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Change behaviour when configUSE_PREEMPTION is 0 (preemption is turned off). See the change history in the next release for details.

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Remove an erroneous const in the prototype of queue receive/peek functions.
This commit is contained in:
Richard Barry 2013-11-07 14:58:14 +00:00
parent 30bc6c01a9
commit 20eb03ed7d
3 changed files with 58 additions and 27 deletions
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6
FreeRTOS/Source/include/queue.h
View file

@ -714,7 +714,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
* \defgroup xQueuePeekFromISR xQueuePeekFromISR * \defgroup xQueuePeekFromISR xQueuePeekFromISR
* \ingroup QueueManagement * \ingroup QueueManagement
*/ */
signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, const void * const pvBuffer ) PRIVILEGED_FUNCTION; signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
/** /**
* queue. h * queue. h
@ -906,7 +906,7 @@ signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, const void * const
* \defgroup xQueueReceive xQueueReceive * \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement * \ingroup QueueManagement
*/ */
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ) PRIVILEGED_FUNCTION; signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ) PRIVILEGED_FUNCTION;
/** /**
* queue. h * queue. h
@ -1421,7 +1421,7 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void *
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
* \ingroup QueueManagement * \ingroup QueueManagement
*/ */
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, const void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/* /*
* Utilities to query queues that are safe to use from an ISR. These utilities * Utilities to query queues that are safe to use from an ISR. These utilities

40
FreeRTOS/Source/queue.c
View file

@ -110,6 +110,13 @@ zero. */
#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 ) #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )
#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U ) #define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 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
#define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#endif
/* /*
* Definition of the queue used by the scheduler. * Definition of the queue used by the scheduler.
@ -205,7 +212,7 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
/* /*
* Copies an item out of a queue. * Copies an item out of a queue.
*/ */
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void * const pvBuffer ) PRIVILEGED_FUNCTION; static void prvCopyDataFromQueue( xQUEUE * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
#if ( configUSE_QUEUE_SETS == 1 ) #if ( configUSE_QUEUE_SETS == 1 )
/* /*
@ -262,7 +269,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
{ {
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
{ {
portYIELD_WITHIN_API(); queueYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -586,7 +593,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
/* The queue is a member of a queue set, and posting /* The queue is a member of a queue set, and posting
to the queue set caused a higher priority task to to the queue set caused a higher priority task to
unblock. A context switch is required. */ unblock. A context switch is required. */
portYIELD_WITHIN_API(); queueYIELD_IF_USING_PREEMPTION();
} }
} }
else else
@ -601,7 +608,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
our own so yield immediately. Yes it is ok to our own so yield immediately. Yes it is ok to
do this from within the critical section - the do this from within the critical section - the
kernel takes care of that. */ kernel takes care of that. */
portYIELD_WITHIN_API(); queueYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -618,7 +625,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
our own so yield immediately. Yes it is ok to do our own so yield immediately. Yes it is ok to do
this from within the critical section - the kernel this from within the critical section - the kernel
takes care of that. */ takes care of that. */
portYIELD_WITHIN_API(); queueYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -1033,7 +1040,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
{ {
signed portBASE_TYPE xEntryTimeSet = pdFALSE; signed portBASE_TYPE xEntryTimeSet = pdFALSE;
xTimeOutType xTimeOut; xTimeOutType xTimeOut;
@ -1083,7 +1090,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
{ {
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
{ {
portYIELD_WITHIN_API(); queueYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -1104,7 +1111,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{ {
/* The task waiting has a higher priority than this task. */ /* The task waiting has a higher priority than this task. */
portYIELD_WITHIN_API(); queueYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -1188,7 +1195,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, const void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
{ {
signed portBASE_TYPE xReturn; signed portBASE_TYPE xReturn;
unsigned portBASE_TYPE uxSavedInterruptStatus; unsigned portBASE_TYPE uxSavedInterruptStatus;
@ -1263,7 +1270,7 @@ xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, const void * const pvBuffer ) signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, void * const pvBuffer )
{ {
signed portBASE_TYPE xReturn; signed portBASE_TYPE xReturn;
unsigned portBASE_TYPE uxSavedInterruptStatus; unsigned portBASE_TYPE uxSavedInterruptStatus;
@ -1455,7 +1462,7 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void * const pvBuffer ) static void prvCopyDataFromQueue( xQUEUE * const pxQueue, void * const pvBuffer )
{ {
if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
{ {
@ -2082,3 +2089,14 @@ signed portBASE_TYPE xReturn;
#endif /* configUSE_QUEUE_SETS */ #endif /* configUSE_QUEUE_SETS */

25
FreeRTOS/Source/tasks.c
View file

@ -104,6 +104,14 @@ privileged Vs unprivileged linkage and placement. */
*/ */
#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
#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 taskYIELD_IF_USING_PREEMPTION()
#else
#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#endif
/* /*
* Task control block. A task control block (TCB) is allocated for each task, * Task control block. A task control block (TCB) is allocated for each task,
* and stores task state information, including a pointer to the task's context * and stores task state information, including a pointer to the task's context
@ -621,7 +629,7 @@ tskTCB * pxNewTCB;
then it should run now. */ then it should run now. */
if( pxCurrentTCB->uxPriority < uxPriority ) if( pxCurrentTCB->uxPriority < uxPriority )
{ {
portYIELD_WITHIN_API(); taskYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -1019,7 +1027,7 @@ tskTCB * pxNewTCB;
if( xYieldRequired == pdTRUE ) if( xYieldRequired == pdTRUE )
{ {
portYIELD_WITHIN_API(); taskYIELD_IF_USING_PREEMPTION();
} }
/* Remove compiler warning about unused variables when the port /* Remove compiler warning about unused variables when the port
@ -1155,9 +1163,10 @@ tskTCB * pxNewTCB;
/* We may have just resumed a higher priority task. */ /* We may have just resumed a higher priority task. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{ {
/* This yield may not cause the task just resumed to run, but /* This yield may not cause the task just resumed to run,
will leave the lists in the correct state for the next yield. */ but will leave the lists in the correct state for the
portYIELD_WITHIN_API(); next yield. */
taskYIELD_IF_USING_PREEMPTION();
} }
} }
} }
@ -1406,9 +1415,13 @@ portBASE_TYPE xAlreadyYielded = pdFALSE;
} }
if( xYieldPending == pdTRUE ) if( xYieldPending == pdTRUE )
{
#if( configUSE_PREEMPTION != 0 )
{ {
xAlreadyYielded = pdTRUE; xAlreadyYielded = pdTRUE;
portYIELD_WITHIN_API(); }
#endif
taskYIELD_IF_USING_PREEMPTION();
} }
} }
} }