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572 |
jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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#include <stdlib.h>
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#include <string.h>
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/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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all the API functions to use the MPU wrappers. That should only be done when
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task.h is included from an application file. */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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#include "FreeRTOS.h"
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#include "task.h"
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#include "croutine.h"
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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/*-----------------------------------------------------------
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* PUBLIC LIST API documented in list.h
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*----------------------------------------------------------*/
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/* Constants used with the cRxLock and cTxLock structure members. */
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#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )
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#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 )
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#define queueERRONEOUS_UNBLOCK ( -1 )
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/* For internal use only. */
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#define queueSEND_TO_BACK ( 0 )
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#define queueSEND_TO_FRONT ( 1 )
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/* Effectively make a union out of the xQUEUE structure. */
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#define pxMutexHolder pcTail
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#define uxQueueType pcHead
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#define uxRecursiveCallCount pcReadFrom
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#define queueQUEUE_IS_MUTEX NULL
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/* Semaphores do not actually store or copy data, so have an items size of
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zero. */
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#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )
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#define queueDONT_BLOCK ( ( portTickType ) 0 )
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#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 )
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/*
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* Definition of the queue used by the scheduler.
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* Items are queued by copy, not reference.
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*/
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typedef struct QueueDefinition
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{
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signed char *pcHead; /*< Points to the beginning of the queue storage area. */
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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. */
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signed char *pcWriteTo; /*< Points to the free next place in the storage area. */
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signed char *pcReadFrom; /*< Points to the last place that a queued item was read from. */
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xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */
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unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */
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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. */
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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. */
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} xQUEUE;
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/*-----------------------------------------------------------*/
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/*
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* Inside this file xQueueHandle is a pointer to a xQUEUE structure.
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* To keep the definition private the API header file defines it as a
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* pointer to void.
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*/
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typedef xQUEUE * xQueueHandle;
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/*
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* Prototypes for public functions are included here so we don't have to
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* include the API header file (as it defines xQueueHandle differently). These
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* functions are documented in the API header file.
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*/
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xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
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unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
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xQueueHandle xQueueCreateMutex( void ) PRIVILEGED_FUNCTION;
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xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
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portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
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portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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/*
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* Co-routine queue functions differ from task queue functions. Co-routines are
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* an optional component.
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*/
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#if configUSE_CO_ROUTINES == 1
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signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
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signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
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#endif
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/*
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* The queue registry is just a means for kernel aware debuggers to locate
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* queue structures. It has no other purpose so is an optional component.
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*/
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#if configQUEUE_REGISTRY_SIZE > 0
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/* The type stored within the queue registry array. This allows a name
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to be assigned to each queue making kernel aware debugging a little
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more user friendly. */
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typedef struct QUEUE_REGISTRY_ITEM
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{
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signed char *pcQueueName;
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xQueueHandle xHandle;
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} xQueueRegistryItem;
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/* The queue registry is simply an array of xQueueRegistryItem structures.
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The pcQueueName member of a structure being NULL is indicative of the
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array position being vacant. */
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xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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/* Removes a queue from the registry by simply setting the pcQueueName
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member to NULL. */
