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https://github.com/espressif/esp-idf.git
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5d75bfdb3c
This commit updates the source files of Amazon SMP FreeRTOS to upstream V11.1.0 (https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/V11.1.0). This version contains some new features and bugfixes. See upstream V11.1.0 release notes for more details. Note: ESP-IDF specific changes to the source file have been preserved
3369 lines
125 KiB
C
3369 lines
125 KiB
C
/*
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* FreeRTOS Kernel V11.1.0
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates
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*
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* SPDX-License-Identifier: MIT
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*
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* SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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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 "queue.h"
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#if ( configUSE_CO_ROUTINES == 1 )
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#include "croutine.h"
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#endif
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/* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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* for the header files above, but not in this file, in order to generate the
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* correct privileged Vs unprivileged linkage and placement. */
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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/* Constants used with the cRxLock and cTxLock structure members. */
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#define queueUNLOCKED ( ( int8_t ) -1 )
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#define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
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#define queueINT8_MAX ( ( int8_t ) 127 )
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/* When the Queue_t structure is used to represent a base queue its pcHead and
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* pcTail members are used as pointers into the queue storage area. When the
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* Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
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* not necessary, and the pcHead pointer is set to NULL to indicate that the
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* structure instead holds a pointer to the mutex holder (if any). Map alternative
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* names to the pcHead and structure member to ensure the readability of the code
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* is maintained. The QueuePointers_t and SemaphoreData_t types are used to form
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* a union as their usage is mutually exclusive dependent on what the queue is
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* being used for. */
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#define uxQueueType pcHead
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#define queueQUEUE_IS_MUTEX NULL
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typedef struct QueuePointers
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{
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int8_t * pcTail; /**< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
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int8_t * pcReadFrom; /**< Points to the last place that a queued item was read from when the structure is used as a queue. */
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} QueuePointers_t;
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typedef struct SemaphoreData
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{
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TaskHandle_t xMutexHolder; /**< The handle of the task that holds the mutex. */
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UBaseType_t uxRecursiveCallCount; /**< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
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} SemaphoreData_t;
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/* Semaphores do not actually store or copy data, so have an item size of
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* zero. */
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#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
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#define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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#if ( configUSE_PREEMPTION == 0 )
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/* If the cooperative scheduler is being used then a yield should not be
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* performed just because a higher priority task has been woken. */
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#define queueYIELD_IF_USING_PREEMPTION()
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#else
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#if ( configNUMBER_OF_CORES == 1 )
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#define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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#else /* #if ( configNUMBER_OF_CORES == 1 ) */
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#define queueYIELD_IF_USING_PREEMPTION() vTaskYieldWithinAPI()
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#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
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#endif
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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. See the following link for the
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* rationale: https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
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*/
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typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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{
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int8_t * pcHead; /**< Points to the beginning of the queue storage area. */
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int8_t * pcWriteTo; /**< Points to the free next place in the storage area. */
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union
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{
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QueuePointers_t xQueue; /**< Data required exclusively when this structure is used as a queue. */
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SemaphoreData_t xSemaphore; /**< Data required exclusively when this structure is used as a semaphore. */
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} u;
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List_t xTasksWaitingToSend; /**< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
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List_t xTasksWaitingToReceive; /**< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
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volatile UBaseType_t uxMessagesWaiting; /**< The number of items currently in the queue. */
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UBaseType_t uxLength; /**< The length of the queue defined as the number of items it will hold, not the number of bytes. */
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UBaseType_t uxItemSize; /**< The size of each items that the queue will hold. */
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volatile int8_t cRxLock; /**< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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volatile int8_t cTxLock; /**< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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uint8_t ucStaticallyAllocated; /**< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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#endif
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#if ( configUSE_QUEUE_SETS == 1 )
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struct QueueDefinition * pxQueueSetContainer;
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#endif
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#if ( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxQueueNumber;
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uint8_t ucQueueType;
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#endif
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} xQUEUE;
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/* The old xQUEUE name is maintained above then typedefed to the new Queue_t
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* name below to enable the use of older kernel aware debuggers. */
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typedef xQUEUE Queue_t;
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/*-----------------------------------------------------------*/
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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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const char * pcQueueName;
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QueueHandle_t xHandle;
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} xQueueRegistryItem;
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/* The old xQueueRegistryItem name is maintained above then typedefed to the
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* new xQueueRegistryItem name below to enable the use of older kernel aware
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* debuggers. */
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typedef xQueueRegistryItem QueueRegistryItem_t;
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/* The queue registry is simply an array of QueueRegistryItem_t 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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/* MISRA Ref 8.4.2 [Declaration shall be visible] */
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/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-84 */
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/* coverity[misra_c_2012_rule_8_4_violation] */
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PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
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#endif /* configQUEUE_REGISTRY_SIZE */
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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( Queue_t * const 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 BaseType_t prvIsQueueEmpty( const Queue_t * 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 BaseType_t prvIsQueueFull( const Queue_t * 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 BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue,
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const void * pvItemToQueue,
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const BaseType_t 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( Queue_t * const pxQueue,
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void * const pvBuffer ) PRIVILEGED_FUNCTION;
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#if ( configUSE_QUEUE_SETS == 1 )
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/*
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* Checks to see if a queue is a member of a queue set, and if so, notifies
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* the queue set that the queue contains data.
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*/
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static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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#endif
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/*
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* Called after a Queue_t structure has been allocated either statically or
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* dynamically to fill in the structure's members.
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*/
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static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
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const UBaseType_t uxItemSize,
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uint8_t * pucQueueStorage,
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const uint8_t ucQueueType,
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Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION;
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/*
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* Mutexes are a special type of queue. When a mutex is created, first the
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* queue is created, then prvInitialiseMutex() is called to configure the queue
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* as a mutex.
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*/
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#if ( configUSE_MUTEXES == 1 )
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static void prvInitialiseMutex( Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION;
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#endif
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#if ( configUSE_MUTEXES == 1 )
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/*
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* If a task waiting for a mutex causes the mutex holder to inherit a
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* priority, but the waiting task times out, then the holder should
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* disinherit the priority - but only down to the highest priority of any
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* other tasks that are waiting for the same mutex. This function returns
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* that priority.
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*/
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static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
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#endif
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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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taskENTER_CRITICAL(); \
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{ \
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if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
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{ \
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( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
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} \
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if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
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{ \
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( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
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} \
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} \
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taskEXIT_CRITICAL()
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/*
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* Macro to increment cTxLock member of the queue data structure. It is
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* capped at the number of tasks in the system as we cannot unblock more
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* tasks than the number of tasks in the system.
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*/
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#define prvIncrementQueueTxLock( pxQueue, cTxLock ) \
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do { \
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const UBaseType_t uxNumberOfTasks = uxTaskGetNumberOfTasks(); \
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if( ( UBaseType_t ) ( cTxLock ) < uxNumberOfTasks ) \
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{ \
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configASSERT( ( cTxLock ) != queueINT8_MAX ); \
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( pxQueue )->cTxLock = ( int8_t ) ( ( cTxLock ) + ( int8_t ) 1 ); \
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} \
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} while( 0 )
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/*
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* Macro to increment cRxLock member of the queue data structure. It is
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* capped at the number of tasks in the system as we cannot unblock more
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* tasks than the number of tasks in the system.
