. The queue is one byte | |
longer than asked for to make wrap checking easier/faster. */ | |
xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ | |
pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes ); | |
if( pxNewQueue->pcHead != NULL ) | |
{ | |
/* Initialise the queue members as described above where the | |
queue type is defined. */ | |
pxNewQueue->uxLength = uxQueueLength; | |
pxNewQueue->uxItemSize = uxItemSize; | |
( void ) xQueueGenericReset( pxNewQueue, pdTRUE ); | |
#if ( configUSE_TRACE_FACILITY == 1 ) | |
{ | |
pxNewQueue->ucQueueType = ucQueueType; | |
} | |
#endif /* configUSE_TRACE_FACILITY */ | |
#if( configUSE_QUEUE_SETS == 1 ) | |
{ | |
pxNewQueue->pxQueueSetContainer = NULL; | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
traceQUEUE_CREATE( pxNewQueue ); | |
xReturn = pxNewQueue; | |
} | |
else | |
{ | |
traceQUEUE_CREATE_FAILED( ucQueueType ); | |
vPortFree( pxNewQueue ); | |
} | |
} | |
} | |
configASSERT( xReturn ); | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_MUTEXES == 1 ) | |
xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) | |
{ | |
xQUEUE *pxNewQueue; | |
/* Prevent compiler warnings about unused parameters if | |
configUSE_TRACE_FACILITY does not equal 1. */ | |
( void ) ucQueueType; | |
/* Allocate the new queue structure. */ | |
pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); | |
if( pxNewQueue != NULL ) | |
{ | |
/* Information required for priority inheritance. */ | |
pxNewQueue->pxMutexHolder = NULL; | |
pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; | |
/* Queues used as a mutex no data is actually copied into or out | |
of the queue. */ | |
pxNewQueue->pcWriteTo = NULL; | |
pxNewQueue->u.pcReadFrom = NULL; | |
/* Each mutex has a length of 1 (like a binary semaphore) and | |
an item size of 0 as nothing is actually copied into or out | |
of the mutex. */ | |
pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U; | |
pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U; | |
pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U; | |
pxNewQueue->xRxLock = queueUNLOCKED; | |
pxNewQueue->xTxLock = queueUNLOCKED; | |
#if ( configUSE_TRACE_FACILITY == 1 ) | |
{ | |
pxNewQueue->ucQueueType = ucQueueType; | |
} | |
#endif | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
{ | |
pxNewQueue->pxQueueSetContainer = NULL; | |
} | |
#endif | |
/* Ensure the event queues start with the correct state. */ | |
vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); | |
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); | |
traceCREATE_MUTEX( pxNewQueue ); | |
/* Start with the semaphore in the expected state. */ | |
( void ) xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK ); | |
} | |
else | |
{ | |
traceCREATE_MUTEX_FAILED(); | |
} | |
configASSERT( pxNewQueue ); | |
return pxNewQueue; | |
} | |
#endif /* configUSE_MUTEXES */ | |
/*-----------------------------------------------------------*/ | |
#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) | |
void* xQueueGetMutexHolder( xQueueHandle xSemaphore ) | |
{ | |
void *pxReturn; | |
/* This function is called by xSemaphoreGetMutexHolder(), and should not | |
be called directly. Note: This is is a good way of determining if the | |
calling task is the mutex holder, but not a good way of determining the | |
identity of the mutex holder, as the holder may change between the | |
following critical section exiting and the function returning. */ | |
taskENTER_CRITICAL(); | |
{ | |
if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX ) | |
{ | |
pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder; | |
} | |
else | |
{ | |
pxReturn = NULL; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
return pxReturn; | |
} | |
#endif | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_RECURSIVE_MUTEXES == 1 ) | |
portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) | |
{ | |
portBASE_TYPE xReturn; | |
xQUEUE * const pxMutex = ( xQUEUE * ) xMutex; | |
configASSERT( pxMutex ); | |
/* If this is the task that holds the mutex then pxMutexHolder will not | |
change outside of this task. If this task does not hold the mutex then | |
pxMutexHolder can never coincidentally equal the tasks handle, and as | |
this is the only condition we are interested in it does not matter if | |
pxMutexHolder is accessed simultaneously by another task. Therefore no | |
mutual exclusion is required to test the pxMutexHolder variable. */ | |
if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as xTaskHandle is a typedef. */ | |
{ | |
traceGIVE_MUTEX_RECURSIVE( pxMutex ); | |
/* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to | |
the task handle, therefore no underflow check is required. Also, | |
uxRecursiveCallCount is only modified by the mutex holder, and as | |
there can only be one, no mutual exclusion is required to modify the | |
uxRecursiveCallCount member. */ | |
( pxMutex->u.uxRecursiveCallCount )--; | |
/* Have we unwound the call count? */ | |
if( pxMutex->u.uxRecursiveCallCount == ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* Return the mutex. This will automatically unblock any other | |
task that might be waiting to access the mutex. */ | |
( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); | |
} | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
/* We cannot give the mutex because we are not the holder. */ | |
xReturn = pdFAIL; | |
traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); | |
} | |
return xReturn; | |
} | |
#endif /* configUSE_RECURSIVE_MUTEXES */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_RECURSIVE_MUTEXES == 1 ) | |
portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) | |
{ | |
portBASE_TYPE xReturn; | |
xQUEUE * const pxMutex = ( xQUEUE * ) xMutex; | |
configASSERT( pxMutex ); | |