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static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
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void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION;
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#endif
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/*
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* Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
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* prevent an ISR from adding or removing items to the queue, but does prevent
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* an ISR from removing tasks from the queue event lists. If an ISR finds a
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* queue is locked it will instead increment the appropriate queue lock count
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* to indicate that a task may require unblocking. When the queue in unlocked
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* these lock counts are inspected, and the appropriate action taken.
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*/
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static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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/*
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* Uses a critical section to determine if there is any data in a queue.
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*
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* @return pdTRUE if the queue contains no items, otherwise pdFALSE.
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*/
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static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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/*
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* Uses a critical section to determine if there is any space in a queue.
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*
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* @return pdTRUE if there is no space, otherwise pdFALSE;
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*/
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static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
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/*
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* Copies an item into the queue, either at the front of the queue or the
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* back of the queue.
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*/
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static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION;
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/*
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* Copies an item out of a queue.
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*/
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static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
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/*-----------------------------------------------------------*/
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/*
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* Macro to mark a queue as locked. Locking a queue prevents an ISR from
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* accessing the queue event lists.
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*/
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#define prvLockQueue( pxQueue ) \
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{ \
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taskENTER_CRITICAL(); \
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{ \
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if( pxQueue->xRxLock == queueUNLOCKED ) \
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{ \
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pxQueue->xRxLock = queueLOCKED_UNMODIFIED; \
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} \
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if( pxQueue->xTxLock == queueUNLOCKED ) \
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{ \
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pxQueue->xTxLock = queueLOCKED_UNMODIFIED; \
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} \
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} \
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taskEXIT_CRITICAL(); \
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}
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| 240 |
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/*-----------------------------------------------------------*/
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| 241 |
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| 242 |
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| 243 |
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/*-----------------------------------------------------------
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| 244 |
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* PUBLIC QUEUE MANAGEMENT API documented in queue.h
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| 245 |
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*----------------------------------------------------------*/
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| 246 |
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| 247 |
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xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize )
|
| 248 |
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{
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| 249 |
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xQUEUE *pxNewQueue;
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| 250 |
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size_t xQueueSizeInBytes;
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| 251 |
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| 252 |
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/* Allocate the new queue structure. */
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if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )
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| 254 |
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{
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| 255 |
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pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
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| 256 |
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if( pxNewQueue != NULL )
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| 257 |
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{
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| 258 |
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/* Create the list of pointers to queue items. The queue is one byte
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| 259 |
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longer than asked for to make wrap checking easier/faster. */
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| 260 |
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xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;
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| 261 |
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| 262 |
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pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );
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| 263 |
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if( pxNewQueue->pcHead != NULL )
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| 264 |
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{
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| 265 |
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/* Initialise the queue members as described above where the
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| 266 |
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queue type is defined. */
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| 267 |
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pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize );
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| 268 |
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pxNewQueue->uxMessagesWaiting = 0;
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| 269 |
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pxNewQueue->pcWriteTo = pxNewQueue->pcHead;