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*/
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#define prvIncrementQueueRxLock( pxQueue, cRxLock ) \
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do { \
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const UBaseType_t uxNumberOfTasks = uxTaskGetNumberOfTasks(); \
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if( ( UBaseType_t ) ( cRxLock ) < uxNumberOfTasks ) \
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{ \
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configASSERT( ( cRxLock ) != queueINT8_MAX ); \
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( pxQueue )->cRxLock = ( int8_t ) ( ( cRxLock ) + ( int8_t ) 1 ); \
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} \
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} while( 0 )
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/*-----------------------------------------------------------*/
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BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
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BaseType_t xNewQueue )
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{
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BaseType_t xReturn = pdPASS;
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Queue_t * const pxQueue = xQueue;
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traceENTER_xQueueGenericReset( xQueue, xNewQueue );
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configASSERT( pxQueue );
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if( ( pxQueue != NULL ) &&
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( pxQueue->uxLength >= 1U ) &&
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/* Check for multiplication overflow. */
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( ( SIZE_MAX / pxQueue->uxLength ) >= pxQueue->uxItemSize ) )
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{
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taskENTER_CRITICAL();
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{
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pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
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pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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pxQueue->pcWriteTo = pxQueue->pcHead;
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pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize );
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pxQueue->cRxLock = queueUNLOCKED;
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pxQueue->cTxLock = queueUNLOCKED;
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if( xNewQueue == pdFALSE )
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{
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/* If there are tasks blocked waiting to read from the queue, then
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* the tasks will remain blocked as after this function exits the queue
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* will still be empty. If there are tasks blocked waiting to write to
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* the queue, then one should be unblocked as after this function exits
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* it will be possible to write to it. */
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if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
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{
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if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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{
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queueYIELD_IF_USING_PREEMPTION();
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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/* Ensure the event queues start in the correct state. */
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vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
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vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
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}
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}
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taskEXIT_CRITICAL();
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}
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else
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{
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xReturn = pdFAIL;
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}
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configASSERT( xReturn != pdFAIL );
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/* A value is returned for calling semantic consistency with previous
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* versions. */
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traceRETURN_xQueueGenericReset( xReturn );
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return xReturn;
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}
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/*-----------------------------------------------------------*/
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
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const UBaseType_t uxItemSize,
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uint8_t * pucQueueStorage,
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StaticQueue_t * pxStaticQueue,
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const uint8_t ucQueueType )
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{
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Queue_t * pxNewQueue = NULL;
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traceENTER_xQueueGenericCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxStaticQueue, ucQueueType );
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/* The StaticQueue_t structure and the queue storage area must be
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* supplied. */
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configASSERT( pxStaticQueue );
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if( ( uxQueueLength > ( UBaseType_t ) 0 ) &&
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( pxStaticQueue != NULL ) &&
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/* A queue storage area should be provided if the item size is not 0, and
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* should not be provided if the item size is 0. */
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( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0U ) ) ) &&
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( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0U ) ) ) )
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{
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#if ( configASSERT_DEFINED == 1 )
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{
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/* Sanity check that the size of the structure used to declare a
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* variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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* the real queue and semaphore structures. */
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volatile size_t xSize = sizeof( StaticQueue_t );
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/* This assertion cannot be branch covered in unit tests */
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configASSERT( xSize == sizeof( Queue_t ) ); /* LCOV_EXCL_BR_LINE */
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( void ) xSize; /* Prevent unused variable warning when configASSERT() is not defined. */
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}
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#endif /* configASSERT_DEFINED */
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/* The address of a statically allocated queue was passed in, use it.
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* The address of a statically allocated storage area was also passed in
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* but is already set. */
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/* MISRA Ref 11.3.1 [Misaligned access] */
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/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-113 */
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/* coverity[misra_c_2012_rule_11_3_violation] */
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pxNewQueue = ( Queue_t * ) pxStaticQueue;
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#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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{
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/* Queues can be allocated either statically or dynamically, so
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* note this queue was allocated statically in case the queue is
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* later deleted. */
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pxNewQueue->ucStaticallyAllocated = pdTRUE;
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}