/* Comments regarding mutual exclusion as per those within | |
xQueueGiveMutexRecursive(). */ | |
traceTAKE_MUTEX_RECURSIVE( pxMutex ); | |
if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */ | |
{ | |
( pxMutex->u.uxRecursiveCallCount )++; | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE ); | |
/* pdPASS will only be returned if we successfully obtained the mutex, | |
we may have blocked to reach here. */ | |
if( xReturn == pdPASS ) | |
{ | |
( pxMutex->u.uxRecursiveCallCount )++; | |
} | |
else | |
{ | |
traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ); | |
} | |
} | |
return xReturn; | |
} | |
#endif /* configUSE_RECURSIVE_MUTEXES */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_COUNTING_SEMAPHORES == 1 ) | |
xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) | |
{ | |
xQueueHandle xHandle; | |
xHandle = xQueueGenericCreate( uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE ); | |
if( xHandle != NULL ) | |
{ | |
( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount; | |
traceCREATE_COUNTING_SEMAPHORE(); | |
} | |
else | |
{ | |
traceCREATE_COUNTING_SEMAPHORE_FAILED(); | |
} | |
configASSERT( xHandle ); | |
return xHandle; | |
} | |
#endif /* configUSE_COUNTING_SEMAPHORES */ | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) | |
{ | |
signed portBASE_TYPE xEntryTimeSet = pdFALSE; | |
xTimeOutType xTimeOut; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); | |
/* This function relaxes the coding standard somewhat to allow return | |
statements within the function itself. This is done in the interest | |
of execution time efficiency. */ | |
for( ;; ) | |
{ | |
taskENTER_CRITICAL(); | |
{ | |
/* Is there room on the queue now? The running task must be | |
the highest priority task wanting to access the queue. If | |
the head item in the queue is to be overwritten then it does | |
not matter if the queue is full. */ | |
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) | |
{ | |
traceQUEUE_SEND( pxQueue ); | |
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
{ | |
if( pxQueue->pxQueueSetContainer != NULL ) | |
{ | |
if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE ) | |
{ | |
/* The queue is a member of a queue set, and posting | |
to the queue set caused a higher priority task to | |
unblock. A context switch is required. */ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
else | |
{ | |
/* If there was a task waiting for data to arrive on the | |
queue then unblock it now. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) | |
{ | |
/* The unblocked task has a priority higher than | |
our own so yield immediately. Yes it is ok to | |
do this from within the critical section - the | |
kernel takes care of that. */ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
} | |
#else /* configUSE_QUEUE_SETS */ | |
{ | |
/* If there was a task waiting for data to arrive on the | |
queue then unblock it now. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) | |
{ | |
/* The unblocked task has a priority higher than | |
our own so yield immediately. Yes it is ok to do | |
this from within the critical section - the kernel | |
takes care of that. */ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
taskEXIT_CRITICAL(); | |
/* Return to the original privilege level before exiting the | |
function. */ | |
return pdPASS; | |
} | |
else | |
{ | |
if( xTicksToWait == ( portTickType ) 0 ) | |
{ | |
/* The queue was full and no block time is specified (or | |
the block time has expired) so leave now. */ | |
taskEXIT_CRITICAL(); | |
/* Return to the original privilege level before exiting | |
the function. */ | |
traceQUEUE_SEND_FAILED( pxQueue ); | |
return errQUEUE_FULL; | |
} | |
else if( xEntryTimeSet == pdFALSE ) | |
{ | |
/* The queue was full and a block time was specified so | |
configure the timeout structure. */ | |
vTaskSetTimeOutState( &xTimeOut ); | |
xEntryTimeSet = pdTRUE; | |
} | |
else | |
{ | |
/* Entry time was already set. */ | |
} | |
} | |
} | |
taskEXIT_CRITICAL(); | |
/* Interrupts and other tasks can send to and receive from the queue | |
now the critical section has been exited. */ | |
vTaskSuspendAll(); | |
prvLockQueue( pxQueue ); | |
/* Update the timeout state to see if it has expired yet. */ | |
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) | |
{ | |
if( prvIsQueueFull( pxQueue ) != pdFALSE ) | |
{ | |
traceBLOCKING_ON_QUEUE_SEND( pxQueue ); | |
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); | |
/* Unlocking the queue means queue events can effect the | |
event list. It is possible that interrupts occurring now | |
remove this task from the event list again - but as the | |
scheduler is suspended the task will go onto the pending | |
ready last instead of the actual ready list. */ | |
prvUnlockQueue( pxQueue ); | |
/* Resuming the scheduler will move tasks from the pending | |
ready list into the ready list - so it is feasible that this | |
task is already in a ready list before it yields - in which | |
case the yield will not cause a context switch unless there | |
is also a higher priority task in the pending ready list. */ | |
if( xTaskResumeAll() == pdFALSE ) | |
{ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
else | |
{ | |
/* Try again. */ | |
prvUnlockQueue( pxQueue ); | |
( void ) xTaskResumeAll(); | |
} | |
} | |
else | |
{ | |
/* The timeout has expired. */ | |
prvUnlockQueue( pxQueue ); | |
( void ) xTaskResumeAll(); | |
/* Return to the original privilege level before exiting the | |
function. */ | |
traceQUEUE_SEND_FAILED( pxQueue ); | |
return errQUEUE_FULL; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_ALTERNATIVE_API == 1 ) | |
signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) | |
{ | |
signed portBASE_TYPE xEntryTimeSet = pdFALSE; | |
xTimeOutType xTimeOut; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