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| 270 |
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pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize );
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| 271 |
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pxNewQueue->uxLength = uxQueueLength;
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| 272 |
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pxNewQueue->uxItemSize = uxItemSize;
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| 273 |
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pxNewQueue->xRxLock = queueUNLOCKED;
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| 274 |
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pxNewQueue->xTxLock = queueUNLOCKED;
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| 275 |
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| 276 |
|
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/* Likewise ensure the event queues start with the correct state. */
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| 277 |
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vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
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| 278 |
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vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
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| 279 |
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| 280 |
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traceQUEUE_CREATE( pxNewQueue );
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| 281 |
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return pxNewQueue;
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| 282 |
|
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}
|
| 283 |
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else
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| 284 |
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{
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| 285 |
|
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traceQUEUE_CREATE_FAILED();
|
| 286 |
|
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vPortFree( pxNewQueue );
|
| 287 |
|
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}
|
| 288 |
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}
|
| 289 |
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}
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| 290 |
|
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|
| 291 |
|
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/* Will only reach here if we could not allocate enough memory or no memory
|
| 292 |
|
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was required. */
|
| 293 |
|
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return NULL;
|
| 294 |
|
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}
|
| 295 |
|
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/*-----------------------------------------------------------*/
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| 296 |
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|
| 297 |
|
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#if ( configUSE_MUTEXES == 1 )
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| 298 |
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|
|
| 299 |
|
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xQueueHandle xQueueCreateMutex( void )
|
| 300 |
|
|
{
|
| 301 |
|
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xQUEUE *pxNewQueue;
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| 302 |
|
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|
| 303 |
|
|
/* Allocate the new queue structure. */
|
| 304 |
|
|
pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
|
| 305 |
|
|
if( pxNewQueue != NULL )
|
| 306 |
|
|
{
|
| 307 |
|
|
/* Information required for priority inheritance. */
|
| 308 |
|
|
pxNewQueue->pxMutexHolder = NULL;
|
| 309 |
|
|
pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
|
| 310 |
|
|
|
| 311 |
|
|
/* Queues used as a mutex no data is actually copied into or out
|
| 312 |
|
|
of the queue. */
|
| 313 |
|
|
pxNewQueue->pcWriteTo = NULL;
|
| 314 |
|
|
pxNewQueue->pcReadFrom = NULL;
|
| 315 |
|
|
|
| 316 |
|
|
/* Each mutex has a length of 1 (like a binary semaphore) and
|
| 317 |
|
|
an item size of 0 as nothing is actually copied into or out
|
| 318 |
|
|
of the mutex. */
|
| 319 |
|
|
pxNewQueue->uxMessagesWaiting = 0;
|
| 320 |
|
|
pxNewQueue->uxLength = 1;
|
| 321 |
|
|
pxNewQueue->uxItemSize = 0;
|
| 322 |
|
|
pxNewQueue->xRxLock = queueUNLOCKED;
|
| 323 |
|
|
pxNewQueue->xTxLock = queueUNLOCKED;
|
| 324 |
|
|
|
| 325 |
|
|
/* Ensure the event queues start with the correct state. */
|
| 326 |
|
|
vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
|
| 327 |
|
|
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
|
| 328 |
|
|
|
| 329 |
|
|
/* Start with the semaphore in the expected state. */
|
| 330 |
|
|
xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK );
|
| 331 |
|
|
|
| 332 |
|
|
traceCREATE_MUTEX( pxNewQueue );
|
| 333 |
|
|
}
|
| 334 |
|
|
else
|
| 335 |
|
|
{
|
| 336 |
|
|
traceCREATE_MUTEX_FAILED();
|
| 337 |
|
|
}
|
| 338 |
|
|
|
| 339 |
|
|
return pxNewQueue;
|
| 340 |
|
|
}
|
| 341 |
|
|
|
| 342 |
|
|
#endif /* configUSE_MUTEXES */
|
| 343 |
|
|
/*-----------------------------------------------------------*/
|
| 344 |
|
|
|
| 345 |
|
|
#if configUSE_RECURSIVE_MUTEXES == 1
|
| 346 |
|
|
|
| 347 |
|
|
portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )
|
| 348 |
|
|
{
|
| 349 |
|
|
portBASE_TYPE xReturn;
|
| 350 |
|
|
|
| 351 |
|
|
/* If this is the task that holds the mutex then pxMutexHolder will not
|
| 352 |
|
|
change outside of this task. If this task does not hold the mutex then
|
| 353 |
|
|
pxMutexHolder can never coincidentally equal the tasks handle, and as
|
| 354 |
|
|
this is the only condition we are interested in it does not matter if
|
| 355 |
|
|
pxMutexHolder is accessed simultaneously by another task. Therefore no
|
| 356 |
|
|
mutual exclusion is required to test the pxMutexHolder variable. */
|
| 357 |
|
|
if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
|
| 358 |
|
|
{
|
| 359 |
|
|
traceGIVE_MUTEX_RECURSIVE( pxMutex );
|
| 360 |
|
|
|
| 361 |
|
|
/* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
|
| 362 |
|
|
the task handle, therefore no underflow check is required. Also,
|
| 363 |
|
|
uxRecursiveCallCount is only modified by the mutex holder, and as
|
| 364 |
|
|
there can only be one, no mutual exclusion is required to modify the
|
| 365 |
|
|
uxRecursiveCallCount member. */
|
| 366 |
|
|
( pxMutex->uxRecursiveCallCount )--;
|
| 367 |
|
|
|
| 368 |
|
|
/* Have we unwound the call count? */
|
| 369 |
|
|
if( pxMutex->uxRecursiveCallCount == 0 )
|
| 370 |
|
|
{
|
| 371 |
|
|
/* Return the mutex. This will automatically unblock any other
|
| 372 |
|
|
task that might be waiting to access the mutex. */
|
| 373 |
|
|
xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
|
| 374 |
|
|
}
|
| 375 |
|
|
|
| 376 |
|
|
xReturn = pdPASS;
|
| 377 |
|
|
}
|
| 378 |
|
|
else
|
| 379 |
|
|
{
|
| 380 |
|
|
/* We cannot give the mutex because we are not the holder. */
|
| 381 |
|
|
xReturn = pdFAIL;
|
| 382 |
|
|
|
| 383 |
|
|
traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
|
| 384 |
|
|
}
|
| 385 |
|
|
|
| 386 |
|
|
return xReturn;
|
| 387 |
|
|
}
|
| 388 |
|
|
|
| 389 |
|
|
#endif /* configUSE_RECURSIVE_MUTEXES */
|
| 390 |
|
|
/*-----------------------------------------------------------*/
|
| 391 |
|
|
|
| 392 |
|
|
#if configUSE_RECURSIVE_MUTEXES == 1
|
| 393 |
|
|
|
| 394 |
|
|
portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )
|
| 395 |
|
|
{
|
| 396 |
|
|
portBASE_TYPE xReturn;
|
| 397 |
|
|
|
| 398 |
|
|
/* Comments regarding mutual exclusion as per those within
|
| 399 |
|
|
xQueueGiveMutexRecursive(). */
|
| 400 |
|
|
|
| 401 |
|
|
traceTAKE_MUTEX_RECURSIVE( pxMutex );
|
| 402 |
|
|
|
| 403 |
|
|
if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
|
| 404 |
|
|
{
|
| 405 |
|
|
( pxMutex->uxRecursiveCallCount )++;
|
| 406 |
|
|
xReturn = pdPASS;
|
| 407 |
|
|
}
|
| 408 |
|
|
else
|
| 409 |
|
|
{
|
| 410 |
|
|
xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );
|
| 411 |
|
|
|
| 412 |
|
|
/* pdPASS will only be returned if we successfully obtained the mutex,
|
| 413 |
|
|
we may have blocked to reach here. */
|
| 414 |
|
|
if( xReturn == pdPASS )
|
| 415 |
|
|
{
|
| 416 |
|
|
( pxMutex->uxRecursiveCallCount )++;
|