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#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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}
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else
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{
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configASSERT( pxNewQueue );
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mtCOVERAGE_TEST_MARKER();
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}
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traceRETURN_xQueueGenericCreateStatic( pxNewQueue );
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return pxNewQueue;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/*-----------------------------------------------------------*/
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
|
|
BaseType_t xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
|
|
uint8_t ** ppucQueueStorage,
|
|
StaticQueue_t ** ppxStaticQueue )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueGenericGetStaticBuffers( xQueue, ppucQueueStorage, ppxStaticQueue );
|
|
|
|
configASSERT( pxQueue );
|
|
configASSERT( ppxStaticQueue );
|
|
|
|
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
{
|
|
/* Check if the queue was statically allocated. */
|
|
if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdTRUE )
|
|
{
|
|
if( ppucQueueStorage != NULL )
|
|
{
|
|
*ppucQueueStorage = ( uint8_t * ) pxQueue->pcHead;
|
|
}
|
|
|
|
/* MISRA Ref 11.3.1 [Misaligned access] */
|
|
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-113 */
|
|
/* coverity[misra_c_2012_rule_11_3_violation] */
|
|
*ppxStaticQueue = ( StaticQueue_t * ) pxQueue;
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
}
|
|
#else /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|
{
|
|
/* Queue must have been statically allocated. */
|
|
if( ppucQueueStorage != NULL )
|
|
{
|
|
*ppucQueueStorage = ( uint8_t * ) pxQueue->pcHead;
|
|
}
|
|
|
|
*ppxStaticQueue = ( StaticQueue_t * ) pxQueue;
|
|
xReturn = pdTRUE;
|
|
}
|
|
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|
|
|
traceRETURN_xQueueGenericGetStaticBuffers( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
|
|
QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength,
|
|
const UBaseType_t uxItemSize,
|
|
const uint8_t ucQueueType )
|
|
{
|
|
Queue_t * pxNewQueue = NULL;
|
|
size_t xQueueSizeInBytes;
|
|
uint8_t * pucQueueStorage;
|
|
|
|
traceENTER_xQueueGenericCreate( uxQueueLength, uxItemSize, ucQueueType );
|
|
|
|
if( ( uxQueueLength > ( UBaseType_t ) 0 ) &&
|
|
/* Check for multiplication overflow. */
|
|
( ( SIZE_MAX / uxQueueLength ) >= uxItemSize ) &&
|
|
/* Check for addition overflow. */
|
|
( ( UBaseType_t ) ( SIZE_MAX - sizeof( Queue_t ) ) >= ( uxQueueLength * uxItemSize ) ) )
|
|
{
|
|
/* Allocate enough space to hold the maximum number of items that
|
|
* can be in the queue at any time. It is valid for uxItemSize to be
|
|
* zero in the case the queue is used as a semaphore. */
|
|
xQueueSizeInBytes = ( size_t ) ( ( size_t ) uxQueueLength * ( size_t ) uxItemSize );
|
|
|
|
/* MISRA Ref 11.5.1 [Malloc memory assignment] */
|
|
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
|
|
/* coverity[misra_c_2012_rule_11_5_violation] */
|
|
pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
|
|
|
|
if( pxNewQueue != NULL )
|
|
{
|
|
/* Jump past the queue structure to find the location of the queue
|
|
* storage area. */
|
|
pucQueueStorage = ( uint8_t * ) pxNewQueue;
|
|
pucQueueStorage += sizeof( Queue_t );
|
|
|
|
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
{
|
|
/* Queues can be created either statically or dynamically, so
|
|
* note this task was created dynamically in case it is later
|
|
* deleted. */
|
|
pxNewQueue->ucStaticallyAllocated = pdFALSE;
|
|
}
|
|
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
|
|
|
prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
|
|
}
|
|
else
|
|
{
|
|
traceQUEUE_CREATE_FAILED( ucQueueType );
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
configASSERT( pxNewQueue );
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
traceRETURN_xQueueGenericCreate( pxNewQueue );
|
|
|
|
return pxNewQueue;
|
|
}
|
|
|
|
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
|
|
const UBaseType_t uxItemSize,
|
|
uint8_t * pucQueueStorage,
|
|
const uint8_t ucQueueType,
|
|
Queue_t * pxNewQueue )
|
|
{
|
|
/* Remove compiler warnings about unused parameters should
|
|
* configUSE_TRACE_FACILITY not be set to 1. */
|
|
( void ) ucQueueType;
|
|
|
|
if( uxItemSize == ( UBaseType_t ) 0 )
|
|
{
|
|
/* No RAM was allocated for the queue storage area, but PC head cannot
|
|
* be set to NULL because NULL is used as a key to say the queue is used as
|
|
* a mutex. Therefore just set pcHead to point to the queue as a benign
|
|
* value that is known to be within the memory map. */
|
|
pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
|
|
}
|
|
else
|
|
{
|
|
/* Set the head to the start of the queue storage area. */
|
|
pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
|
|
}
|
|
|
|
/* Initialise the queue members as described 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 );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
static void prvInitialiseMutex( Queue_t * pxNewQueue )
|
|
{
|
|
if( pxNewQueue != NULL )
|
|
{
|
|
/* The queue create function will set all the queue structure members
|
|
* correctly for a generic queue, but this function is creating a
|
|
* mutex. Overwrite those members that need to be set differently -
|
|
* in particular the information required for priority inheritance. */
|
|
pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
|
|
pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
|
|
|
|
/* In case this is a recursive mutex. */
|
|
pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
|
|
|
|
traceCREATE_MUTEX( pxNewQueue );
|
|
|
|
/* Start with the semaphore in the expected state. */
|
|
( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
|
|
}
|
|
else
|
|
{
|
|
traceCREATE_MUTEX_FAILED();
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|
|
|
QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
|
|
{
|
|
QueueHandle_t xNewQueue;
|
|
const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
|
|
|
|
traceENTER_xQueueCreateMutex( ucQueueType );
|
|
|
|
xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
|
|
prvInitialiseMutex( ( Queue_t * ) xNewQueue );
|
|
|
|
traceRETURN_xQueueCreateMutex( xNewQueue );
|
|
|
|
return xNewQueue;
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
|
|
|
|
QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType,
|
|
StaticQueue_t * pxStaticQueue )
|
|
{
|
|
QueueHandle_t xNewQueue;
|
|
const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
|
|
|
|
traceENTER_xQueueCreateMutexStatic( ucQueueType, pxStaticQueue );
|
|
|
|
/* Prevent compiler warnings about unused parameters if
|
|
* configUSE_TRACE_FACILITY does not equal 1. */
|
|
( void ) ucQueueType;
|
|
|
|
xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
|
|
prvInitialiseMutex( ( Queue_t * ) xNewQueue );
|
|
|
|
traceRETURN_xQueueCreateMutexStatic( xNewQueue );
|
|
|
|
return xNewQueue;
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
|
|
|
|
TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
|
|
{
|
|
TaskHandle_t pxReturn;
|
|
Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
|
|
|
|
traceENTER_xQueueGetMutexHolder( xSemaphore );
|
|
|
|
configASSERT( xSemaphore );
|
|
|
|
/* This function is called by xSemaphoreGetMutexHolder(), and should not
|
|
* be called directly. Note: This 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( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
|
|
{
|
|
pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
|
|
}
|
|
else
|
|
{
|
|
pxReturn = NULL;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_xQueueGetMutexHolder( pxReturn );
|
|
|
|
return pxReturn;
|
|
}
|
|
|
|
#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
|
|
|
|
TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
|
|
{
|
|
TaskHandle_t pxReturn;
|
|
|
|
traceENTER_xQueueGetMutexHolderFromISR( xSemaphore );
|
|
|
|
configASSERT( xSemaphore );
|
|
|
|
/* Mutexes cannot be used in interrupt service routines, so the mutex
|
|
* holder should not change in an ISR, and therefore a critical section is
|
|
* not required here. */
|
|
if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
|
|
{
|
|
pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
|
|
}
|
|
else
|
|
{
|
|
pxReturn = NULL;
|
|
}
|
|
|
|
traceRETURN_xQueueGetMutexHolderFromISR( pxReturn );
|
|
|
|
return pxReturn;
|
|
}
|
|
|
|
#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_RECURSIVE_MUTEXES == 1 )
|
|
|
|
BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxMutex = ( Queue_t * ) xMutex;
|
|
|
|
traceENTER_xQueueGiveMutexRecursive( xMutex );
|
|
|
|
configASSERT( pxMutex );
|
|
|
|
/* If this is the task that holds the mutex then xMutexHolder 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->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
|
|
{
|
|
traceGIVE_MUTEX_RECURSIVE( pxMutex );
|
|
|
|
/* uxRecursiveCallCount cannot be zero if xMutexHolder 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.xSemaphore.uxRecursiveCallCount )--;
|
|
|
|
/* Has the recursive call count unwound to 0? */
|
|