for( ;; ) | |
{ | |
taskENTER_CRITICAL(); | |
{ | |
/* Is there room on the queue now? To be running we must be | |
the highest priority task wanting to access the queue. */ | |
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) | |
{ | |
traceQUEUE_SEND( pxQueue ); | |
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); | |
/* If there was a task waiting for data to arrive on the | |
queue then unblock it now. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) | |
{ | |
/* The unblocked task has a priority higher than | |
our own so yield immediately. */ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
taskEXIT_CRITICAL(); | |
return pdPASS; | |
} | |
else | |
{ | |
if( xTicksToWait == ( portTickType ) 0 ) | |
{ | |
taskEXIT_CRITICAL(); | |
return errQUEUE_FULL; | |
} | |
else if( xEntryTimeSet == pdFALSE ) | |
{ | |
vTaskSetTimeOutState( &xTimeOut ); | |
xEntryTimeSet = pdTRUE; | |
} | |
} | |
} | |
taskEXIT_CRITICAL(); | |
taskENTER_CRITICAL(); | |
{ | |
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) | |
{ | |
if( prvIsQueueFull( pxQueue ) != pdFALSE ) | |
{ | |
traceBLOCKING_ON_QUEUE_SEND( pxQueue ); | |
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); | |
portYIELD_WITHIN_API(); | |
} | |
} | |
else | |
{ | |
taskEXIT_CRITICAL(); | |
traceQUEUE_SEND_FAILED( pxQueue ); | |
return errQUEUE_FULL; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
} | |
} | |
#endif /* configUSE_ALTERNATIVE_API */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_ALTERNATIVE_API == 1 ) | |
signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) | |
{ | |
signed portBASE_TYPE xEntryTimeSet = pdFALSE; | |
xTimeOutType xTimeOut; | |
signed char *pcOriginalReadPosition; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
for( ;; ) | |
{ | |
taskENTER_CRITICAL(); | |
{ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* Remember our read position in case we are just peeking. */ | |
pcOriginalReadPosition = pxQueue->u.pcReadFrom; | |
prvCopyDataFromQueue( pxQueue, pvBuffer ); | |
if( xJustPeeking == pdFALSE ) | |
{ | |
traceQUEUE_RECEIVE( pxQueue ); | |
/* Data is actually being removed (not just peeked). */ | |
--( pxQueue->uxMessagesWaiting ); | |
#if ( configUSE_MUTEXES == 1 ) | |
{ | |
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) | |
{ | |
/* Record the information required to implement | |
priority inheritance should it become necessary. */ | |
pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle(); | |
} | |
} | |
#endif | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) | |
{ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
else | |
{ | |
traceQUEUE_PEEK( pxQueue ); | |
/* We are not removing the data, so reset our read | |
pointer. */ | |
pxQueue->u.pcReadFrom = pcOriginalReadPosition; | |
/* The data is being left in the queue, so see if there are | |
any other tasks waiting for the data. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
/* Tasks that are removed from the event list will get added to | |
the pending ready list as the scheduler is still suspended. */ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority than this task. */ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
taskEXIT_CRITICAL(); | |
return pdPASS; | |
} | |
else | |
{ | |
if( xTicksToWait == ( portTickType ) 0 ) | |
{ | |
taskEXIT_CRITICAL(); | |
traceQUEUE_RECEIVE_FAILED( pxQueue ); | |
return errQUEUE_EMPTY; | |
} | |
else if( xEntryTimeSet == pdFALSE ) | |
{ | |
vTaskSetTimeOutState( &xTimeOut ); | |
xEntryTimeSet = pdTRUE; | |
} | |
} | |
} | |
taskEXIT_CRITICAL(); | |
taskENTER_CRITICAL(); | |
{ | |
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) | |
{ | |
if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) | |
{ | |
traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); | |
#if ( configUSE_MUTEXES == 1 ) | |
{ | |
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) | |
{ | |
portENTER_CRITICAL(); | |
{ | |
vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); | |
} | |
portEXIT_CRITICAL(); | |
} | |
} | |
#endif | |
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); | |
portYIELD_WITHIN_API(); | |
} | |
} | |
else | |
{ | |
taskEXIT_CRITICAL(); | |
traceQUEUE_RECEIVE_FAILED( pxQueue ); | |
return errQUEUE_EMPTY; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
} | |
} | |
#endif /* configUSE_ALTERNATIVE_API */ | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) | |
{ | |
signed portBASE_TYPE xReturn; | |
unsigned portBASE_TYPE uxSavedInterruptStatus; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); | |
/* RTOS ports that support interrupt nesting have the concept of a maximum | |
system call (or maximum API call) interrupt priority. Interrupts that are | |
above the maximum system call priority are keep permanently enabled, even | |
when the RTOS kernel is in a critical section, but cannot make any calls to | |
FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h | |
then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion | |
failure if a FreeRTOS API function is called from an interrupt that has been | |
assigned a priority above the configured maximum system call priority. | |
Only FreeRTOS functions that end in FromISR can be called from interrupts | |
that have been assigned a priority at or (logically) below the maximum | |
system call interrupt priority. FreeRTOS maintains a separate interrupt | |
safe API to ensure interrupt entry is as fast and as simple as possible. | |
More information (albeit Cortex-M specific) is provided on the following | |
link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ | |
portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); | |
/* Similar to xQueueGenericSend, except we don't block if there is no room | |
in the queue. Also we don't directly wake a task that was blocked on a | |