| 417 |
|
|
}
|
| 418 |
|
|
else
|
| 419 |
|
|
{
|
| 420 |
|
|
traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
|
| 421 |
|
|
}
|
| 422 |
|
|
}
|
| 423 |
|
|
|
| 424 |
|
|
return xReturn;
|
| 425 |
|
|
}
|
| 426 |
|
|
|
| 427 |
|
|
#endif /* configUSE_RECURSIVE_MUTEXES */
|
| 428 |
|
|
/*-----------------------------------------------------------*/
|
| 429 |
|
|
|
| 430 |
|
|
#if configUSE_COUNTING_SEMAPHORES == 1
|
| 431 |
|
|
|
| 432 |
|
|
xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
|
| 433 |
|
|
{
|
| 434 |
|
|
xQueueHandle pxHandle;
|
| 435 |
|
|
|
| 436 |
|
|
pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH );
|
| 437 |
|
|
|
| 438 |
|
|
if( pxHandle != NULL )
|
| 439 |
|
|
{
|
| 440 |
|
|
pxHandle->uxMessagesWaiting = uxInitialCount;
|
| 441 |
|
|
|
| 442 |
|
|
traceCREATE_COUNTING_SEMAPHORE();
|
| 443 |
|
|
}
|
| 444 |
|
|
else
|
| 445 |
|
|
{
|
| 446 |
|
|
traceCREATE_COUNTING_SEMAPHORE_FAILED();
|
| 447 |
|
|
}
|
| 448 |
|
|
|
| 449 |
|
|
return pxHandle;
|
| 450 |
|
|
}
|
| 451 |
|
|
|
| 452 |
|
|
#endif /* configUSE_COUNTING_SEMAPHORES */
|
| 453 |
|
|
/*-----------------------------------------------------------*/
|
| 454 |
|
|
|
| 455 |
|
|
signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
|
| 456 |
|
|
{
|
| 457 |
|
|
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
|
| 458 |
|
|
xTimeOutType xTimeOut;
|
| 459 |
|
|
|
| 460 |
|
|
/* This function relaxes the coding standard somewhat to allow return
|
| 461 |
|
|
statements within the function itself. This is done in the interest
|
| 462 |
|
|
of execution time efficiency. */
|
| 463 |
|
|
for( ;; )
|
| 464 |
|
|
{
|
| 465 |
|
|
taskENTER_CRITICAL();
|
| 466 |
|
|
{
|
| 467 |
|
|
/* Is there room on the queue now? To be running we must be
|
| 468 |
|
|
the highest priority task wanting to access the queue. */
|
| 469 |
|
|
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
|
| 470 |
|
|
{
|
| 471 |
|
|
traceQUEUE_SEND( pxQueue );
|
| 472 |
|
|
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
|
| 473 |
|
|
|
| 474 |
|
|
/* If there was a task waiting for data to arrive on the
|
| 475 |
|
|
queue then unblock it now. */
|
| 476 |
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
|
| 477 |
|
|
{
|
| 478 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
|
| 479 |
|
|
{
|
| 480 |
|
|
/* The unblocked task has a priority higher than
|
| 481 |
|
|
our own so yield immediately. Yes it is ok to do
|
| 482 |
|
|
this from within the critical section - the kernel
|
| 483 |
|
|
takes care of that. */
|
| 484 |
|
|
portYIELD_WITHIN_API();
|
| 485 |
|
|
}
|
| 486 |
|
|
}
|
| 487 |
|
|
|
| 488 |
|
|
taskEXIT_CRITICAL();
|
| 489 |
|
|
|
| 490 |
|
|
/* Return to the original privilege level before exiting the
|
| 491 |
|
|
function. */
|
| 492 |
|
|
return pdPASS;
|
| 493 |
|
|
}
|
| 494 |
|
|
else
|
| 495 |
|
|
{
|
| 496 |
|
|
if( xTicksToWait == ( portTickType ) 0 )
|
| 497 |
|
|
{
|
| 498 |
|
|
/* The queue was full and no block time is specified (or
|
| 499 |
|
|
the block time has expired) so leave now. */
|
| 500 |
|
|
taskEXIT_CRITICAL();
|
| 501 |
|
|
|
| 502 |
|
|
/* Return to the original privilege level before exiting
|
| 503 |
|
|
the function. */
|
| 504 |
|
|
traceQUEUE_SEND_FAILED( pxQueue );
|
| 505 |
|
|
return errQUEUE_FULL;
|
| 506 |
|
|
}
|
| 507 |
|
|
else if( xEntryTimeSet == pdFALSE )
|
| 508 |
|
|
{
|
| 509 |
|
|
/* The queue was full and a block time was specified so
|
| 510 |
|
|
configure the timeout structure. */
|
| 511 |
|
|
vTaskSetTimeOutState( &xTimeOut );
|
| 512 |
|
|
xEntryTimeSet = pdTRUE;
|
| 513 |
|
|
}
|
| 514 |
|
|
}
|
| 515 |
|
|
}
|
| 516 |
|
|
taskEXIT_CRITICAL();
|
| 517 |
|
|
|
| 518 |
|
|
/* Interrupts and other tasks can send to and receive from the queue
|
| 519 |
|
|
now the critical section has been exited. */
|
| 520 |
|
|
|
| 521 |
|
|
vTaskSuspendAll();
|
| 522 |
|
|
prvLockQueue( pxQueue );
|
| 523 |
|
|
|
| 524 |
|
|
/* Update the timeout state to see if it has expired yet. */
|
| 525 |
|
|
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
|
| 526 |
|
|
{
|
| 527 |
|
|
if( prvIsQueueFull( pxQueue ) )
|
| 528 |
|
|
{
|
| 529 |
|
|
traceBLOCKING_ON_QUEUE_SEND( pxQueue );
|
| 530 |
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
|
| 531 |
|
|
|
| 532 |
|
|
/* Unlocking the queue means queue events can effect the
|
| 533 |
|
|
event list. It is possible that interrupts occurring now
|
| 534 |
|
|
remove this task from the event list again - but as the
|
| 535 |
|
|
scheduler is suspended the task will go onto the pending
|
| 536 |
|
|
ready last instead of the actual ready list. */
|
| 537 |
|
|
prvUnlockQueue( pxQueue );
|
| 538 |
|
|
|
| 539 |
|
|
/* Resuming the scheduler will move tasks from the pending
|
| 540 |
|
|
ready list into the ready list - so it is feasible that this
|
| 541 |
|
|
task is already in a ready list before it yields - in which
|
| 542 |
|
|
case the yield will not cause a context switch unless there
|
| 543 |
|
|
is also a higher priority task in the pending ready list. */
|
| 544 |
|
|
if( !xTaskResumeAll() )
|
| 545 |
|
|
{
|
| 546 |
|
|
portYIELD_WITHIN_API();
|
| 547 |
|
|
}
|
| 548 |
|
|
}
|
| 549 |
|
|
else
|
| 550 |
|
|
{
|
| 551 |
|
|
/* Try again. */
|
| 552 |
|
|
prvUnlockQueue( pxQueue );
|
| 553 |
|
|
( void ) xTaskResumeAll();
|
| 554 |
|
|
}
|
| 555 |
|
|
}
|
| 556 |
|
|
else
|
| 557 |
|
|
{
|
| 558 |
|
|
/* The timeout has expired. */
|
| 559 |
|
|
prvUnlockQueue( pxQueue );
|
| 560 |
|
|
( void ) xTaskResumeAll();
|
| 561 |
|
|
|
| 562 |
|
|
/* Return to the original privilege level before exiting the
|
| 563 |
|
|
function. */
|
| 564 |
|
|
traceQUEUE_SEND_FAILED( pxQueue );
|
| 565 |
|
|
return errQUEUE_FULL;
|
| 566 |
|
|
}
|
| 567 |
|
|
}
|
| 568 |
|
|
}
|
| 569 |
|
|
/*-----------------------------------------------------------*/
|
| 570 |
|
|
|
| 571 |
|
|
#if configUSE_ALTERNATIVE_API == 1
|
| 572 |
|
|
|
| 573 |
|
|
signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
|
| 574 |
|
|
{
|
| 575 |
|
|
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
|
| 576 |
|
|
xTimeOutType xTimeOut;
|
| 577 |
|
|
|
| 578 |
|
|
for( ;; )
|
| 579 |
|
|
{
|
| 580 |
|
|
taskENTER_CRITICAL();
|
| 581 |
|
|
{
|
| 582 |
|
|
/* Is there room on the queue now? To be running we must be
|
| 583 |
|
|
the highest priority task wanting to access the queue. */
|
| 584 |
|
|
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
|
| 585 |
|
|
{
|
| 586 |
|
|
traceQUEUE_SEND( pxQueue );
|
| 587 |
|
|
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
|
| 588 |
|
|
|
| 589 |
|
|
/* If there was a task waiting for data to arrive on the
|
| 590 |
|
|
queue then unblock it now. */
|
| 591 |
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
|
| 592 |
|
|
{
|
| 593 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
|
| 594 |
|
|
{
|
| 595 |
|
|
/* The unblocked task has a priority higher than
|
| 596 |
|
|
our own so yield immediately. */
|
| 597 |
|
|
portYIELD_WITHIN_API();
|
| 598 |
|
|
}
|
| 599 |
|
|
}
|
| 600 |
|
|
|
| 601 |
|
|
taskEXIT_CRITICAL();
|
| 602 |
|
|
return pdPASS;
|
| 603 |
|
|
}
|
| 604 |
|
|
else
|
| 605 |
|
|
{
|
| 606 |
|
|
if( xTicksToWait == ( portTickType ) 0 )
|
| 607 |
|
|
{
|
| 608 |
|
|
taskEXIT_CRITICAL();
|
| 609 |
|
|
return errQUEUE_FULL;
|
| 610 |
|
|
}
|
| 611 |
|
|
else if( xEntryTimeSet == pdFALSE )
|
| 612 |
|
|
{
|
| 613 |
|
|
vTaskSetTimeOutState( &xTimeOut );
|
| 614 |
|
|
xEntryTimeSet = pdTRUE;
|
| 615 |
|
|
}
|
| 616 |
|
|
}
|
| 617 |
|
|
}
|
| 618 |
|
|
taskEXIT_CRITICAL();
|
| 619 |
|
|
|
| 620 |
|
|
taskENTER_CRITICAL();
|
| 621 |
|
|
{
|
| 622 |
|
|
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
|
| 623 |
|
|
{
|
| 624 |
|
|
if( prvIsQueueFull( pxQueue ) )
|
| 625 |
|
|
{
|
| 626 |
|
|
traceBLOCKING_ON_QUEUE_SEND( pxQueue );
|
| 627 |
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
|
| 628 |
|
|
portYIELD_WITHIN_API();
|
| 629 |
|
|
}
|
| 630 |
|
|
}
|
| 631 |
|
|
else
|
| 632 |
|
|
{
|
| 633 |
|
|
taskEXIT_CRITICAL();
|
| 634 |
|
|
traceQUEUE_SEND_FAILED( pxQueue );
|
| 635 |
|
|
return errQUEUE_FULL;
|
| 636 |
|
|
}
|
| 637 |
|
|
}
|
| 638 |
|
|
taskEXIT_CRITICAL();
|
| 639 |
|
|
}
|
| 640 |
|
|
}
|
| 641 |
|
|
|
| 642 |
|
|
#endif /* configUSE_ALTERNATIVE_API */
|
| 643 |
|
|
/*-----------------------------------------------------------*/
|
| 644 |
|
|
|
| 645 |
|
|
#if configUSE_ALTERNATIVE_API == 1
|
| 646 |
|
|
|
| 647 |
|
|
signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
|
| 648 |
|
|
{
|
| 649 |
|
|
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
|
| 650 |
|
|