if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 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 );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
/* The mutex cannot be given because the calling task is not the
|
|
* holder. */
|
|
xReturn = pdFAIL;
|
|
|
|
traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
|
|
}
|
|
|
|
traceRETURN_xQueueGiveMutexRecursive( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_RECURSIVE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_RECURSIVE_MUTEXES == 1 )
|
|
|
|
BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex,
|
|
TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxMutex = ( Queue_t * ) xMutex;
|
|
|
|
traceENTER_xQueueTakeMutexRecursive( xMutex, xTicksToWait );
|
|
|
|
configASSERT( pxMutex );
|
|
|
|
/* Comments regarding mutual exclusion as per those within
|
|
* xQueueGiveMutexRecursive(). */
|
|
|
|
traceTAKE_MUTEX_RECURSIVE( pxMutex );
|
|
|
|
if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
|
|
{
|
|
( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
|
|
|
|
/* pdPASS will only be returned if the mutex was successfully
|
|
* obtained. The calling task may have entered the Blocked state
|
|
* before reaching here. */
|
|
if( xReturn != pdFAIL )
|
|
{
|
|
( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
|
|
}
|
|
else
|
|
{
|
|
traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
|
|
}
|
|
}
|
|
|
|
traceRETURN_xQueueTakeMutexRecursive( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_RECURSIVE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
|
|
|
|
QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
|
|
const UBaseType_t uxInitialCount,
|
|
StaticQueue_t * pxStaticQueue )
|
|
{
|
|
QueueHandle_t xHandle = NULL;
|
|
|
|
traceENTER_xQueueCreateCountingSemaphoreStatic( uxMaxCount, uxInitialCount, pxStaticQueue );
|
|
|
|
if( ( uxMaxCount != 0U ) &&
|
|
( uxInitialCount <= uxMaxCount ) )
|
|
{
|
|
xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
|
|
|
|
if( xHandle != NULL )
|
|
{
|
|
( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
|
|
|
|
traceCREATE_COUNTING_SEMAPHORE();
|
|
}
|
|
else
|
|
{
|
|
traceCREATE_COUNTING_SEMAPHORE_FAILED();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
configASSERT( xHandle );
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
traceRETURN_xQueueCreateCountingSemaphoreStatic( xHandle );
|
|
|
|
return xHandle;
|
|
}
|
|
|
|
#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|
|
|
QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
|
|
const UBaseType_t uxInitialCount )
|
|
{
|
|
QueueHandle_t xHandle = NULL;
|
|
|
|
traceENTER_xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount );
|
|
|
|
if( ( uxMaxCount != 0U ) &&
|
|
( uxInitialCount <= uxMaxCount ) )
|
|
{
|
|
xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
|
|
|
|
if( xHandle != NULL )
|
|
{
|
|
( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
|
|
|
|
traceCREATE_COUNTING_SEMAPHORE();
|
|
}
|
|
else
|
|
{
|
|
traceCREATE_COUNTING_SEMAPHORE_FAILED();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
configASSERT( xHandle );
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
traceRETURN_xQueueCreateCountingSemaphore( xHandle );
|
|
|
|
return xHandle;
|
|
}
|
|
|
|
#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueGenericSend( QueueHandle_t xQueue,
|
|
const void * const pvItemToQueue,
|
|
TickType_t xTicksToWait,
|
|
const BaseType_t xCopyPosition )
|
|
{
|
|
BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
|
|
TimeOut_t xTimeOut;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, xCopyPosition );
|
|
|
|
configASSERT( pxQueue );
|
|
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
|
|
configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
|
|
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
|
{
|
|
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
|
|
}
|
|
#endif
|
|
|
|
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 );
|
|
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
{
|
|
const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
|
|
|
|
if( pxQueue->pxQueueSetContainer != NULL )
|
|
{
|
|
if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
|
|
{
|
|
/* Do not notify the queue set as an existing item
|
|
* was overwritten in the queue so the number of items
|
|
* in the queue has not changed. */
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
|
|
{
|
|
/* 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. */
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
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 ) ) != pdFALSE )
|
|
{
|
|
/* 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. */
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else if( xYieldRequired != pdFALSE )
|
|
{
|
|
/* This path is a special case that will only get
|
|
* executed if the task was holding multiple mutexes
|
|
* and the mutexes were given back in an order that is
|
|
* different to that in which they were taken. */
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
#else /* configUSE_QUEUE_SETS */
|
|
{
|
|
xYieldRequired = 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 ) ) != pdFALSE )
|
|
{
|
|
/* 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. */
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else if( xYieldRequired != pdFALSE )
|
|
{
|
|
/* This path is a special case that will only get
|
|
* executed if the task was holding multiple mutexes and
|
|
* the mutexes were given back in an order that is
|
|
* different to that in which they were taken. */
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_xQueueGenericSend( pdPASS );
|
|
|
|
return pdPASS;
|
|
}
|
|
else
|
|
{
|
|
if( xTicksToWait == ( TickType_t ) 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 );
|
|
traceRETURN_xQueueGenericSend( errQUEUE_FULL );
|
|
|
|
return errQUEUE_FULL;
|
|
}
|
|
else if( xEntryTimeSet == pdFALSE )
|
|
{
|
|
/* The queue was full and a block time was specified so
|
|
* configure the timeout structure. */
|
|
vTaskInternalSetTimeOutState( &xTimeOut );
|
|
xEntryTimeSet = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* Entry time was already set. */
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
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 list 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 the 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 )
|
|
{
|
|
taskYIELD_WITHIN_API();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* Try again. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* The timeout has expired. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
|
|
traceQUEUE_SEND_FAILED( pxQueue );
|
|
traceRETURN_xQueueGenericSend( errQUEUE_FULL );
|
|
|
|
return errQUEUE_FULL;
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
|
|
const void * const pvItemToQueue,
|
|
BaseType_t * const pxHigherPriorityTaskWoken,
|
|
const BaseType_t xCopyPosition )
|
|
{
|
|
BaseType_t xReturn;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueGenericSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken, xCopyPosition );
|
|
|
|
configASSERT( pxQueue );
|
|
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 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 kept 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: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
/* Similar to xQueueGenericSend, except without blocking if there is no room
|
|
* in the queue. Also don't directly wake a task that was blocked on a queue
|
|
* read, instead 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). */
|
|
/* MISRA Ref 4.7.1 [Return value shall be checked] */
|
|
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */
|
|
/* coverity[misra_c_2012_directive_4_7_violation] */
|
|
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
|
|
{
|
|
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
|
|
{
|
|
const int8_t cTxLock = pxQueue->cTxLock;
|
|
const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
traceQUEUE_SEND_FROM_ISR( pxQueue );
|
|
|
|
/* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
|
|
* semaphore or mutex. That means prvCopyDataToQueue() cannot result
|
|
* in a task disinheriting a priority and prvCopyDataToQueue() can be
|
|
* called here even though the disinherit function does not check if
|
|
* the scheduler is suspended before accessing the ready lists. */
|
|
( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
|
|
|
|
/* The event list is not altered if the queue is locked. This will
|
|
* be done when the queue is unlocked later. */
|
|
if( cTxLock == queueUNLOCKED )
|
|
{
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
{
|
|
if( pxQueue->pxQueueSetContainer != NULL )
|
|
{
|
|
if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
|
|
{
|
|
/* Do not notify the queue set as an existing item
|
|
* was overwritten in the queue so the number of items
|
|
* in the queue has not changed. */
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
|
|
{
|
|
/* 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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
#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;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Not used in this path. */
|
|
( void ) uxPreviousMessagesWaiting;
|
|
}
|
|
#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. */
|
|
prvIncrementQueueTxLock( pxQueue, cTxLock );
|
|
}
|
|
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