queue read, instead we return a flag to say whether a context switch is | |
required or not (i.e. has a task with a higher priority than us been woken | |
by this post). */ | |
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); | |
{ | |
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) | |
{ | |
traceQUEUE_SEND_FROM_ISR( pxQueue ); | |
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); | |
/* If the queue is locked we do not alter the event list. This will | |
be done when the queue is unlocked later. */ | |
if( pxQueue->xTxLock == queueUNLOCKED ) | |
{ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
{ | |
if( pxQueue->pxQueueSetContainer != NULL ) | |
{ | |
if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE ) | |
{ | |
/* The queue is a member of a queue set, and posting | |
to the queue set caused a higher priority task to | |
unblock. A context switch is required. */ | |
if( pxHigherPriorityTaskWoken != NULL ) | |
{ | |
*pxHigherPriorityTaskWoken = pdTRUE; | |
} | |
} | |
} | |
else | |
{ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority so record that a | |
context switch is required. */ | |
if( pxHigherPriorityTaskWoken != NULL ) | |
{ | |
*pxHigherPriorityTaskWoken = pdTRUE; | |
} | |
} | |
} | |
} | |
} | |
#else /* configUSE_QUEUE_SETS */ | |
{ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority so record that a | |
context switch is required. */ | |
if( pxHigherPriorityTaskWoken != NULL ) | |
{ | |
*pxHigherPriorityTaskWoken = pdTRUE; | |
} | |
} | |
} | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
} | |
else | |
{ | |
/* Increment the lock count so the task that unlocks the queue | |
knows that data was posted while it was locked. */ | |
++( pxQueue->xTxLock ); | |
} | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); | |
xReturn = errQUEUE_FULL; | |
} | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) | |
{ | |
signed portBASE_TYPE xEntryTimeSet = pdFALSE; | |
xTimeOutType xTimeOut; | |
signed char *pcOriginalReadPosition; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
/* This function relaxes the coding standard somewhat to allow return | |
statements within the function itself. This is done in the interest | |
of execution time efficiency. */ | |
for( ;; ) | |
{ | |
taskENTER_CRITICAL(); | |
{ | |
/* Is there data in the queue now? To be running we must be | |
the highest priority task wanting to access the queue. */ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* Remember the read position in case the queue is only being | |
peeked. */ | |
pcOriginalReadPosition = pxQueue->u.pcReadFrom; | |
prvCopyDataFromQueue( pxQueue, pvBuffer ); | |
if( xJustPeeking == pdFALSE ) | |
{ | |
traceQUEUE_RECEIVE( pxQueue ); | |
/* Actually removing data, not just peeking. */ | |
--( pxQueue->uxMessagesWaiting ); | |
#if ( configUSE_MUTEXES == 1 ) | |
{ | |
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) | |
{ | |
/* Record the information required to implement | |
priority inheritance should it become necessary. */ | |
pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */ | |
} | |
} | |
#endif | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) | |
{ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
else | |
{ | |
traceQUEUE_PEEK( pxQueue ); | |
/* The data is not being removed, so reset the read | |
pointer. */ | |
pxQueue->u.pcReadFrom = pcOriginalReadPosition; | |
/* The data is being left in the queue, so see if there are | |
any other tasks waiting for the data. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
/* Tasks that are removed from the event list will get added to | |
the pending ready list as the scheduler is still suspended. */ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority than this task. */ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
} | |
taskEXIT_CRITICAL(); | |
return pdPASS; | |
} | |
else | |
{ | |
if( xTicksToWait == ( portTickType ) 0 ) | |
{ | |
/* The queue was empty and no block time is specified (or | |
the block time has expired) so leave now. */ | |
taskEXIT_CRITICAL(); | |
traceQUEUE_RECEIVE_FAILED( pxQueue ); | |
return errQUEUE_EMPTY; | |
} | |
else if( xEntryTimeSet == pdFALSE ) | |
{ | |
/* The queue was empty and a block time was specified so | |
configure the timeout structure. */ | |
vTaskSetTimeOutState( &xTimeOut ); | |
xEntryTimeSet = pdTRUE; | |
} | |
else | |
{ | |
/* Entry time was already set. */ | |
} | |
} | |
} | |
taskEXIT_CRITICAL(); | |
/* Interrupts and other tasks can send to and receive from the queue | |
now the critical section has been exited. */ | |
vTaskSuspendAll(); | |
prvLockQueue( pxQueue ); | |
/* Update the timeout state to see if it has expired yet. */ | |
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) | |
{ | |
if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) | |
{ | |
traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); | |
#if ( configUSE_MUTEXES == 1 ) | |
{ | |
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) | |
{ | |
portENTER_CRITICAL(); | |
{ | |
vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); | |
} | |
portEXIT_CRITICAL(); | |
} | |
} | |
#endif | |
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); | |
prvUnlockQueue( pxQueue ); | |
if( xTaskResumeAll() == pdFALSE ) | |
{ | |
portYIELD_WITHIN_API(); | |
} | |
} | |
else | |
{ | |
/* Try again. */ | |
prvUnlockQueue( pxQueue ); | |
( void ) xTaskResumeAll(); | |
} | |
} | |
else | |
{ | |
prvUnlockQueue( pxQueue ); | |
( void ) xTaskResumeAll(); | |
traceQUEUE_RECEIVE_FAILED( pxQueue ); | |
return errQUEUE_EMPTY; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, const void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) | |
{ | |
signed portBASE_TYPE xReturn; | |