xTimeOutType xTimeOut;
|
| 651 |
|
|
signed char *pcOriginalReadPosition;
|
| 652 |
|
|
|
| 653 |
|
|
for( ;; )
|
| 654 |
|
|
{
|
| 655 |
|
|
taskENTER_CRITICAL();
|
| 656 |
|
|
{
|
| 657 |
|
|
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
|
| 658 |
|
|
{
|
| 659 |
|
|
/* Remember our read position in case we are just peeking. */
|
| 660 |
|
|
pcOriginalReadPosition = pxQueue->pcReadFrom;
|
| 661 |
|
|
|
| 662 |
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
| 663 |
|
|
|
| 664 |
|
|
if( xJustPeeking == pdFALSE )
|
| 665 |
|
|
{
|
| 666 |
|
|
traceQUEUE_RECEIVE( pxQueue );
|
| 667 |
|
|
|
| 668 |
|
|
/* We are actually removing data. */
|
| 669 |
|
|
--( pxQueue->uxMessagesWaiting );
|
| 670 |
|
|
|
| 671 |
|
|
#if ( configUSE_MUTEXES == 1 )
|
| 672 |
|
|
{
|
| 673 |
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
| 674 |
|
|
{
|
| 675 |
|
|
/* Record the information required to implement
|
| 676 |
|
|
priority inheritance should it become necessary. */
|
| 677 |
|
|
pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
|
| 678 |
|
|
}
|
| 679 |
|
|
}
|
| 680 |
|
|
#endif
|
| 681 |
|
|
|
| 682 |
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
|
| 683 |
|
|
{
|
| 684 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
|
| 685 |
|
|
{
|
| 686 |
|
|
portYIELD_WITHIN_API();
|
| 687 |
|
|
}
|
| 688 |
|
|
}
|
| 689 |
|
|
}
|
| 690 |
|
|
else
|
| 691 |
|
|
{
|
| 692 |
|
|
traceQUEUE_PEEK( pxQueue );
|
| 693 |
|
|
|
| 694 |
|
|
/* We are not removing the data, so reset our read
|
| 695 |
|
|
pointer. */
|
| 696 |
|
|
pxQueue->pcReadFrom = pcOriginalReadPosition;
|
| 697 |
|
|
|
| 698 |
|
|
/* The data is being left in the queue, so see if there are
|
| 699 |
|
|
any other tasks waiting for the data. */
|
| 700 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
|
| 701 |
|
|
{
|
| 702 |
|
|
/* Tasks that are removed from the event list will get added to
|
| 703 |
|
|
the pending ready list as the scheduler is still suspended. */
|
| 704 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
| 705 |
|
|
{
|
| 706 |
|
|
/* The task waiting has a higher priority than this task. */
|
| 707 |
|
|
portYIELD_WITHIN_API();
|
| 708 |
|
|
}
|
| 709 |
|
|
}
|
| 710 |
|
|
|
| 711 |
|
|
}
|
| 712 |
|
|
|
| 713 |
|
|
taskEXIT_CRITICAL();
|
| 714 |
|
|
return pdPASS;
|
| 715 |
|
|
}
|
| 716 |
|
|
else
|
| 717 |
|
|
{
|
| 718 |
|
|
if( xTicksToWait == ( portTickType ) 0 )
|
| 719 |
|
|
{
|
| 720 |
|
|
taskEXIT_CRITICAL();
|
| 721 |
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
| 722 |
|
|
return errQUEUE_EMPTY;
|
| 723 |
|
|
}
|
| 724 |
|
|
else if( xEntryTimeSet == pdFALSE )
|
| 725 |
|
|
{
|
| 726 |
|
|
vTaskSetTimeOutState( &xTimeOut );
|
| 727 |
|
|
xEntryTimeSet = pdTRUE;
|
| 728 |
|
|
}
|
| 729 |
|
|
}
|
| 730 |
|
|
}
|
| 731 |
|
|
taskEXIT_CRITICAL();
|
| 732 |
|
|
|
| 733 |
|
|
taskENTER_CRITICAL();
|
| 734 |
|
|
{
|
| 735 |
|
|
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
|
| 736 |
|
|
{
|
| 737 |
|
|
if( prvIsQueueEmpty( pxQueue ) )
|
| 738 |
|
|
{
|
| 739 |
|
|
traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
|
| 740 |
|
|
|
| 741 |
|
|
#if ( configUSE_MUTEXES == 1 )
|
| 742 |
|
|
{
|
| 743 |
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
| 744 |
|
|
{
|
| 745 |
|
|
portENTER_CRITICAL();
|
| 746 |
|
|
vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
|
| 747 |
|
|
portEXIT_CRITICAL();
|
| 748 |
|
|
}
|
| 749 |
|
|
}
|
| 750 |
|
|
#endif
|
| 751 |
|
|
|
| 752 |
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
|
| 753 |
|
|
portYIELD_WITHIN_API();
|
| 754 |
|
|
}
|
| 755 |
|
|
}
|
| 756 |
|
|
else
|
| 757 |
|
|
{
|
| 758 |
|
|
taskEXIT_CRITICAL();
|
| 759 |
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
| 760 |
|
|
return errQUEUE_EMPTY;
|
| 761 |
|
|
}
|
| 762 |
|
|
}
|
| 763 |
|
|
taskEXIT_CRITICAL();
|
| 764 |
|
|
}
|
| 765 |
|
|
}
|
| 766 |
|
|
|
| 767 |
|
|
|
| 768 |
|
|
#endif /* configUSE_ALTERNATIVE_API */
|
| 769 |
|
|
/*-----------------------------------------------------------*/
|
| 770 |
|
|
|
| 771 |
|
|
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
|
| 772 |
|
|
{
|
| 773 |
|
|
signed portBASE_TYPE xReturn;
|
| 774 |
|
|
unsigned portBASE_TYPE uxSavedInterruptStatus;
|
| 775 |
|
|
|
| 776 |
|
|
/* Similar to xQueueGenericSend, except we don't block if there is no room
|
| 777 |
|
|
in the queue. Also we don't directly wake a task that was blocked on a
|
| 778 |
|
|
queue read, instead we return a flag to say whether a context switch is
|
| 779 |
|
|
required or not (i.e. has a task with a higher priority than us been woken
|
| 780 |
|
|
by this post). */
|
| 781 |
|
|
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
| 782 |
|
|
{
|
| 783 |
|
|
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
|
| 784 |
|
|
{
|
| 785 |
|
|
traceQUEUE_SEND_FROM_ISR( pxQueue );
|
| 786 |
|
|
|
| 787 |
|
|
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
|
| 788 |
|
|
|
| 789 |
|
|
/* If the queue is locked we do not alter the event list. This will
|
| 790 |
|
|
be done when the queue is unlocked later. */
|
| 791 |
|
|
if( pxQueue->xTxLock == queueUNLOCKED )
|
| 792 |
|
|
{
|
| 793 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
|
| 794 |
|
|
{
|
| 795 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
| 796 |
|
|
{
|
| 797 |
|
|
/* The task waiting has a higher priority so record that a
|
| 798 |
|
|
context switch is required. */
|
| 799 |
|
|
*pxHigherPriorityTaskWoken = pdTRUE;
|
| 800 |
|
|
}
|
| 801 |
|
|
}
|
| 802 |
|
|
}
|
| 803 |
|
|
else
|
| 804 |
|
|
{
|
| 805 |
|
|
/* Increment the lock count so the task that unlocks the queue
|
| 806 |
|
|
knows that data was posted while it was locked. */
|
| 807 |
|
|
++( pxQueue->xTxLock );
|
| 808 |
|
|
}
|
| 809 |
|
|
|
| 810 |
|
|
xReturn = pdPASS;
|
| 811 |
|
|
}
|
| 812 |
|
|
else
|
| 813 |
|
|
{
|
| 814 |
|
|
traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
|
| 815 |
|
|
xReturn = errQUEUE_FULL;
|
| 816 |
|
|
}
|
| 817 |
|
|
}
|
| 818 |
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
| 819 |
|
|
|
| 820 |
|
|
return xReturn;
|
| 821 |
|
|
}
|
| 822 |
|
|
/*-----------------------------------------------------------*/
|
| 823 |
|
|
|
| 824 |
|
|
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
|
| 825 |
|
|
{
|
| 826 |
|
|
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
|
| 827 |
|
|
xTimeOutType xTimeOut;
|
| 828 |
|
|
signed char *pcOriginalReadPosition;
|
| 829 |
|
|
|
| 830 |
|
|
/* This function relaxes the coding standard somewhat to allow return
|
| 831 |
|
|
statements within the function itself. This is done in the interest
|
| 832 |
|
|
of execution time efficiency. */
|
| 833 |
|
|
|
| 834 |
|
|
for( ;; )
|
| 835 |
|
|
{
|
| 836 |
|
|
taskENTER_CRITICAL();
|
| 837 |
|
|
{
|
| 838 |
|
|
/* Is there data in the queue now? To be running we must be
|
| 839 |
|
|
the highest priority task wanting to access the queue. */
|
| 840 |
|
|
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
|
| 841 |
|
|
{
|
| 842 |
|
|
/* Remember our read position in case we are just peeking. */
|
| 843 |
|
|
pcOriginalReadPosition = pxQueue->pcReadFrom;
|
| 844 |
|
|
|
| 845 |
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
| 846 |
|
|
|
| 847 |
|
|
if( xJustPeeking == pdFALSE )
|
| 848 |
|
|
{
|
| 849 |
|
|
traceQUEUE_RECEIVE( pxQueue );
|
| 850 |
|
|
|
| 851 |
|
|
/* We are actually removing data. */
|
| 852 |
|
|
--( pxQueue->uxMessagesWaiting );
|
| 853 |
|
|
|
| 854 |
|
|
#if ( configUSE_MUTEXES == 1 )
|
| 855 |
|
|
{
|
| 856 |
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
| 857 |
|
|
{
|
| 858 |
|
|
/* Record the information required to implement
|
| 859 |
|
|
priority inheritance should it become necessary. */
|
| 860 |
|
|
pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
|
| 861 |
|
|
}
|
| 862 |
|
|
}
|
| 863 |
|
|
#endif
|
| 864 |
|
|
|
| 865 |
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
|
| 866 |
|
|
{
|
| 867 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
|
| 868 |
|
|
{
|
| 869 |
|
|
portYIELD_WITHIN_API();
|
| 870 |
|
|
}
|
| 871 |
|
|
}
|
| 872 |
|
|
}
|
| 873 |
|
|
else
|
| 874 |
|
|
{
|
| 875 |
|
|
traceQUEUE_PEEK( pxQueue );
|
| 876 |
|
|
|
| 877 |
|
|
/* We are not removing the data, so reset our read
|
| 878 |
|
|
pointer. */
|
| 879 |
|
|
pxQueue->pcReadFrom = pcOriginalReadPosition;
|
| 880 |
|
|
|
| 881 |
|
|
/* The data is being left in the queue, so see if there are
|
| 882 |
|
|
any other tasks waiting for the data. */
|
| 883 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
|
| 884 |
|
|
{
|
| 885 |
|
|