|
|
xReturn = errQUEUE_FULL;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
traceRETURN_xQueueGenericSendFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
|
|
BaseType_t * const pxHigherPriorityTaskWoken )
|
|
{
|
|
BaseType_t xReturn;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueGiveFromISR( xQueue, pxHigherPriorityTaskWoken );
|
|
|
|
/* Similar to xQueueGenericSendFromISR() but used with semaphores where the
|
|
* item size is 0. Don't directly wake a task that was blocked on a queue
|
|
* read, instead 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). */
|
|
|
|
configASSERT( pxQueue );
|
|
|
|
/* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
|
|
* if the item size is not 0. */
|
|
configASSERT( pxQueue->uxItemSize == 0 );
|
|
|
|
/* Normally a mutex would not be given from an interrupt, especially if
|
|
* there is a mutex holder, as priority inheritance makes no sense for an
|
|
* interrupts, only tasks. */
|
|
configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
|
|
|
|
/* 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 kept 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: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
/* MISRA Ref 4.7.1 [Return value shall be checked] */
|
|
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */
|
|
/* coverity[misra_c_2012_directive_4_7_violation] */
|
|
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
|
|
{
|
|
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
/* When the queue is used to implement a semaphore no data is ever
|
|
* moved through the queue but it is still valid to see if the queue 'has
|
|
* space'. */
|
|
if( uxMessagesWaiting < pxQueue->uxLength )
|
|
{
|
|
const int8_t cTxLock = pxQueue->cTxLock;
|
|
|
|
traceQUEUE_SEND_FROM_ISR( pxQueue );
|
|
|
|
/* A task can only have an inherited priority if it is a mutex
|
|
* holder - and if there is a mutex holder then the mutex cannot be
|
|
* given from an ISR. As this is the ISR version of the function it
|
|
* can be assumed there is no mutex holder and no need to determine if
|
|
* priority disinheritance is needed. Simply increase the count of
|
|
* messages (semaphores) available. */
|
|
pxQueue->uxMessagesWaiting = ( UBaseType_t ) ( uxMessagesWaiting + ( UBaseType_t ) 1 );
|
|
|
|
/* The event list is not altered if the queue is locked. This will
|
|
* be done when the queue is unlocked later. */
|
|
if( cTxLock == queueUNLOCKED )
|
|
{
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
{
|
|
if( pxQueue->pxQueueSetContainer != NULL )
|
|
{
|
|
if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
|
|
{
|
|
/* The semaphore 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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
#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;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#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. */
|
|
prvIncrementQueueTxLock( pxQueue, cTxLock );
|
|
}
|
|
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
|
|
xReturn = errQUEUE_FULL;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
traceRETURN_xQueueGiveFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueReceive( QueueHandle_t xQueue,
|
|
void * const pvBuffer,
|
|
TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xEntryTimeSet = pdFALSE;
|
|
TimeOut_t xTimeOut;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueReceive( xQueue, pvBuffer, xTicksToWait );
|
|
|
|
/* Check the pointer is not NULL. */
|
|
configASSERT( ( pxQueue ) );
|
|
|
|
/* The buffer into which data is received can only be NULL if the data size
|
|
* is zero (so no data is copied into the buffer). */
|
|
configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
|
|
|
|
/* Cannot block if the scheduler is suspended. */
|
|
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
|
{
|
|
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
|
|
}
|
|
#endif
|
|
|
|
for( ; ; )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
/* Is there data in the queue now? To be running the calling task
|
|
* must be the highest priority task wanting to access the queue. */
|
|
if( uxMessagesWaiting > ( UBaseType_t ) 0 )
|
|
{
|
|
/* Data available, remove one item. */
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
|
traceQUEUE_RECEIVE( pxQueue );
|
|
pxQueue->uxMessagesWaiting = ( UBaseType_t ) ( uxMessagesWaiting - ( UBaseType_t ) 1 );
|
|
|
|
/* There is now space in the queue, were any tasks waiting to
|
|
* post to the queue? If so, unblock the highest priority waiting
|
|
* task. */
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
|
|
{
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
|
{
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_xQueueReceive( pdPASS );
|
|
|
|
return pdPASS;
|
|
}
|
|
else
|
|
{
|
|
if( xTicksToWait == ( TickType_t ) 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 );
|
|
traceRETURN_xQueueReceive( errQUEUE_EMPTY );
|
|
|
|
return errQUEUE_EMPTY;
|
|
}
|
|
else if( xEntryTimeSet == pdFALSE )
|
|
{
|
|
/* The queue was empty and a block time was specified so
|
|
* configure the timeout structure. */
|
|
vTaskInternalSetTimeOutState( &xTimeOut );
|
|
xEntryTimeSet = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* Entry time was already set. */
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
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 )
|
|
{
|
|
/* The timeout has not expired. If the queue is still empty place
|
|
* the task on the list of tasks waiting to receive from the queue. */
|
|
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
|
|
{
|
|
traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
|
|
prvUnlockQueue( pxQueue );
|
|
|
|
if( xTaskResumeAll() == pdFALSE )
|
|
{
|
|
taskYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* The queue contains data again. Loop back to try and read the
|
|
* data. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* Timed out. If there is no data in the queue exit, otherwise loop
|
|
* back and attempt to read the data. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
|
|
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
|
|
{
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
|
traceRETURN_xQueueReceive( errQUEUE_EMPTY );
|
|
|
|
return errQUEUE_EMPTY;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue,
|
|
TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xEntryTimeSet = pdFALSE;
|
|
TimeOut_t xTimeOut;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
BaseType_t xInheritanceOccurred = pdFALSE;
|
|
#endif
|
|
|
|
traceENTER_xQueueSemaphoreTake( xQueue, xTicksToWait );
|
|
|
|
/* Check the queue pointer is not NULL. */
|
|
configASSERT( ( pxQueue ) );
|
|
|
|
/* Check this really is a semaphore, in which case the item size will be
|
|
* 0. */
|
|
configASSERT( pxQueue->uxItemSize == 0 );
|
|
|
|
/* Cannot block if the scheduler is suspended. */
|
|
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
|
{
|
|
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
|
|
}
|
|
#endif
|
|
|
|
for( ; ; )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* Semaphores are queues with an item size of 0, and where the
|
|
* number of messages in the queue is the semaphore's count value. */
|
|
const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
|
|
|
|
/* Is there data in the queue now? To be running the calling task
|
|
* must be the highest priority task wanting to access the queue. */
|
|
if( uxSemaphoreCount > ( UBaseType_t ) 0 )
|
|
{
|
|
traceQUEUE_RECEIVE( pxQueue );
|
|
|
|
/* Semaphores are queues with a data size of zero and where the
|
|
* messages waiting is the semaphore's count. Reduce the count. */
|
|
pxQueue->uxMessagesWaiting = ( UBaseType_t ) ( uxSemaphoreCount - ( UBaseType_t ) 1 );
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
|
{
|
|
/* Record the information required to implement
|
|
* priority inheritance should it become necessary. */
|
|
pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_MUTEXES */
|
|
|
|
/* Check to see if other tasks are blocked waiting to give the
|
|
* semaphore, and if so, unblock the highest priority such task. */
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
|
|
{
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
|
{
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_xQueueSemaphoreTake( pdPASS );
|
|
|
|
return pdPASS;
|
|
}
|
|
else
|
|
{
|
|
if( xTicksToWait == ( TickType_t ) 0 )
|
|
{
|
|
/* The semaphore count was 0 and no block time is specified
|
|
* (or the block time has expired) so exit now. */
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
|
traceRETURN_xQueueSemaphoreTake( errQUEUE_EMPTY );
|
|
|
|
return errQUEUE_EMPTY;
|
|
}
|
|
else if( xEntryTimeSet == pdFALSE )
|
|
{
|
|
/* The semaphore count was 0 and a block time was specified
|
|
* so configure the timeout structure ready to block. */
|
|
vTaskInternalSetTimeOutState( &xTimeOut );
|
|
xEntryTimeSet = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* Entry time was already set. */
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* Interrupts and other tasks can give to and take from the semaphore
|
|
* 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 )
|
|
{
|
|
/* A block time is specified and not expired. If the semaphore
|
|
* count is 0 then enter the Blocked state to wait for a semaphore to
|
|