unsigned portBASE_TYPE uxSavedInterruptStatus; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
/* RTOS ports that support interrupt nesting have the concept of a maximum | |
system call (or maximum API call) interrupt priority. Interrupts that are | |
above the maximum system call priority are keep permanently enabled, even | |
when the RTOS kernel is in a critical section, but cannot make any calls to | |
FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h | |
then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion | |
failure if a FreeRTOS API function is called from an interrupt that has been | |
assigned a priority above the configured maximum system call priority. | |
Only FreeRTOS functions that end in FromISR can be called from interrupts | |
that have been assigned a priority at or (logically) below the maximum | |
system call interrupt priority. FreeRTOS maintains a separate interrupt | |
safe API to ensure interrupt entry is as fast and as simple as possible. | |
More information (albeit Cortex-M specific) is provided on the following | |
link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ | |
portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); | |
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); | |
{ | |
/* Cannot block in an ISR, so check there is data available. */ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
traceQUEUE_RECEIVE_FROM_ISR( pxQueue ); | |
prvCopyDataFromQueue( pxQueue, pvBuffer ); | |
--( pxQueue->uxMessagesWaiting ); | |
/* If the queue is locked the event list will not be modified. | |
Instead update the lock count so the task that unlocks the queue | |
will know that an ISR has removed data while the queue was | |
locked. */ | |
if( pxQueue->xRxLock == queueUNLOCKED ) | |
{ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority than us so | |
force a context switch. */ | |
if( pxHigherPriorityTaskWoken != NULL ) | |
{ | |
*pxHigherPriorityTaskWoken = pdTRUE; | |
} | |
} | |
} | |
} | |
else | |
{ | |
/* Increment the lock count so the task that unlocks the queue | |
knows that data was removed while it was locked. */ | |
++( pxQueue->xRxLock ); | |
} | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
xReturn = pdFAIL; | |
traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ); | |
} | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, const void * const pvBuffer ) | |
{ | |
signed portBASE_TYPE xReturn; | |
unsigned portBASE_TYPE uxSavedInterruptStatus; | |
signed char *pcOriginalReadPosition; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); | |
/* RTOS ports that support interrupt nesting have the concept of a maximum | |
system call (or maximum API call) interrupt priority. Interrupts that are | |
above the maximum system call priority are keep permanently enabled, even | |
when the RTOS kernel is in a critical section, but cannot make any calls to | |
FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h | |
then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion | |
failure if a FreeRTOS API function is called from an interrupt that has been | |
assigned a priority above the configured maximum system call priority. | |
Only FreeRTOS functions that end in FromISR can be called from interrupts | |
that have been assigned a priority at or (logically) below the maximum | |
system call interrupt priority. FreeRTOS maintains a separate interrupt | |
safe API to ensure interrupt entry is as fast and as simple as possible. | |
More information (albeit Cortex-M specific) is provided on the following | |
link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ | |
portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); | |
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); | |
{ | |
/* Cannot block in an ISR, so check there is data available. */ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
traceQUEUE_PEEK_FROM_ISR( pxQueue ); | |
/* Remember the read position so it can be reset as nothing is | |
actually being removed from the queue. */ | |
pcOriginalReadPosition = pxQueue->u.pcReadFrom; | |
prvCopyDataFromQueue( pxQueue, pvBuffer ); | |
pxQueue->u.pcReadFrom = pcOriginalReadPosition; | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
xReturn = pdFAIL; | |
traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ); | |
} | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ) | |
{ | |
unsigned portBASE_TYPE uxReturn; | |
configASSERT( xQueue ); | |
taskENTER_CRITICAL(); | |
uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting; | |
taskEXIT_CRITICAL(); | |
return uxReturn; | |
} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ | |
/*-----------------------------------------------------------*/ | |
unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue ) | |
{ | |
unsigned portBASE_TYPE uxReturn; | |
configASSERT( xQueue ); | |
uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting; | |
return uxReturn; | |
} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ | |
/*-----------------------------------------------------------*/ | |
void vQueueDelete( xQueueHandle xQueue ) | |
{ | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
configASSERT( pxQueue ); | |
traceQUEUE_DELETE( pxQueue ); | |
#if ( configQUEUE_REGISTRY_SIZE > 0 ) | |
{ | |
vQueueUnregisterQueue( pxQueue ); | |
} | |
#endif | |
vPortFree( pxQueue->pcHead ); | |
vPortFree( pxQueue ); | |
} | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_TRACE_FACILITY == 1 ) | |
unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue ) | |
{ | |
return ( ( xQUEUE * ) xQueue )->ucQueueNumber; | |
} | |
#endif /* configUSE_TRACE_FACILITY */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_TRACE_FACILITY == 1 ) | |
void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber ) | |
{ | |
( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber; | |
} | |