/* Tasks that are removed from the event list will get added to
|
| 886 |
|
|
the pending ready list as the scheduler is still suspended. */
|
| 887 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
| 888 |
|
|
{
|
| 889 |
|
|
/* The task waiting has a higher priority than this task. */
|
| 890 |
|
|
portYIELD_WITHIN_API();
|
| 891 |
|
|
}
|
| 892 |
|
|
}
|
| 893 |
|
|
|
| 894 |
|
|
}
|
| 895 |
|
|
|
| 896 |
|
|
taskEXIT_CRITICAL();
|
| 897 |
|
|
return pdPASS;
|
| 898 |
|
|
}
|
| 899 |
|
|
else
|
| 900 |
|
|
{
|
| 901 |
|
|
if( xTicksToWait == ( portTickType ) 0 )
|
| 902 |
|
|
{
|
| 903 |
|
|
/* The queue was empty and no block time is specified (or
|
| 904 |
|
|
the block time has expired) so leave now. */
|
| 905 |
|
|
taskEXIT_CRITICAL();
|
| 906 |
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
| 907 |
|
|
return errQUEUE_EMPTY;
|
| 908 |
|
|
}
|
| 909 |
|
|
else if( xEntryTimeSet == pdFALSE )
|
| 910 |
|
|
{
|
| 911 |
|
|
/* The queue was empty and a block time was specified so
|
| 912 |
|
|
configure the timeout structure. */
|
| 913 |
|
|
vTaskSetTimeOutState( &xTimeOut );
|
| 914 |
|
|
xEntryTimeSet = pdTRUE;
|
| 915 |
|
|
}
|
| 916 |
|
|
}
|
| 917 |
|
|
}
|
| 918 |
|
|
taskEXIT_CRITICAL();
|
| 919 |
|
|
|
| 920 |
|
|
/* Interrupts and other tasks can send to and receive from the queue
|
| 921 |
|
|
now the critical section has been exited. */
|
| 922 |
|
|
|
| 923 |
|
|
vTaskSuspendAll();
|
| 924 |
|
|
prvLockQueue( pxQueue );
|
| 925 |
|
|
|
| 926 |
|
|
/* Update the timeout state to see if it has expired yet. */
|
| 927 |
|
|
if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
|
| 928 |
|
|
{
|
| 929 |
|
|
if( prvIsQueueEmpty( pxQueue ) )
|
| 930 |
|
|
{
|
| 931 |
|
|
traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
|
| 932 |
|
|
|
| 933 |
|
|
#if ( configUSE_MUTEXES == 1 )
|
| 934 |
|
|
{
|
| 935 |
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
| 936 |
|
|
{
|
| 937 |
|
|
portENTER_CRITICAL();
|
| 938 |
|
|
{
|
| 939 |
|
|
vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
|
| 940 |
|
|
}
|
| 941 |
|
|
portEXIT_CRITICAL();
|
| 942 |
|
|
}
|
| 943 |
|
|
}
|
| 944 |
|
|
#endif
|
| 945 |
|
|
|
| 946 |
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
|
| 947 |
|
|
prvUnlockQueue( pxQueue );
|
| 948 |
|
|
if( !xTaskResumeAll() )
|
| 949 |
|
|
{
|
| 950 |
|
|
portYIELD_WITHIN_API();
|
| 951 |
|
|
}
|
| 952 |
|
|
}
|
| 953 |
|
|
else
|
| 954 |
|
|
{
|
| 955 |
|
|
/* Try again. */
|
| 956 |
|
|
prvUnlockQueue( pxQueue );
|
| 957 |
|
|
( void ) xTaskResumeAll();
|
| 958 |
|
|
}
|
| 959 |
|
|
}
|
| 960 |
|
|
else
|
| 961 |
|
|
{
|
| 962 |
|
|
prvUnlockQueue( pxQueue );
|
| 963 |
|
|
( void ) xTaskResumeAll();
|
| 964 |
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
| 965 |
|
|
return errQUEUE_EMPTY;
|
| 966 |
|
|
}
|
| 967 |
|
|
}
|
| 968 |
|
|
}
|
| 969 |
|
|
/*-----------------------------------------------------------*/
|
| 970 |
|
|
|
| 971 |
|
|
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken )
|
| 972 |
|
|
{
|
| 973 |
|
|
signed portBASE_TYPE xReturn;
|
| 974 |
|
|
unsigned portBASE_TYPE uxSavedInterruptStatus;
|
| 975 |
|
|
|
| 976 |
|
|
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
| 977 |
|
|
{
|
| 978 |
|
|
/* We cannot block from an ISR, so check there is data available. */
|
| 979 |
|
|
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
|
| 980 |
|
|
{
|
| 981 |
|
|
traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
|
| 982 |
|
|
|
| 983 |
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
| 984 |
|
|
--( pxQueue->uxMessagesWaiting );
|
| 985 |
|
|
|
| 986 |
|
|
/* If the queue is locked we will not modify the event list. Instead
|
| 987 |
|
|
we update the lock count so the task that unlocks the queue will know
|
| 988 |
|
|
that an ISR has removed data while the queue was locked. */
|
| 989 |
|
|
if( pxQueue->xRxLock == queueUNLOCKED )
|
| 990 |
|
|
{
|
| 991 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
|
| 992 |
|
|
{
|
| 993 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
| 994 |
|
|
{
|
| 995 |
|
|
/* The task waiting has a higher priority than us so
|
| 996 |
|
|
force a context switch. */
|
| 997 |
|
|
*pxTaskWoken = pdTRUE;
|
| 998 |
|
|
}
|
| 999 |
|
|
}
|
| 1000 |
|
|
}
|
| 1001 |
|
|
else
|
| 1002 |
|
|
{
|
| 1003 |
|
|
/* Increment the lock count so the task that unlocks the queue
|
| 1004 |
|
|
knows that data was removed while it was locked. */
|
| 1005 |
|
|
++( pxQueue->xRxLock );
|
| 1006 |
|
|
}
|
| 1007 |
|
|
|
| 1008 |
|
|
xReturn = pdPASS;
|
| 1009 |
|
|
}
|
| 1010 |
|
|
else
|
| 1011 |
|
|
{
|
| 1012 |
|
|
xReturn = pdFAIL;
|
| 1013 |
|
|
traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
|
| 1014 |
|
|
}
|
| 1015 |
|
|
}
|
| 1016 |
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
| 1017 |
|
|
|
| 1018 |
|
|
return xReturn;
|
| 1019 |
|
|
}
|
| 1020 |
|
|
/*-----------------------------------------------------------*/
|
| 1021 |
|
|
|
| 1022 |
|
|
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )
|
| 1023 |
|
|
{
|
| 1024 |
|
|
unsigned portBASE_TYPE uxReturn;
|
| 1025 |
|
|
|
| 1026 |
|
|
taskENTER_CRITICAL();
|
| 1027 |
|
|
uxReturn = pxQueue->uxMessagesWaiting;
|
| 1028 |
|
|
taskEXIT_CRITICAL();
|
| 1029 |
|
|
|
| 1030 |
|
|
return uxReturn;
|
| 1031 |
|
|
}
|
| 1032 |
|
|
/*-----------------------------------------------------------*/
|
| 1033 |
|
|
|
| 1034 |
|
|
unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue )
|
| 1035 |
|
|
{
|
| 1036 |
|
|
unsigned portBASE_TYPE uxReturn;
|
| 1037 |
|
|
|
| 1038 |
|
|
uxReturn = pxQueue->uxMessagesWaiting;
|
| 1039 |
|
|
|
| 1040 |
|
|
return uxReturn;
|
| 1041 |
|
|
}
|
| 1042 |
|
|
/*-----------------------------------------------------------*/
|
| 1043 |
|
|
|
| 1044 |
|
|
void vQueueDelete( xQueueHandle pxQueue )
|
| 1045 |
|
|
{
|
| 1046 |
|
|
traceQUEUE_DELETE( pxQueue );
|
| 1047 |
|
|
vQueueUnregisterQueue( pxQueue );
|
| 1048 |
|
|
vPortFree( pxQueue->pcHead );
|
| 1049 |
|
|
vPortFree( pxQueue );
|
| 1050 |
|
|
}
|
| 1051 |
|
|
/*-----------------------------------------------------------*/
|
| 1052 |
|
|
|
| 1053 |
|
|
static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
|
| 1054 |
|
|
{
|
| 1055 |
|
|
if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 )
|
| 1056 |
|
|
{
|
| 1057 |
|
|
#if ( configUSE_MUTEXES == 1 )
|
| 1058 |
|
|
{
|
| 1059 |
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
| 1060 |
|
|
{
|
| 1061 |
|
|
/* The mutex is no longer being held. */
|
| 1062 |
|
|
vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
|
| 1063 |
|
|
pxQueue->pxMutexHolder = NULL;
|
| 1064 |
|
|
}
|
| 1065 |
|
|
}
|
| 1066 |
|
|
#endif
|
| 1067 |
|
|
}
|
| 1068 |
|
|
else if( xPosition == queueSEND_TO_BACK )
|
| 1069 |
|
|
{
|
| 1070 |
|
|
memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
|
| 1071 |
|
|
pxQueue->pcWriteTo += pxQueue->uxItemSize;
|
| 1072 |
|
|
if( pxQueue->pcWriteTo >= pxQueue->pcTail )
|
| 1073 |
|
|
{
|
| 1074 |
|
|
pxQueue->pcWriteTo = pxQueue->pcHead;
|
| 1075 |
|
|
}
|
| 1076 |
|
|
}
|
| 1077 |
|
|
else
|
| 1078 |
|
|
{
|
| 1079 |
|
|
memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
|
| 1080 |
|
|
pxQueue->pcReadFrom -= pxQueue->uxItemSize;
|
| 1081 |
|
|
if( pxQueue->pcReadFrom < pxQueue->pcHead )
|
| 1082 |
|
|
{
|
| 1083 |
|
|
pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
|
| 1084 |
|
|
}
|
| 1085 |
|
|
}
|
| 1086 |
|
|
|
| 1087 |
|
|
++( pxQueue->uxMessagesWaiting );
|
| 1088 |
|
|
}
|
| 1089 |
|
|
/*-----------------------------------------------------------*/
|
| 1090 |
|
|
|
| 1091 |
|
|
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
|
| 1092 |
|
|
{
|
| 1093 |
|
|
if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
|
| 1094 |
|
|
{
|
| 1095 |
|
|
pxQueue->pcReadFrom += pxQueue->uxItemSize;
|
| 1096 |
|
|
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
|
| 1097 |
|
|
{
|
| 1098 |
|
|
pxQueue->pcReadFrom = pxQueue->pcHead;
|
| 1099 |
|
|
}
|
| 1100 |
|
|
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
|
| 1101 |
|
|
}
|
| 1102 |
|
|
}
|
| 1103 |
|
|
/*-----------------------------------------------------------*/
|
| 1104 |
|
|
|
| 1105 |
|
|
static void prvUnlockQueue( xQueueHandle pxQueue )
|
| 1106 |
|
|
{
|
| 1107 |
|
|
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
|
| 1108 |
|
|
|
| 1109 |
|
|
/* The lock counts contains the number of extra data items placed or
|
| 1110 |
|
|
removed from the queue while the queue was locked. When a queue is
|
| 1111 |
|
|
locked items can be added or removed, but the event lists cannot be
|
| 1112 |
|
|
updated. */
|
| 1113 |
|
|