* become available. As semaphores are implemented with queues the
|
|
* queue being empty is equivalent to the semaphore count being 0. */
|
|
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
|
|
{
|
|
traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* if ( configUSE_MUTEXES == 1 ) */
|
|
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
|
|
prvUnlockQueue( pxQueue );
|
|
|
|
if( xTaskResumeAll() == pdFALSE )
|
|
{
|
|
taskYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* There was no timeout and the semaphore count was not 0, so
|
|
* attempt to take the semaphore again. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* Timed out. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
|
|
/* If the semaphore count is 0 exit now as the timeout has
|
|
* expired. Otherwise return to attempt to take the semaphore that is
|
|
* known to be available. As semaphores are implemented by queues the
|
|
* queue being empty is equivalent to the semaphore count being 0. */
|
|
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
|
|
{
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
/* xInheritanceOccurred could only have be set if
|
|
* pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
|
|
* test the mutex type again to check it is actually a mutex. */
|
|
if( xInheritanceOccurred != pdFALSE )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
UBaseType_t uxHighestWaitingPriority;
|
|
|
|
/* This task blocking on the mutex caused another
|
|
* task to inherit this task's priority. Now this task
|
|
* has timed out the priority should be disinherited
|
|
* again, but only as low as the next highest priority
|
|
* task that is waiting for the same mutex. */
|
|
uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
|
|
|
|
/* vTaskPriorityDisinheritAfterTimeout uses the uxHighestWaitingPriority
|
|
* parameter to index pxReadyTasksLists when adding the task holding
|
|
* mutex to the ready list for its new priority. Coverity thinks that
|
|
* it can result in out-of-bounds access which is not true because
|
|
* uxHighestWaitingPriority, as returned by prvGetDisinheritPriorityAfterTimeout,
|
|
* is capped at ( configMAX_PRIORITIES - 1 ). */
|
|
/* coverity[overrun] */
|
|
vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
}
|
|
#endif /* configUSE_MUTEXES */
|
|
|
|
traceQUEUE_RECEIVE_FAILED( pxQueue );
|
|
traceRETURN_xQueueSemaphoreTake( errQUEUE_EMPTY );
|
|
|
|
return errQUEUE_EMPTY;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueuePeek( QueueHandle_t xQueue,
|
|
void * const pvBuffer,
|
|
TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xEntryTimeSet = pdFALSE;
|
|
TimeOut_t xTimeOut;
|
|
int8_t * pcOriginalReadPosition;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueuePeek( xQueue, pvBuffer, xTicksToWait );
|
|
|
|
/* Check the pointer is not NULL. */
|
|
configASSERT( ( pxQueue ) );
|
|
|
|
/* The buffer into which data is received can only be NULL if the data size
|
|
* is zero (so no data is copied into the buffer. */
|
|
configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
|
|
|
|
/* Cannot block if the scheduler is suspended. */
|
|
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
|
{
|
|
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
|
|
}
|
|
#endif
|
|
|
|
for( ; ; )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
/* Is there data in the queue now? To be running the calling task
|
|
* must be the highest priority task wanting to access the queue. */
|
|
if( uxMessagesWaiting > ( UBaseType_t ) 0 )
|
|
{
|
|
/* Remember the read position so it can be reset after the data
|
|
* is read from the queue as this function is only peeking the
|
|
* data, not removing it. */
|
|
pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
|
|
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
|
traceQUEUE_PEEK( pxQueue );
|
|
|
|
/* The data is not being removed, so reset the read pointer. */
|
|
pxQueue->u.xQueue.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 )
|
|
{
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
|
|
{
|
|
/* The task waiting has a higher priority than this task. */
|
|
queueYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_xQueuePeek( pdPASS );
|
|
|
|
return pdPASS;
|
|
}
|
|
else
|
|
{
|
|
if( xTicksToWait == ( TickType_t ) 0 )
|
|
{
|
|
/* The queue was empty and no block time is specified (or
|
|
* the block time has expired) so leave now. */
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceQUEUE_PEEK_FAILED( pxQueue );
|
|
traceRETURN_xQueuePeek( errQUEUE_EMPTY );
|
|
|
|
return errQUEUE_EMPTY;
|
|
}
|
|
else if( xEntryTimeSet == pdFALSE )
|
|
{
|
|
/* The queue was empty and a block time was specified so
|
|
* configure the timeout structure ready to enter the blocked
|
|
* state. */
|
|
vTaskInternalSetTimeOutState( &xTimeOut );
|
|
xEntryTimeSet = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* Entry time was already set. */
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* Interrupts and other tasks can send to and receive from the queue
|
|
* now that 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 )
|
|
{
|
|
/* Timeout has not expired yet, check to see if there is data in the
|
|
* queue now, and if not enter the Blocked state to wait for data. */
|
|
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
|
|
{
|
|
traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
|
|
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
|
|
prvUnlockQueue( pxQueue );
|
|
|
|
if( xTaskResumeAll() == pdFALSE )
|
|
{
|
|
taskYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* There is data in the queue now, so don't enter the blocked
|
|
* state, instead return to try and obtain the data. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* The timeout has expired. If there is still no data in the queue
|
|
* exit, otherwise go back and try to read the data again. */
|
|
prvUnlockQueue( pxQueue );
|
|
( void ) xTaskResumeAll();
|
|
|
|
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
|
|
{
|
|
traceQUEUE_PEEK_FAILED( pxQueue );
|
|
traceRETURN_xQueuePeek( errQUEUE_EMPTY );
|
|
|
|
return errQUEUE_EMPTY;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
|
|
void * const pvBuffer,
|
|
BaseType_t * const pxHigherPriorityTaskWoken )
|
|
{
|
|
BaseType_t xReturn;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueReceiveFromISR( xQueue, pvBuffer, pxHigherPriorityTaskWoken );
|
|
|
|
configASSERT( pxQueue );
|
|
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 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 kept 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: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
/* MISRA Ref 4.7.1 [Return value shall be checked] */
|
|
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */
|
|
/* coverity[misra_c_2012_directive_4_7_violation] */
|
|
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
|
|
{
|
|
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
/* Cannot block in an ISR, so check there is data available. */
|
|
if( uxMessagesWaiting > ( UBaseType_t ) 0 )
|
|
{
|
|
const int8_t cRxLock = pxQueue->cRxLock;
|
|
|
|
traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
|
|
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
|
pxQueue->uxMessagesWaiting = ( UBaseType_t ) ( uxMessagesWaiting - ( UBaseType_t ) 1 );
|
|
|
|
/* 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( cRxLock == 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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* Increment the lock count so the task that unlocks the queue
|
|
* knows that data was removed while it was locked. */
|
|
prvIncrementQueueRxLock( pxQueue, cRxLock );
|
|
}
|
|
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
traceRETURN_xQueueReceiveFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
|
|
void * const pvBuffer )
|
|
{
|
|
BaseType_t xReturn;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
int8_t * pcOriginalReadPosition;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueuePeekFromISR( xQueue, pvBuffer );
|
|
|
|
configASSERT( pxQueue );
|
|
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
|
|
configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
|
|
|
|
/* 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 kept 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: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
/* MISRA Ref 4.7.1 [Return value shall be checked] */
|
|
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */
|
|
/* coverity[misra_c_2012_directive_4_7_violation] */
|
|
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
|
|
{
|
|
/* Cannot block in an ISR, so check there is data available. */
|
|
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 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.xQueue.pcReadFrom;
|
|
prvCopyDataFromQueue( pxQueue, pvBuffer );
|
|
pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
|
|
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
traceRETURN_xQueuePeekFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
|
|
{
|
|
UBaseType_t uxReturn;
|
|
|
|
traceENTER_uxQueueMessagesWaiting( xQueue );
|
|
|
|
configASSERT( xQueue );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_uxQueueMessagesWaiting( uxReturn );
|
|
|
|
return uxReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
|
|
{
|
|
UBaseType_t uxReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_uxQueueSpacesAvailable( xQueue );