#endif /* configUSE_TRACE_FACILITY */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_TRACE_FACILITY == 1 ) | |
unsigned char ucQueueGetQueueType( xQueueHandle xQueue ) | |
{ | |
return ( ( xQUEUE * ) xQueue )->ucQueueType; | |
} | |
#endif /* configUSE_TRACE_FACILITY */ | |
/*-----------------------------------------------------------*/ | |
static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) | |
{ | |
if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
#if ( configUSE_MUTEXES == 1 ) | |
{ | |
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) | |
{ | |
/* The mutex is no longer being held. */ | |
vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); | |
pxQueue->pxMutexHolder = NULL; | |
} | |
} | |
#endif /* configUSE_MUTEXES */ | |
} | |
else if( xPosition == queueSEND_TO_BACK ) | |
{ | |
( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. */ | |
pxQueue->pcWriteTo += pxQueue->uxItemSize; | |
if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */ | |
{ | |
pxQueue->pcWriteTo = pxQueue->pcHead; | |
} | |
} | |
else | |
{ | |
( void ) memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ | |
pxQueue->u.pcReadFrom -= pxQueue->uxItemSize; | |
if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */ | |
{ | |
pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); | |
} | |
if( xPosition == queueOVERWRITE ) | |
{ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* An item is not being added but overwritten, so subtract | |
one from the recorded number of items in the queue so when | |
one is added again below the number of recorded items remains | |
correct. */ | |
--( pxQueue->uxMessagesWaiting ); | |
} | |
} | |
} | |
++( pxQueue->uxMessagesWaiting ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void * const pvBuffer ) | |
{ | |
if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) | |
{ | |
pxQueue->u.pcReadFrom += pxQueue->uxItemSize; | |
if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */ | |
{ | |
pxQueue->u.pcReadFrom = pxQueue->pcHead; | |
} | |
( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */ | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvUnlockQueue( xQUEUE *pxQueue ) | |
{ | |
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ | |
/* The lock counts contains the number of extra data items placed or | |
removed from the queue while the queue was locked. When a queue is | |
locked items can be added or removed, but the event lists cannot be | |
updated. */ | |
taskENTER_CRITICAL(); | |
{ | |
/* See if data was added to the queue while it was locked. */ | |
while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED ) | |
{ | |
/* Data was posted while the queue was locked. Are any tasks | |
blocked waiting for data to become available? */ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
{ | |
if( pxQueue->pxQueueSetContainer != NULL ) | |
{ | |
if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE ) | |
{ | |
/* The queue is a member of a queue set, and posting to | |
the queue set caused a higher priority task to unblock. | |
A context switch is required. */ | |
vTaskMissedYield(); | |
} | |
} | |
else | |
{ | |
/* Tasks that are removed from the event list will get added to | |
the pending ready list as the scheduler is still suspended. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority so record that a | |
context switch is required. */ | |
vTaskMissedYield(); | |
} | |
} | |
else | |
{ | |
break; | |
} | |
} | |
} | |
#else /* configUSE_QUEUE_SETS */ | |
{ | |
/* Tasks that are removed from the event list will get added to | |
the pending ready list as the scheduler is still suspended. */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority so record that a | |
context switch is required. */ | |
vTaskMissedYield(); | |
} | |
} | |
else | |
{ | |
break; | |
} | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
--( pxQueue->xTxLock ); | |
} | |
pxQueue->xTxLock = queueUNLOCKED; | |
} | |
taskEXIT_CRITICAL(); | |
/* Do the same for the Rx lock. */ | |
taskENTER_CRITICAL(); | |
{ | |
while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED ) | |
{ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) | |
{ | |
vTaskMissedYield(); | |
} | |
--( pxQueue->xRxLock ); | |
} | |
else | |
{ | |
break; | |
} | |
} | |
pxQueue->xRxLock = queueUNLOCKED; | |
} | |
taskEXIT_CRITICAL(); | |
} | |
/*-----------------------------------------------------------*/ | |
static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) | |
{ | |
signed portBASE_TYPE xReturn; | |
taskENTER_CRITICAL(); | |
{ | |
if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
xReturn = pdTRUE; | |
} | |
else | |
{ | |
xReturn = pdFALSE; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue ) | |
{ | |
signed portBASE_TYPE xReturn; | |
configASSERT( xQueue ); | |
if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
xReturn = pdTRUE; | |
} | |
else | |
{ | |
xReturn = pdFALSE; | |
} | |
return xReturn; | |
} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ | |
/*-----------------------------------------------------------*/ | |
static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) | |
{ | |
signed portBASE_TYPE xReturn; | |
taskENTER_CRITICAL(); | |
{ | |
if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) | |
{ | |
xReturn = pdTRUE; | |
} | |
else | |
{ | |
xReturn = pdFALSE; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue ) | |
{ | |
signed portBASE_TYPE xReturn; | |
configASSERT( xQueue ); | |
if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength ) | |
{ | |
xReturn = pdTRUE; | |
} | |
else | |
{ | |
xReturn = pdFALSE; | |
} | |
return xReturn; | |
} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_CO_ROUTINES == 1 ) | |
signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait ) | |
{ | |