taskENTER_CRITICAL();
|
| 1114 |
|
|
{
|
| 1115 |
|
|
/* See if data was added to the queue while it was locked. */
|
| 1116 |
|
|
while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )
|
| 1117 |
|
|
{
|
| 1118 |
|
|
/* Data was posted while the queue was locked. Are any tasks
|
| 1119 |
|
|
blocked waiting for data to become available? */
|
| 1120 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
|
| 1121 |
|
|
{
|
| 1122 |
|
|
/* Tasks that are removed from the event list will get added to
|
| 1123 |
|
|
the pending ready list as the scheduler is still suspended. */
|
| 1124 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
| 1125 |
|
|
{
|
| 1126 |
|
|
/* The task waiting has a higher priority so record that a
|
| 1127 |
|
|
context switch is required. */
|
| 1128 |
|
|
vTaskMissedYield();
|
| 1129 |
|
|
}
|
| 1130 |
|
|
|
| 1131 |
|
|
--( pxQueue->xTxLock );
|
| 1132 |
|
|
}
|
| 1133 |
|
|
else
|
| 1134 |
|
|
{
|
| 1135 |
|
|
break;
|
| 1136 |
|
|
}
|
| 1137 |
|
|
}
|
| 1138 |
|
|
|
| 1139 |
|
|
pxQueue->xTxLock = queueUNLOCKED;
|
| 1140 |
|
|
}
|
| 1141 |
|
|
taskEXIT_CRITICAL();
|
| 1142 |
|
|
|
| 1143 |
|
|
/* Do the same for the Rx lock. */
|
| 1144 |
|
|
taskENTER_CRITICAL();
|
| 1145 |
|
|
{
|
| 1146 |
|
|
while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
|
| 1147 |
|
|
{
|
| 1148 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
|
| 1149 |
|
|
{
|
| 1150 |
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
| 1151 |
|
|
{
|
| 1152 |
|
|
vTaskMissedYield();
|
| 1153 |
|
|
}
|
| 1154 |
|
|
|
| 1155 |
|
|
--( pxQueue->xRxLock );
|
| 1156 |
|
|
}
|
| 1157 |
|
|
else
|
| 1158 |
|
|
{
|
| 1159 |
|
|
break;
|
| 1160 |
|
|
}
|
| 1161 |
|
|
}
|
| 1162 |
|
|
|
| 1163 |
|
|
pxQueue->xRxLock = queueUNLOCKED;
|
| 1164 |
|
|
}
|
| 1165 |
|
|
taskEXIT_CRITICAL();
|
| 1166 |
|
|
}
|
| 1167 |
|
|
/*-----------------------------------------------------------*/
|
| 1168 |
|
|
|
| 1169 |
|
|
static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )
|
| 1170 |
|
|
{
|
| 1171 |
|
|
signed portBASE_TYPE xReturn;
|
| 1172 |
|
|
|
| 1173 |
|
|
taskENTER_CRITICAL();
|
| 1174 |
|
|
xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
|
| 1175 |
|
|
taskEXIT_CRITICAL();
|
| 1176 |
|
|
|
| 1177 |
|
|
return xReturn;
|
| 1178 |
|
|
}
|
| 1179 |
|
|
/*-----------------------------------------------------------*/
|
| 1180 |
|
|
|
| 1181 |
|
|
signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue )
|
| 1182 |
|
|
{
|
| 1183 |
|
|
signed portBASE_TYPE xReturn;
|
| 1184 |
|
|
|
| 1185 |
|
|
xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
|
| 1186 |
|
|
|
| 1187 |
|
|
return xReturn;
|
| 1188 |
|
|
}
|
| 1189 |
|
|
/*-----------------------------------------------------------*/
|
| 1190 |
|
|
|
| 1191 |
|
|
static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue )
|
| 1192 |
|
|
{
|
| 1193 |
|
|
signed portBASE_TYPE xReturn;
|
| 1194 |
|
|
|
| 1195 |
|
|
taskENTER_CRITICAL();
|
| 1196 |
|
|
xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
|
| 1197 |
|
|
taskEXIT_CRITICAL();
|
| 1198 |
|
|
|
| 1199 |
|
|
return xReturn;
|
| 1200 |
|
|
}
|
| 1201 |
|
|
/*-----------------------------------------------------------*/
|
| 1202 |
|
|
|
| 1203 |
|
|
signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue )
|
| 1204 |
|
|
{
|
| 1205 |
|
|
signed portBASE_TYPE xReturn;
|
| 1206 |
|
|
|
| 1207 |
|
|
xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
|
| 1208 |
|
|
|
| 1209 |
|
|
return xReturn;
|
| 1210 |
|
|
}
|
| 1211 |
|
|
/*-----------------------------------------------------------*/
|
| 1212 |
|
|
|
| 1213 |
|
|
#if configUSE_CO_ROUTINES == 1
|
| 1214 |
|
|
signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
|
| 1215 |
|
|
{
|
| 1216 |
|
|
signed portBASE_TYPE xReturn;
|
| 1217 |
|
|
|
| 1218 |
|
|
/* If the queue is already full we may have to block. A critical section
|
| 1219 |
|
|
is required to prevent an interrupt removing something from the queue
|
| 1220 |
|
|
between the check to see if the queue is full and blocking on the queue. */
|
| 1221 |
|
|
portDISABLE_INTERRUPTS();
|
| 1222 |
|
|
{
|
| 1223 |
|
|
if( prvIsQueueFull( pxQueue ) )
|
| 1224 |
|
|
{
|
| 1225 |
|
|
/* The queue is full - do we want to block or just leave without
|
| 1226 |
|
|
posting? */
|
| 1227 |
|
|
if( xTicksToWait > ( portTickType ) 0 )
|
| 1228 |
|
|
{
|
| 1229 |
|
|
/* As this is called from a coroutine we cannot block directly, but
|
| 1230 |
|
|
return indicating that we need to block. */
|
| 1231 |
|
|
vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
|
| 1232 |
|
|
portENABLE_INTERRUPTS();
|
| 1233 |
|
|
return errQUEUE_BLOCKED;
|
| 1234 |
|
|
}
|
| 1235 |
|
|
else
|
| 1236 |
|
|
{
|
| 1237 |
|
|
portENABLE_INTERRUPTS();
|
| 1238 |
|
|
return errQUEUE_FULL;
|
| 1239 |
|
|
}
|
| 1240 |
|
|
}
|
| 1241 |
|
|
}
|
| 1242 |
|
|
portENABLE_INTERRUPTS();
|
| 1243 |
|
|
|
| 1244 |
|
|
portNOP();
|
| 1245 |
|
|
|
| 1246 |
|
|
portDISABLE_INTERRUPTS();
|
| 1247 |
|
|
{
|
| 1248 |
|
|
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
|
| 1249 |
|
|
{
|
| 1250 |
|
|
/* There is room in the queue, copy the data into the queue. */
|
| 1251 |
|
|
prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
|
| 1252 |
|
|
xReturn = pdPASS;
|
| 1253 |
|
|
|
| 1254 |
|
|
/* Were any co-routines waiting for data to become available? */
|
| 1255 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
|
| 1256 |
|
|
{
|
| 1257 |
|
|
/* In this instance the co-routine could be placed directly
|
| 1258 |
|
|
into the ready list as we are within a critical section.
|
| 1259 |
|
|
Instead the same pending ready list mechanism is used as if
|
| 1260 |
|
|
the event were caused from within an interrupt. */
|
| 1261 |
|
|
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
| 1262 |
|
|
{
|
| 1263 |
|
|
/* The co-routine waiting has a higher priority so record
|
| 1264 |
|
|
that a yield might be appropriate. */
|
| 1265 |
|
|
xReturn = errQUEUE_YIELD;
|
| 1266 |
|
|
}
|
| 1267 |
|
|
}
|
| 1268 |
|
|
}
|
| 1269 |
|
|
else
|
| 1270 |
|
|
{
|
| 1271 |
|
|
xReturn = errQUEUE_FULL;
|
| 1272 |
|
|
}
|
| 1273 |
|
|
}
|
| 1274 |
|
|
portENABLE_INTERRUPTS();
|
| 1275 |
|
|
|
| 1276 |
|
|
return xReturn;
|
| 1277 |
|
|
}
|
| 1278 |
|
|
#endif
|
| 1279 |
|
|
/*-----------------------------------------------------------*/
|
| 1280 |
|
|
|
| 1281 |
|
|
#if configUSE_CO_ROUTINES == 1
|
| 1282 |
|
|
signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
|
| 1283 |
|
|
{
|
| 1284 |
|
|
signed portBASE_TYPE xReturn;
|
| 1285 |
|
|
|
| 1286 |
|
|
/* If the queue is already empty we may have to block. A critical section
|
| 1287 |
|
|
is required to prevent an interrupt adding something to the queue
|
| 1288 |
|
|
between the check to see if the queue is empty and blocking on the queue. */
|
| 1289 |
|
|
portDISABLE_INTERRUPTS();
|
| 1290 |
|
|
{
|
| 1291 |
|
|
if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
|
| 1292 |
|
|
{
|
| 1293 |
|
|
/* There are no messages in the queue, do we want to block or just
|
| 1294 |
|
|
leave with nothing? */
|
| 1295 |
|
|
if( xTicksToWait > ( portTickType ) 0 )
|
| 1296 |
|
|
{
|
| 1297 |
|
|
/* As this is a co-routine we cannot block directly, but return
|
| 1298 |
|
|
indicating that we need to block. */
|
| 1299 |
|
|
vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
|
| 1300 |
|
|
portENABLE_INTERRUPTS();
|
| 1301 |
|
|
return errQUEUE_BLOCKED;
|
| 1302 |
|
|
}
|
| 1303 |
|
|
else
|
| 1304 |
|
|
{
|
| 1305 |
|
|
portENABLE_INTERRUPTS();
|
| 1306 |
|
|
return errQUEUE_FULL;
|
| 1307 |
|
|
}
|
| 1308 |
|
|
}
|
| 1309 |
|
|
}
|
| 1310 |
|
|
portENABLE_INTERRUPTS();
|
| 1311 |
|
|
|
| 1312 |
|
|
portNOP();
|
| 1313 |
|
|
|
| 1314 |
|
|
portDISABLE_INTERRUPTS();
|
| 1315 |
|
|
{
|
| 1316 |
|
|
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
|
| 1317 |
|
|
{
|
| 1318 |
|
|
/* Data is available from the queue. */
|
| 1319 |
|
|
pxQueue->pcReadFrom += pxQueue->uxItemSize;
|
| 1320 |
|
|
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
|
| 1321 |
|
|
{
|
| 1322 |
|
|
pxQueue->pcReadFrom = pxQueue->pcHead;
|
| 1323 |
|
|
}
|
| 1324 |
|
|
--( pxQueue->uxMessagesWaiting );
|
| 1325 |
|
|
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
|
| 1326 |
|
|
|
| 1327 |
|
|
xReturn = pdPASS;
|
| 1328 |
|
|
|
| 1329 |
|
|
/* Were any co-routines waiting for space to become available? */
|
| 1330 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
|
| 1331 |
|
|
{
|
| 1332 |
|
|
/* In this instance the co-routine could be placed directly
|
| 1333 |
|
|
into the ready list as we are within a critical section.