|
|
|
|
configASSERT( pxQueue );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
uxReturn = ( UBaseType_t ) ( pxQueue->uxLength - pxQueue->uxMessagesWaiting );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_uxQueueSpacesAvailable( uxReturn );
|
|
|
|
return uxReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
|
|
{
|
|
UBaseType_t uxReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_uxQueueMessagesWaitingFromISR( xQueue );
|
|
|
|
configASSERT( pxQueue );
|
|
uxReturn = pxQueue->uxMessagesWaiting;
|
|
|
|
traceRETURN_uxQueueMessagesWaitingFromISR( uxReturn );
|
|
|
|
return uxReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vQueueDelete( QueueHandle_t xQueue )
|
|
{
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_vQueueDelete( xQueue );
|
|
|
|
configASSERT( pxQueue );
|
|
traceQUEUE_DELETE( pxQueue );
|
|
|
|
#if ( configQUEUE_REGISTRY_SIZE > 0 )
|
|
{
|
|
vQueueUnregisterQueue( pxQueue );
|
|
}
|
|
#endif
|
|
|
|
#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
|
|
{
|
|
/* The queue can only have been allocated dynamically - free it
|
|
* again. */
|
|
vPortFree( pxQueue );
|
|
}
|
|
#elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
|
|
{
|
|
/* The queue could have been allocated statically or dynamically, so
|
|
* check before attempting to free the memory. */
|
|
if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
|
|
{
|
|
vPortFree( pxQueue );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#else /* if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) */
|
|
{
|
|
/* The queue must have been statically allocated, so is not going to be
|
|
* deleted. Avoid compiler warnings about the unused parameter. */
|
|
( void ) pxQueue;
|
|
}
|
|
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|
|
|
traceRETURN_vQueueDelete();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
|
|
{
|
|
traceENTER_uxQueueGetQueueNumber( xQueue );
|
|
|
|
traceRETURN_uxQueueGetQueueNumber( ( ( Queue_t * ) xQueue )->uxQueueNumber );
|
|
|
|
return ( ( Queue_t * ) xQueue )->uxQueueNumber;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
void vQueueSetQueueNumber( QueueHandle_t xQueue,
|
|
UBaseType_t uxQueueNumber )
|
|
{
|
|
traceENTER_vQueueSetQueueNumber( xQueue, uxQueueNumber );
|
|
|
|
( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
|
|
|
|
traceRETURN_vQueueSetQueueNumber();
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
|
|
{
|
|
traceENTER_ucQueueGetQueueType( xQueue );
|
|
|
|
traceRETURN_ucQueueGetQueueType( ( ( Queue_t * ) xQueue )->ucQueueType );
|
|
|
|
return ( ( Queue_t * ) xQueue )->ucQueueType;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
UBaseType_t uxQueueGetQueueItemSize( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
|
|
{
|
|
traceENTER_uxQueueGetQueueItemSize( xQueue );
|
|
|
|
traceRETURN_uxQueueGetQueueItemSize( ( ( Queue_t * ) xQueue )->uxItemSize );
|
|
|
|
return ( ( Queue_t * ) xQueue )->uxItemSize;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
UBaseType_t uxQueueGetQueueLength( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
|
|
{
|
|
traceENTER_uxQueueGetQueueLength( xQueue );
|
|
|
|
traceRETURN_uxQueueGetQueueLength( ( ( Queue_t * ) xQueue )->uxLength );
|
|
|
|
return ( ( Queue_t * ) xQueue )->uxLength;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
|
|
{
|
|
UBaseType_t uxHighestPriorityOfWaitingTasks;
|
|
|
|
/* If a task waiting for a mutex causes the mutex holder to inherit a
|
|
* priority, but the waiting task times out, then the holder should
|
|
* disinherit the priority - but only down to the highest priority of any
|
|
* other tasks that are waiting for the same mutex. For this purpose,
|
|
* return the priority of the highest priority task that is waiting for the
|
|
* mutex. */
|
|
if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
|
|
{
|
|
uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) ( ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) ) );
|
|
}
|
|
else
|
|
{
|
|
uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
|
|
}
|
|
|
|
return uxHighestPriorityOfWaitingTasks;
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue,
|
|
const void * pvItemToQueue,
|
|
const BaseType_t xPosition )
|
|
{
|
|
BaseType_t xReturn = pdFALSE;
|
|
UBaseType_t uxMessagesWaiting;
|
|
|
|
/* This function is called from a critical section. */
|
|
|
|
uxMessagesWaiting = pxQueue->uxMessagesWaiting;
|
|
|
|
if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
|
|
{
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
|
|
{
|
|
/* The mutex is no longer being held. */
|
|
xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
|
|
pxQueue->u.xSemaphore.xMutexHolder = NULL;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_MUTEXES */
|
|
}
|
|
else if( xPosition == queueSEND_TO_BACK )
|
|
{
|
|
( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize );
|
|
pxQueue->pcWriteTo += pxQueue->uxItemSize;
|
|
|
|
if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail )
|
|
{
|
|
pxQueue->pcWriteTo = pxQueue->pcHead;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize );
|
|
pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
|
|
|
|
if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead )
|
|
{
|
|
pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
if( xPosition == queueOVERWRITE )
|
|
{
|
|
if( uxMessagesWaiting > ( UBaseType_t ) 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. */
|
|
--uxMessagesWaiting;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
pxQueue->uxMessagesWaiting = ( UBaseType_t ) ( uxMessagesWaiting + ( UBaseType_t ) 1 );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvCopyDataFromQueue( Queue_t * const pxQueue,
|
|
void * const pvBuffer )
|
|
{
|
|
if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
|
|
{
|
|
pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
|
|
|
|
if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
|
|
{
|
|
pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvUnlockQueue( Queue_t * const 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();
|
|
{
|
|
int8_t cTxLock = pxQueue->cTxLock;
|
|
|
|
/* See if data was added to the queue while it was locked. */
|
|
while( cTxLock > 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 ) != pdFALSE )
|
|
{
|
|
/* 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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
|
|
--cTxLock;
|
|
}
|
|
|
|
pxQueue->cTxLock = queueUNLOCKED;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* Do the same for the Rx lock. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
int8_t cRxLock = pxQueue->cRxLock;
|
|
|
|
while( cRxLock > queueLOCKED_UNMODIFIED )
|
|
{
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
|
|
{
|
|
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
|
{
|
|
vTaskMissedYield();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
--cRxLock;
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
|
|
pxQueue->cRxLock = queueUNLOCKED;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static BaseType_t prvIsQueueEmpty( const Queue_t * pxQueue )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueIsQueueEmptyFromISR( xQueue );
|
|
|
|
configASSERT( pxQueue );
|
|
|
|
if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
traceRETURN_xQueueIsQueueEmptyFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static BaseType_t prvIsQueueFull( const Queue_t * pxQueue )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueIsQueueFullFromISR( xQueue );
|
|
|
|
configASSERT( pxQueue );
|
|
|
|
if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
traceRETURN_xQueueIsQueueFullFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_CO_ROUTINES == 1 )
|
|
|
|
BaseType_t xQueueCRSend( QueueHandle_t xQueue,
|
|
const void * pvItemToQueue,
|
|
TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueCRSend( xQueue, pvItemToQueue, xTicksToWait );
|
|
|
|
/* 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 > ( TickType_t ) 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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
xReturn = errQUEUE_FULL;
|
|
}
|
|
}
|
|
portENABLE_INTERRUPTS();
|
|
|
|
traceRETURN_xQueueCRSend( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_CO_ROUTINES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_CO_ROUTINES == 1 )
|
|
|
|
BaseType_t xQueueCRReceive( QueueHandle_t xQueue,
|
|
void * pvBuffer,
|
|
TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueCRReceive( xQueue, pvBuffer, xTicksToWait );
|
|
|
|
/* 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 == ( UBaseType_t ) 0 )
|
|
{
|
|
/* There are no messages in the queue, do we want to block or just
|
|
* leave with nothing? */
|
|
if( xTicksToWait > ( TickType_t ) 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;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
portENABLE_INTERRUPTS();
|
|
|
|
portDISABLE_INTERRUPTS();
|
|
{
|
|
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
|
|
{
|
|
/* Data is available from the queue. */
|
|
pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
|
|
|
|
if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
|
|
{
|
|
pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
--( pxQueue->uxMessagesWaiting );
|
|
( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.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