signed portBASE_TYPE xReturn; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
/* If the queue is already full we may have to block. A critical section | |
is required to prevent an interrupt removing something from the queue | |
between the check to see if the queue is full and blocking on the queue. */ | |
portDISABLE_INTERRUPTS(); | |
{ | |
if( prvIsQueueFull( pxQueue ) != pdFALSE ) | |
{ | |
/* The queue is full - do we want to block or just leave without | |
posting? */ | |
if( xTicksToWait > ( portTickType ) 0 ) | |
{ | |
/* As this is called from a coroutine we cannot block directly, but | |
return indicating that we need to block. */ | |
vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); | |
portENABLE_INTERRUPTS(); | |
return errQUEUE_BLOCKED; | |
} | |
else | |
{ | |
portENABLE_INTERRUPTS(); | |
return errQUEUE_FULL; | |
} | |
} | |
} | |
portENABLE_INTERRUPTS(); | |
portDISABLE_INTERRUPTS(); | |
{ | |
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) | |
{ | |
/* There is room in the queue, copy the data into the queue. */ | |
prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); | |
xReturn = pdPASS; | |
/* Were any co-routines waiting for data to become available? */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
/* In this instance the co-routine could be placed directly | |
into the ready list as we are within a critical section. | |
Instead the same pending ready list mechanism is used as if | |
the event were caused from within an interrupt. */ | |
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The co-routine waiting has a higher priority so record | |
that a yield might be appropriate. */ | |
xReturn = errQUEUE_YIELD; | |
} | |
} | |
} | |
else | |
{ | |
xReturn = errQUEUE_FULL; | |
} | |
} | |
portENABLE_INTERRUPTS(); | |
return xReturn; | |
} | |
#endif /* configUSE_CO_ROUTINES */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_CO_ROUTINES == 1 ) | |
signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait ) | |
{ | |
signed portBASE_TYPE xReturn; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
/* If the queue is already empty we may have to block. A critical section | |
is required to prevent an interrupt adding something to the queue | |
between the check to see if the queue is empty and blocking on the queue. */ | |
portDISABLE_INTERRUPTS(); | |
{ | |
if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* There are no messages in the queue, do we want to block or just | |
leave with nothing? */ | |
if( xTicksToWait > ( portTickType ) 0 ) | |
{ | |
/* As this is a co-routine we cannot block directly, but return | |
indicating that we need to block. */ | |
vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); | |
portENABLE_INTERRUPTS(); | |
return errQUEUE_BLOCKED; | |
} | |
else | |
{ | |
portENABLE_INTERRUPTS(); | |
return errQUEUE_FULL; | |
} | |
} | |
} | |
portENABLE_INTERRUPTS(); | |
portDISABLE_INTERRUPTS(); | |
{ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* Data is available from the queue. */ | |
pxQueue->u.pcReadFrom += pxQueue->uxItemSize; | |
if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) | |
{ | |
pxQueue->u.pcReadFrom = pxQueue->pcHead; | |
} | |
--( pxQueue->uxMessagesWaiting ); | |
( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); | |
xReturn = pdPASS; | |
/* Were any co-routines waiting for space to become available? */ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
/* In this instance the co-routine could be placed directly | |
into the ready list as we are within a critical section. | |
Instead the same pending ready list mechanism is used as if | |
the event were caused from within an interrupt. */ | |
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) | |
{ | |
xReturn = errQUEUE_YIELD; | |
} | |
} | |
} | |
else | |
{ | |
xReturn = pdFAIL; | |
} | |
} | |
portENABLE_INTERRUPTS(); | |
return xReturn; | |
} | |
#endif /* configUSE_CO_ROUTINES */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_CO_ROUTINES == 1 ) | |
signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) | |
{ | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
/* Cannot block within an ISR so if there is no space on the queue then | |
exit without doing anything. */ | |
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) | |
{ | |
prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); | |
/* We only want to wake one co-routine per ISR, so check that a | |
co-routine has not already been woken. */ | |
if( xCoRoutinePreviouslyWoken == pdFALSE ) | |
{ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
return pdTRUE; | |
} | |
} | |
} | |
} | |
return xCoRoutinePreviouslyWoken; | |
} | |
#endif /* configUSE_CO_ROUTINES */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_CO_ROUTINES == 1 ) | |
signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken ) | |
{ | |
signed portBASE_TYPE xReturn; | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
/* We cannot block from an ISR, so check there is data available. If | |
not then just leave without doing anything. */ | |
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* Copy the data from the queue. */ | |
pxQueue->u.pcReadFrom += pxQueue->uxItemSize; | |
if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) | |
{ | |
pxQueue->u.pcReadFrom = pxQueue->pcHead; | |
} | |
--( pxQueue->uxMessagesWaiting ); | |
( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); | |
if( ( *pxCoRoutineWoken ) == pdFALSE ) | |
{ | |
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) | |
{ | |
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) | |
{ | |
*pxCoRoutineWoken = pdTRUE; | |
} | |
} | |
} | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
xReturn = pdFAIL; | |
} | |
return xReturn; | |
} | |
#endif /* configUSE_CO_ROUTINES */ | |
/*-----------------------------------------------------------*/ | |