|
| 1334 |
|
|
Instead the same pending ready list mechanism is used as if
|
| 1335 |
|
|
the event were caused from within an interrupt. */
|
| 1336 |
|
|
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
| 1337 |
|
|
{
|
| 1338 |
|
|
xReturn = errQUEUE_YIELD;
|
| 1339 |
|
|
}
|
| 1340 |
|
|
}
|
| 1341 |
|
|
}
|
| 1342 |
|
|
else
|
| 1343 |
|
|
{
|
| 1344 |
|
|
xReturn = pdFAIL;
|
| 1345 |
|
|
}
|
| 1346 |
|
|
}
|
| 1347 |
|
|
portENABLE_INTERRUPTS();
|
| 1348 |
|
|
|
| 1349 |
|
|
return xReturn;
|
| 1350 |
|
|
}
|
| 1351 |
|
|
#endif
|
| 1352 |
|
|
/*-----------------------------------------------------------*/
|
| 1353 |
|
|
|
| 1354 |
|
|
|
| 1355 |
|
|
|
| 1356 |
|
|
#if configUSE_CO_ROUTINES == 1
|
| 1357 |
|
|
signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
|
| 1358 |
|
|
{
|
| 1359 |
|
|
/* Cannot block within an ISR so if there is no space on the queue then
|
| 1360 |
|
|
exit without doing anything. */
|
| 1361 |
|
|
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
|
| 1362 |
|
|
{
|
| 1363 |
|
|
prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
|
| 1364 |
|
|
|
| 1365 |
|
|
/* We only want to wake one co-routine per ISR, so check that a
|
| 1366 |
|
|
co-routine has not already been woken. */
|
| 1367 |
|
|
if( !xCoRoutinePreviouslyWoken )
|
| 1368 |
|
|
{
|
| 1369 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
|
| 1370 |
|
|
{
|
| 1371 |
|
|
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
| 1372 |
|
|
{
|
| 1373 |
|
|
return pdTRUE;
|
| 1374 |
|
|
}
|
| 1375 |
|
|
}
|
| 1376 |
|
|
}
|
| 1377 |
|
|
}
|
| 1378 |
|
|
|
| 1379 |
|
|
return xCoRoutinePreviouslyWoken;
|
| 1380 |
|
|
}
|
| 1381 |
|
|
#endif
|
| 1382 |
|
|
/*-----------------------------------------------------------*/
|
| 1383 |
|
|
|
| 1384 |
|
|
#if configUSE_CO_ROUTINES == 1
|
| 1385 |
|
|
signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
|
| 1386 |
|
|
{
|
| 1387 |
|
|
signed portBASE_TYPE xReturn;
|
| 1388 |
|
|
|
| 1389 |
|
|
/* We cannot block from an ISR, so check there is data available. If
|
| 1390 |
|
|
not then just leave without doing anything. */
|
| 1391 |
|
|
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
|
| 1392 |
|
|
{
|
| 1393 |
|
|
/* Copy the data from the queue. */
|
| 1394 |
|
|
pxQueue->pcReadFrom += pxQueue->uxItemSize;
|
| 1395 |
|
|
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
|
| 1396 |
|
|
{
|
| 1397 |
|
|
pxQueue->pcReadFrom = pxQueue->pcHead;
|
| 1398 |
|
|
}
|
| 1399 |
|
|
--( pxQueue->uxMessagesWaiting );
|
| 1400 |
|
|
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
|
| 1401 |
|
|
|
| 1402 |
|
|
if( !( *pxCoRoutineWoken ) )
|
| 1403 |
|
|
{
|
| 1404 |
|
|
if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
|
| 1405 |
|
|
{
|
| 1406 |
|
|
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
| 1407 |
|
|
{
|
| 1408 |
|
|
*pxCoRoutineWoken = pdTRUE;
|
| 1409 |
|
|
}
|
| 1410 |
|
|
}
|
| 1411 |
|
|
}
|
| 1412 |
|
|
|
| 1413 |
|
|
xReturn = pdPASS;
|
| 1414 |
|
|
}
|
| 1415 |
|
|
else
|
| 1416 |
|
|
{
|
| 1417 |
|
|
xReturn = pdFAIL;
|
| 1418 |
|
|
}
|
| 1419 |
|
|
|
| 1420 |
|
|
return xReturn;
|
| 1421 |
|
|
}
|
| 1422 |
|
|
#endif
|
| 1423 |
|
|
/*-----------------------------------------------------------*/
|
| 1424 |
|
|
|
| 1425 |
|
|
#if configQUEUE_REGISTRY_SIZE > 0
|
| 1426 |
|
|
|
| 1427 |
|
|
void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
|
| 1428 |
|
|
{
|
| 1429 |
|
|
unsigned portBASE_TYPE ux;
|
| 1430 |
|
|
|
| 1431 |
|
|
/* See if there is an empty space in the registry. A NULL name denotes
|
| 1432 |
|
|
a free slot. */
|
| 1433 |
|
|
for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ )
|
| 1434 |
|
|
{
|
| 1435 |
|
|
if( xQueueRegistry[ ux ].pcQueueName == NULL )
|
| 1436 |
|
|
{
|
| 1437 |
|
|
/* Store the information on this queue. */
|
| 1438 |
|
|
xQueueRegistry[ ux ].pcQueueName = pcQueueName;
|
| 1439 |
|
|
xQueueRegistry[ ux ].xHandle = xQueue;
|
| 1440 |
|
|
break;
|
| 1441 |
|
|
}
|
| 1442 |
|
|
}
|
| 1443 |
|
|
}
|
| 1444 |
|
|
|
| 1445 |
|
|
#endif
|
| 1446 |
|
|
/*-----------------------------------------------------------*/
|
| 1447 |
|
|
|
| 1448 |
|
|
#if configQUEUE_REGISTRY_SIZE > 0
|
| 1449 |
|
|
|
| 1450 |
|
|
static void vQueueUnregisterQueue( xQueueHandle xQueue )
|
| 1451 |
|
|
{
|
| 1452 |
|
|
unsigned portBASE_TYPE ux;
|
| 1453 |
|
|
|
| 1454 |
|
|
/* See if the handle of the queue being unregistered in actually in the
|
| 1455 |
|
|
registry. */
|
| 1456 |
|
|
for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ )
|
| 1457 |
|
|
{
|
| 1458 |
|
|
if( xQueueRegistry[ ux ].xHandle == xQueue )
|
| 1459 |
|
|
{
|
| 1460 |
|
|
/* Set the name to NULL to show that this slot if free again. */
|
| 1461 |
|
|
xQueueRegistry[ ux ].pcQueueName = NULL;
|
| 1462 |
|
|
break;
|
| 1463 |
|
|
}
|
| 1464 |
|
|
}
|
| 1465 |
|
|
|
| 1466 |
|
|
}
|
| 1467 |
|
|
|
| 1468 |
|
|
#endif
|
| 1469 |
|
|
|