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
}
|
|
portENABLE_INTERRUPTS();
|
|
|
|
traceRETURN_xQueueCRReceive( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_CO_ROUTINES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_CO_ROUTINES == 1 )
|
|
|
|
BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue,
|
|
const void * pvItemToQueue,
|
|
BaseType_t xCoRoutinePreviouslyWoken )
|
|
{
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueCRSendFromISR( xQueue, pvItemToQueue, xCoRoutinePreviouslyWoken );
|
|
|
|
/* 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;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
traceRETURN_xQueueCRSendFromISR( xCoRoutinePreviouslyWoken );
|
|
|
|
return xCoRoutinePreviouslyWoken;
|
|
}
|
|
|
|
#endif /* configUSE_CO_ROUTINES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_CO_ROUTINES == 1 )
|
|
|
|
BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue,
|
|
void * pvBuffer,
|
|
BaseType_t * pxCoRoutineWoken )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_xQueueCRReceiveFromISR( xQueue, pvBuffer, pxCoRoutineWoken );
|
|
|
|
/* We cannot block from an ISR, so check there is data available. If
|
|
* not then just leave without doing anything. */
|
|
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
|
|
{
|
|
/* Copy the data from the queue. */
|
|
pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
|
|
|
|
if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
|
|
{
|
|
pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
--( pxQueue->uxMessagesWaiting );
|
|
( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
|
|
|
|
if( ( *pxCoRoutineWoken ) == pdFALSE )
|
|
{
|
|
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
|
|
{
|
|
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
|
|
{
|
|
*pxCoRoutineWoken = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
traceRETURN_xQueueCRReceiveFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_CO_ROUTINES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configQUEUE_REGISTRY_SIZE > 0 )
|
|
|
|
void vQueueAddToRegistry( QueueHandle_t xQueue,
|
|
const char * pcQueueName )
|
|
{
|
|
UBaseType_t ux;
|
|
QueueRegistryItem_t * pxEntryToWrite = NULL;
|
|
|
|
traceENTER_vQueueAddToRegistry( xQueue, pcQueueName );
|
|
|
|
configASSERT( xQueue );
|
|
|
|
if( pcQueueName != NULL )
|
|
{
|
|
/* See if there is an empty space in the registry. A NULL name denotes
|
|
* a free slot. */
|
|
for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
|
|
{
|
|
/* Replace an existing entry if the queue is already in the registry. */
|
|
if( xQueue == xQueueRegistry[ ux ].xHandle )
|
|
{
|
|
pxEntryToWrite = &( xQueueRegistry[ ux ] );
|
|
break;
|
|
}
|
|
/* Otherwise, store in the next empty location */
|
|
else if( ( pxEntryToWrite == NULL ) && ( xQueueRegistry[ ux ].pcQueueName == NULL ) )
|
|
{
|
|
pxEntryToWrite = &( xQueueRegistry[ ux ] );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
|
|
if( pxEntryToWrite != NULL )
|
|
{
|
|
/* Store the information on this queue. */
|
|
pxEntryToWrite->pcQueueName = pcQueueName;
|
|
pxEntryToWrite->xHandle = xQueue;
|
|
|
|
traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
|
|
}
|
|
|
|
traceRETURN_vQueueAddToRegistry();
|
|
}
|
|
|
|
#endif /* configQUEUE_REGISTRY_SIZE */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configQUEUE_REGISTRY_SIZE > 0 )
|
|
|
|
const char * pcQueueGetName( QueueHandle_t xQueue )
|
|
{
|
|
UBaseType_t ux;
|
|
const char * pcReturn = NULL;
|
|
|
|
traceENTER_pcQueueGetName( xQueue );
|
|
|
|
configASSERT( xQueue );
|
|
|
|
/* Note there is nothing here to protect against another task adding or
|
|
* removing entries from the registry while it is being searched. */
|
|
|
|
for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
|
|
{
|
|
if( xQueueRegistry[ ux ].xHandle == xQueue )
|
|
{
|
|
pcReturn = xQueueRegistry[ ux ].pcQueueName;
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
traceRETURN_pcQueueGetName( pcReturn );
|
|
|
|
return pcReturn;
|
|
}
|
|
|
|
#endif /* configQUEUE_REGISTRY_SIZE */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configQUEUE_REGISTRY_SIZE > 0 )
|
|
|
|
void vQueueUnregisterQueue( QueueHandle_t xQueue )
|
|
{
|
|
UBaseType_t ux;
|
|
|
|
traceENTER_vQueueUnregisterQueue( xQueue );
|
|
|
|
configASSERT( xQueue );
|
|
|
|
/* See if the handle of the queue being unregistered in actually in the
|
|
* registry. */
|
|
for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) 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;
|
|
|
|
/* Set the handle to NULL to ensure the same queue handle cannot
|
|
* appear in the registry twice if it is added, removed, then
|
|
* added again. */
|
|
xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
traceRETURN_vQueueUnregisterQueue();
|
|
}
|
|
|
|
#endif /* configQUEUE_REGISTRY_SIZE */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TIMERS == 1 )
|
|
|
|
void vQueueWaitForMessageRestricted( QueueHandle_t xQueue,
|
|
TickType_t xTicksToWait,
|
|
const BaseType_t xWaitIndefinitely )
|
|
{
|
|
Queue_t * const pxQueue = xQueue;
|
|
|
|
traceENTER_vQueueWaitForMessageRestricted( xQueue, xTicksToWait, xWaitIndefinitely );
|
|
|
|
/* 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 == ( UBaseType_t ) 0U )
|
|
{
|
|
/* There is nothing in the queue, block for the specified period. */
|
|
vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
prvUnlockQueue( pxQueue );
|
|
|
|
traceRETURN_vQueueWaitForMessageRestricted();
|
|
}
|
|
|
|
#endif /* configUSE_TIMERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|
|
|
QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
|
|
{
|
|
QueueSetHandle_t pxQueue;
|
|
|
|
traceENTER_xQueueCreateSet( uxEventQueueLength );
|
|
|
|
pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
|
|
|
|
traceRETURN_xQueueCreateSet( pxQueue );
|
|
|
|
return pxQueue;
|
|
}
|
|
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
|
|
BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
|
|
QueueSetHandle_t xQueueSet )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
traceENTER_xQueueAddToSet( xQueueOrSemaphore, xQueueSet );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
|
|
{
|
|
/* Cannot add a queue/semaphore to more than one queue set. */
|
|
xReturn = pdFAIL;
|
|
}
|
|
else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
|
|
{
|
|
/* Cannot add a queue/semaphore to a queue set if there are already
|
|
* items in the queue/semaphore. */
|
|
xReturn = pdFAIL;
|
|
}
|
|
else
|
|
{
|
|
( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
|
|
xReturn = pdPASS;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
traceRETURN_xQueueAddToSet( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
|
|
BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
|
|
QueueSetHandle_t xQueueSet )
|
|
{
|
|
BaseType_t xReturn;
|
|
Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
|
|
|
|
traceENTER_xQueueRemoveFromSet( xQueueOrSemaphore, xQueueSet );
|
|
|
|
if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
|
|
{
|
|
/* The queue was not a member of the set. */
|
|
xReturn = pdFAIL;
|
|
}
|
|
else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 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;
|
|
}
|
|
|
|
traceRETURN_xQueueRemoveFromSet( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
|
|
QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
|
|
TickType_t const xTicksToWait )
|
|
{
|
|
QueueSetMemberHandle_t xReturn = NULL;
|
|
|
|
traceENTER_xQueueSelectFromSet( xQueueSet, xTicksToWait );
|
|
|
|
( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait );
|
|
|
|
traceRETURN_xQueueSelectFromSet( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
|
|
QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
|
|
{
|
|
QueueSetMemberHandle_t xReturn = NULL;
|
|
|
|
traceENTER_xQueueSelectFromSetFromISR( xQueueSet );
|
|
|
|
( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL );
|
|
|
|
traceRETURN_xQueueSelectFromSetFromISR( xReturn );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_QUEUE_SETS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_QUEUE_SETS == 1 )
|
|
|
|
static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
|
|
{
|
|
Queue_t * pxQueueSetContainer = pxQueue->pxQueueSetContainer;
|
|
BaseType_t xReturn = pdFALSE;
|
|
|
|
/* This function must be called form a critical section. */
|
|
|
|
/* The following line is not reachable in unit tests because every call
|
|
* to prvNotifyQueueSetContainer is preceded by a check that
|
|
* pxQueueSetContainer != NULL */
|
|
configASSERT( pxQueueSetContainer ); /* LCOV_EXCL_BR_LINE */
|
|
configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
|
|
|
|
if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
|
|
{
|
|
const int8_t cTxLock = pxQueueSetContainer->cTxLock;
|
|
|
|
traceQUEUE_SET_SEND( pxQueueSetContainer );
|
|
|
|
/* The data copied is the handle of the queue that contains data. */
|
|
xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
|
|
|
|
if( cTxLock == queueUNLOCKED )
|
|
{
|
|
if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
|
|
{
|
|
if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
|
|
{
|
|
/* The task waiting has a higher priority. */
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
prvIncrementQueueTxLock( pxQueueSetContainer, cTxLock );
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_QUEUE_SETS */
|