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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#include <stdlib.h>
#include <string.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#if ( configUSE_CO_ROUTINES == 1 )
#include "croutine.h"
#endif
/* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
* for the header files above, but not in this file, in order to generate the
* correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* Constants used with the cRxLock and cTxLock structure members. */
#define queueUNLOCKED ( ( int8_t ) -1 )
#define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
#define queueINT8_MAX ( ( int8_t ) 127 )
/* When the Queue_t structure is used to represent a base queue its pcHead and
* pcTail members are used as pointers into the queue storage area. When the
* Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
* not necessary, and the pcHead pointer is set to NULL to indicate that the
* structure instead holds a pointer to the mutex holder (if any). Map alternative
* names to the pcHead and structure member to ensure the readability of the code
* is maintained. The QueuePointers_t and SemaphoreData_t types are used to form
* a union as their usage is mutually exclusive dependent on what the queue is
* being used for. */
#define uxQueueType pcHead
#define queueQUEUE_IS_MUTEX NULL
typedef struct QueuePointers
{
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. */
int8_t * pcReadFrom; /**< Points to the last place that a queued item was read from when the structure is used as a queue. */
} QueuePointers_t;
typedef struct SemaphoreData
{
TaskHandle_t xMutexHolder; /**< The handle of the task that holds the mutex. */
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. */
} SemaphoreData_t;
/* Semaphores do not actually store or copy data, so have an item size of
* zero. */
#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
#define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
#if ( configUSE_PREEMPTION == 0 )
/* If the cooperative scheduler is being used then a yield should not be
* performed just because a higher priority task has been woken. */
#define queueYIELD_IF_USING_PREEMPTION()
#else
#if ( configNUMBER_OF_CORES == 1 )
#define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#else /* #if ( configNUMBER_OF_CORES == 1 ) */
#define queueYIELD_IF_USING_PREEMPTION() vTaskYieldWithinAPI()
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
#endif
/*
* Definition of the queue used by the scheduler.
* Items are queued by copy, not reference. See the following link for the
* rationale: https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
*/
typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
int8_t * pcHead; /**< Points to the beginning of the queue storage area. */
int8_t * pcWriteTo; /**< Points to the free next place in the storage area. */
union
{
QueuePointers_t xQueue; /**< Data required exclusively when this structure is used as a queue. */
SemaphoreData_t xSemaphore; /**< Data required exclusively when this structure is used as a semaphore. */
} u;
List_t xTasksWaitingToSend; /**< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
List_t xTasksWaitingToReceive; /**< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
volatile UBaseType_t uxMessagesWaiting; /**< The number of items currently in the queue. */
UBaseType_t uxLength; /**< The length of the queue defined as the number of items it will hold, not the number of bytes. */
UBaseType_t uxItemSize; /**< The size of each items that the queue will hold. */
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. */
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. */
#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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. */
#endif
#if ( configUSE_QUEUE_SETS == 1 )
struct QueueDefinition * pxQueueSetContainer;
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxQueueNumber;
uint8_t ucQueueType;
#endif
} xQUEUE;
/* The old xQUEUE name is maintained above then typedefed to the new Queue_t
* name below to enable the use of older kernel aware debuggers. */
typedef xQUEUE Queue_t;
/*-----------------------------------------------------------*/
/*
* The queue registry is just a means for kernel aware debuggers to locate
* queue structures. It has no other purpose so is an optional component.
*/
#if ( configQUEUE_REGISTRY_SIZE > 0 )
/* The type stored within the queue registry array. This allows a name
* to be assigned to each queue making kernel aware debugging a little
* more user friendly. */
typedef struct QUEUE_REGISTRY_ITEM
{
const char * pcQueueName;
QueueHandle_t xHandle;
} xQueueRegistryItem;
/* The old xQueueRegistryItem name is maintained above then typedefed to the
* new xQueueRegistryItem name below to enable the use of older kernel aware
* debuggers. */
typedef xQueueRegistryItem QueueRegistryItem_t;
/* The queue registry is simply an array of QueueRegistryItem_t structures.
* The pcQueueName member of a structure being NULL is indicative of the
* array position being vacant. */
/* MISRA Ref 8.4.2 [Declaration shall be visible] */
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-84 */
/* coverity[misra_c_2012_rule_8_4_violation] */
PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
#endif /* configQUEUE_REGISTRY_SIZE */
/*
* Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
* prevent an ISR from adding or removing items to the queue, but does prevent
* an ISR from removing tasks from the queue event lists. If an ISR finds a
* queue is locked it will instead increment the appropriate queue lock count
* to indicate that a task may require unblocking. When the queue in unlocked
* these lock counts are inspected, and the appropriate action taken.
*/
static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
/*
* Uses a critical section to determine if there is any data in a queue.
*
* @return pdTRUE if the queue contains no items, otherwise pdFALSE.
*/
static BaseType_t prvIsQueueEmpty( const Queue_t * pxQueue ) PRIVILEGED_FUNCTION;
/*
* Uses a critical section to determine if there is any space in a queue.
*
* @return pdTRUE if there is no space, otherwise pdFALSE;
*/
static BaseType_t prvIsQueueFull( const Queue_t * pxQueue ) PRIVILEGED_FUNCTION;
/*
* Copies an item into the queue, either at the front of the queue or the
* back of the queue.
*/
static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue,
const void * pvItemToQueue,
const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
/*
* Copies an item out of a queue.
*/
static void prvCopyDataFromQueue( Queue_t * const pxQueue,
void * const pvBuffer ) PRIVILEGED_FUNCTION;
#if ( configUSE_QUEUE_SETS == 1 )
/*
* Checks to see if a queue is a member of a queue set, and if so, notifies
* the queue set that the queue contains data.