#if ( configQUEUE_REGISTRY_SIZE > 0 ) | |
void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) | |
{ | |
unsigned portBASE_TYPE ux; | |
/* See if there is an empty space in the registry. A NULL name denotes | |
a free slot. */ | |
for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ ) | |
{ | |
if( xQueueRegistry[ ux ].pcQueueName == NULL ) | |
{ | |
/* Store the information on this queue. */ | |
xQueueRegistry[ ux ].pcQueueName = pcQueueName; | |
xQueueRegistry[ ux ].xHandle = xQueue; | |
break; | |
} | |
} | |
} | |
#endif /* configQUEUE_REGISTRY_SIZE */ | |
/*-----------------------------------------------------------*/ | |
#if ( configQUEUE_REGISTRY_SIZE > 0 ) | |
void vQueueUnregisterQueue( xQueueHandle xQueue ) | |
{ | |
unsigned portBASE_TYPE ux; | |
/* See if the handle of the queue being unregistered in actually in the | |
registry. */ | |
for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ ) | |
{ | |
if( xQueueRegistry[ ux ].xHandle == xQueue ) | |
{ | |
/* Set the name to NULL to show that this slot if free again. */ | |
xQueueRegistry[ ux ].pcQueueName = NULL; | |
break; | |
} | |
} | |
} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ | |
#endif /* configQUEUE_REGISTRY_SIZE */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_TIMERS == 1 ) | |
void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait ) | |
{ | |
xQUEUE * const pxQueue = ( xQUEUE * ) xQueue; | |
/* This function should not be called by application code hence the | |
'Restricted' in its name. It is not part of the public API. It is | |
designed for use by kernel code, and has special calling requirements. | |
It can result in vListInsert() being called on a list that can only | |
possibly ever have one item in it, so the list will be fast, but even | |
so it should be called with the scheduler locked and not from a critical | |
section. */ | |
/* Only do anything if there are no messages in the queue. This function | |
will not actually cause the task to block, just place it on a blocked | |
list. It will not block until the scheduler is unlocked - at which | |
time a yield will be performed. If an item is added to the queue while | |
the queue is locked, and the calling task blocks on the queue, then the | |
calling task will be immediately unblocked when the queue is unlocked. */ | |
prvLockQueue( pxQueue ); | |
if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U ) | |
{ | |
/* There is nothing in the queue, block for the specified period. */ | |
vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); | |
} | |
prvUnlockQueue( pxQueue ); | |
} | |
#endif /* configUSE_TIMERS */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength ) | |
{ | |
xQueueSetHandle pxQueue; | |
pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET ); | |
return pxQueue; | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet ) | |
{ | |
portBASE_TYPE xReturn; | |
if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL ) | |
{ | |
/* Cannot add a queue/semaphore to more than one queue set. */ | |
xReturn = pdFAIL; | |
} | |
else if( ( ( xQUEUE * ) xQueueOrSemaphore )->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* Cannot add a queue/semaphore to a queue set if there are already | |
items in the queue/semaphore. */ | |
xReturn = pdFAIL; | |
} | |
else | |
{ | |
taskENTER_CRITICAL(); | |
{ | |
( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet; | |
} | |
taskEXIT_CRITICAL(); | |
xReturn = pdPASS; | |
} | |
return xReturn; | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet ) | |
{ | |
portBASE_TYPE xReturn; | |
xQUEUE * const pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore; | |
if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet ) | |
{ | |
/* The queue was not a member of the set. */ | |
xReturn = pdFAIL; | |
} | |
else if( pxQueueOrSemaphore->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 ) | |
{ | |
/* It is dangerous to remove a queue from a set when the queue is | |
not empty because the queue set will still hold pending events for | |
the queue. */ | |
xReturn = pdFAIL; | |
} | |
else | |
{ | |
taskENTER_CRITICAL(); | |
{ | |
/* The queue is no longer contained in the set. */ | |
pxQueueOrSemaphore->pxQueueSetContainer = NULL; | |
} | |
taskEXIT_CRITICAL(); | |
xReturn = pdPASS; | |
} | |
return xReturn; | |
} /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */ | |
#endif /* configUSE_QUEUE_SETS */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks ) | |
{ | |
xQueueSetMemberHandle xReturn = NULL; | |
( void ) xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */ | |
return xReturn; | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet ) | |
{ | |
xQueueSetMemberHandle xReturn = NULL; | |
( void ) xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */ | |
return xReturn; | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |
/*-----------------------------------------------------------*/ | |
#if ( configUSE_QUEUE_SETS == 1 ) | |
static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition ) | |
{ | |
xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer; | |
portBASE_TYPE xReturn = pdFALSE; | |
configASSERT( pxQueueSetContainer ); | |
configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ); | |
if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ) | |
{ | |
traceQUEUE_SEND( pxQueueSetContainer ); | |
/* The data copies is the handle of the queue that contains data. */ | |
prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition ); | |
if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE ) | |
{ | |
if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE ) | |
{ | |
/* The task waiting has a higher priority */ | |
xReturn = pdTRUE; | |
} | |
} | |
} | |
return xReturn; | |
} | |
#endif /* configUSE_QUEUE_SETS */ | |