*/
static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
#endif
/*
* Called after a Queue_t structure has been allocated either statically or
* dynamically to fill in the structure's members.
*/
static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
const uint8_t ucQueueType,
Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION;
/*
* Mutexes are a special type of queue. When a mutex is created, first the
* queue is created, then prvInitialiseMutex() is called to configure the queue
* as a mutex.
*/
#if ( configUSE_MUTEXES == 1 )
static void prvInitialiseMutex( Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION;
#endif
#if ( configUSE_MUTEXES == 1 )
/*
* 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. This function returns
* that priority.
*/
static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
#endif
/*-----------------------------------------------------------*/
/*
* Macro to mark a queue as locked. Locking a queue prevents an ISR from
* accessing the queue event lists.
*/
#define prvLockQueue( pxQueue ) \
taskENTER_CRITICAL(); \
{ \
if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
{ \
( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
} \
if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
{ \
( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
} \
} \
taskEXIT_CRITICAL()
/*
* Macro to increment cTxLock member of the queue data structure. It is
* capped at the number of tasks in the system as we cannot unblock more
* tasks than the number of tasks in the system.
*/
#define prvIncrementQueueTxLock( pxQueue, cTxLock ) \
do { \
const UBaseType_t uxNumberOfTasks = uxTaskGetNumberOfTasks(); \
if( ( UBaseType_t ) ( cTxLock ) < uxNumberOfTasks ) \
{ \
configASSERT( ( cTxLock ) != queueINT8_MAX ); \
( pxQueue )->cTxLock = ( int8_t ) ( ( cTxLock ) + ( int8_t ) 1 ); \
} \
} while( 0 )
/*
* Macro to increment cRxLock member of the queue data structure. It is
* capped at the number of tasks in the system as we cannot unblock more
* tasks than the number of tasks in the system.
*/
#define prvIncrementQueueRxLock( pxQueue, cRxLock ) \
do { \
const UBaseType_t uxNumberOfTasks = uxTaskGetNumberOfTasks(); \
if( ( UBaseType_t ) ( cRxLock ) < uxNumberOfTasks ) \
{ \
configASSERT( ( cRxLock ) != queueINT8_MAX ); \
( pxQueue )->cRxLock = ( int8_t ) ( ( cRxLock ) + ( int8_t ) 1 ); \
} \
} while( 0 )
/*-----------------------------------------------------------*/
BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
BaseType_t xNewQueue )
{
BaseType_t xReturn = pdPASS;
Queue_t * const pxQueue = xQueue;
traceENTER_xQueueGenericReset( xQueue, xNewQueue );
configASSERT( pxQueue );
if( ( pxQueue != NULL ) &&
( pxQueue->uxLength >= 1U ) &&
/* Check for multiplication overflow. */
( ( SIZE_MAX / pxQueue->uxLength ) >= pxQueue->uxItemSize ) )
{
taskENTER_CRITICAL();
{
pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
pxQueue->pcWriteTo = pxQueue->pcHead;
pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize );
pxQueue->cRxLock = queueUNLOCKED;
pxQueue->cTxLock = queueUNLOCKED;
if( xNewQueue == pdFALSE )
{
/* If there are tasks blocked waiting to read from the queue, then
* the tasks will remain blocked as after this function exits the queue
* will still be empty. If there are tasks blocked waiting to write to
* the queue, then one should be unblocked as after this function exits
* it will be possible to write to it. */
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
{
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
{
queueYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* Ensure the event queues start in the correct state. */
vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
}
}
taskEXIT_CRITICAL();
}
else
{
xReturn = pdFAIL;
}
configASSERT( xReturn != pdFAIL );
/* A value is returned for calling semantic consistency with previous
* versions. */
traceRETURN_xQueueGenericReset( xReturn );
return xReturn;
}
/*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType )
{
Queue_t * pxNewQueue = NULL;
traceENTER_xQueueGenericCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxStaticQueue, ucQueueType );
/* The StaticQueue_t structure and the queue storage area must be
* supplied. */
configASSERT( pxStaticQueue );
if( ( uxQueueLength > ( UBaseType_t ) 0 ) &&
( pxStaticQueue != NULL ) &&
/* A queue storage area should be provided if the item size is not 0, and
* should not be provided if the item size is 0. */
( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0U ) ) ) &&
( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0U ) ) ) )
{
#if ( configASSERT_DEFINED == 1 )
{
/* Sanity check that the size of the structure used to declare a
* variable of type StaticQueue_t or StaticSemaphore_t equals the size of
* the real queue and semaphore structures. */
volatile size_t xSize = sizeof( StaticQueue_t );
/* This assertion cannot be branch covered in unit tests */
configASSERT( xSize == sizeof( Queue_t ) ); /* LCOV_EXCL_BR_LINE */
( void ) xSize; /* Prevent unused variable warning when configASSERT() is not defined. */
}
#endif /* configASSERT_DEFINED */
/* The address of a statically allocated queue was passed in, use it.
* The address of a statically allocated storage area was also passed in
* but is already set. */
/* 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] */
pxNewQueue = ( Queue_t * ) pxStaticQueue;
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
{
/* Queues can be allocated wither statically or dynamically, so
* note this queue was allocated statically in case the queue is
* later deleted. */
pxNewQueue->ucStaticallyAllocated = pdTRUE;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
}
else
{
configASSERT( pxNewQueue );
mtCOVERAGE_TEST_MARKER();
}
traceRETURN_xQueueGenericCreateStatic( pxNewQueue );
return pxNewQueue;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#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). */
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();
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();
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();
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 */
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