len0rd/FreeRTOS-Kernel
1
0
Fork 0
mirror of https://github.com/FreeRTOS/FreeRTOS-Kernel.git synced 2025-06-16 09:19:05 -04:00
Code Issues Packages Projects Releases Wiki Activity

Added xQueueSendToBack, xQueueSendToFront, xQueuePeek and xSemaphoreCreateMutex - along with GenQTest.c to demonstrate their usage.

Browse source
This commit is contained in:
Richard Barry 2007-08-21 16:54:48 +00:00
parent ac14fdb0b7
commit 60338bd872
18 changed files with 2005 additions and 367 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
Demo/Common/Full/BlockQ.c
View file

@ -89,7 +89,7 @@ Changes from V4.0.2
#include "BlockQ.h"
#include "print.h"
#define blckqSTACK_SIZE ( ( unsigned portSHORT ) 128 )
#define blckqSTACK_SIZE ( ( unsigned portSHORT ) configMINIMAL_STACK_SIZE )
#define blckqNUM_TASK_SETS ( 3 )
/* Structure used to pass parameters to the blocking queue tasks. */
@ -215,7 +215,7 @@ portSHORT sErrorEverOccurred = pdFALSE;
for( ;; )
{
if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
if( xQueueSendToBack( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
{
vPrintDisplayMessage( &pcTaskErrorMsg );
sErrorEverOccurred = pdTRUE;

4
Demo/Common/Full/PollQ.c
View file

@ -78,7 +78,7 @@ Changes from V2.0.0
/* Demo program include files. */
#include "PollQ.h"
#define pollqSTACK_SIZE ( ( unsigned portSHORT ) 128 )
#define pollqSTACK_SIZE ( ( unsigned portSHORT ) configMINIMAL_STACK_SIZE )
/* The task that posts the incrementing number onto the queue. */
static void vPolledQueueProducer( void *pvParameters );
@ -125,7 +125,7 @@ portSHORT sError = pdFALSE;
for( usLoop = 0; usLoop < usNumToProduce; ++usLoop )
{
/* Send an incrementing number on the queue without blocking. */
if( xQueueSend( *pxQueue, ( void * ) &usValue, ( portTickType ) 0 ) != pdPASS )
if( xQueueSendToBack( *pxQueue, ( void * ) &usValue, ( portTickType ) 0 ) != pdPASS )
{
/* We should never find the queue full - this is an error. */
vPrintDisplayMessage( &pcTaskErrorMsg );

4
Demo/Common/Full/dynamic.c
View file

@ -146,7 +146,7 @@ static void prvChangePriorityHelperTask( void *pvParameters );
/* Demo task specific constants. */
#define priSTACK_SIZE ( ( unsigned portSHORT ) 128 )
#define priSTACK_SIZE ( ( unsigned portSHORT ) configMINIMAL_STACK_SIZE )
#define priSLEEP_TIME ( ( portTickType ) 50 )
#define priLOOPS ( 5 )
#define priMAX_COUNT ( ( unsigned portLONG ) 0xff )
@ -193,7 +193,7 @@ void vStartDynamicPriorityTasks( void )
xTaskCreate( vQueueSendWhenSuspendedTask, "SUSP_SEND", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vQueueReceiveWhenSuspendedTask, "SUSP_RECV", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvChangePriorityWhenSuspendedTask, "1st_P_CHANGE", priSTACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( prvChangePriorityHelperTask, "2nt_P_CHANGE", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, &xChangePriorityWhenSuspendedHandle );
xTaskCreate( prvChangePriorityHelperTask, "2nd_P_CHANGE", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, &xChangePriorityWhenSuspendedHandle );
}
/*-----------------------------------------------------------*/

2
Demo/Common/Full/events.c
View file

@ -68,7 +68,7 @@
#include "print.h"
/* Demo specific constants. */
#define evtSTACK_SIZE ( ( unsigned portBASE_TYPE ) 128 )
#define evtSTACK_SIZE ( ( unsigned portBASE_TYPE ) configMINIMAL_STACK_SIZE )
#define evtNUM_TASKS ( 4 )
#define evtQUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 3 )
#define evtNO_DELAY 0

536
Demo/Common/Minimal/GenQTest.c Normal file
View file

@ -0,0 +1,536 @@
/*
FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
with commercial development and support options.
***************************************************************************
*/
/*
* Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
* including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
* mutex behaviour.
*
* See the comments above the prvSendFrontAndBackTest() and
* prvLowPriorityMutexTask() prototypes below for more information.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
/* Demo program include files. */
#include "GenQTest.h"
#define genqQUEUE_LENGTH ( 5 )
#define genqNO_BLOCK ( 0 )
#define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
#define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
/*-----------------------------------------------------------*/
/*
* Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
* macros by using both to fill a queue, then reading from the queue to
* check the resultant queue order is as expected. Queue data is also
* peeked.
*/
static void prvSendFrontAndBackTest( void *pvParameters );
/*
* The following three tasks are used to demonstrate the mutex behaviour.
* Each task is given a different priority to demonstrate the priority
* inheritance mechanism.
*
* The low priority task obtains a mutex. After this a high priority task
* attempts to obtain the same mutex, causing its priority to be inherited
* by the low priority task. The task with the inherited high priority then
* resumes a medium priority task to ensure it is not blocked by the medium
* priority task while it holds the inherited high priority. Once the mutex
* is returned the task with the inherited priority returns to its original
* low priority, and is therefore immediately preempted by first the high
* priority task and then the medium prioroity task before it can continue.
*/
static void prvLowPriorityMutexTask( void *pvParameters );
static void prvMediumPriorityMutexTask( void *pvParameters );
static void prvHighPriorityMutexTask( void *pvParameters );
/*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
detected in any of the tasks. */
static portBASE_TYPE xErrorDetected = pdFALSE;
/* Counters that are incremented on each cycle of a test. This is used to
detect a stalled task - a test that is no longer running. */
static volatile unsigned portLONG ulLoopCounter = 0;
static volatile unsigned portLONG ulLoopCounter2 = 0;
/* The variable that is guarded by the mutex in the mutex demo tasks. */
static volatile unsigned portLONG ulGuardedVariable = 0;
/* Handles used in the mutext test to suspend and resume the high and medium
priority mutex test tasks. */
static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
/*-----------------------------------------------------------*/
void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
{
xQueueHandle xQueue;
xSemaphoreHandle xMutex;
/* Create the queue that we are going to use for the
prvSendFrontAndBackTest demo. */
xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
/* Create the demo task and pass it the queue just created. We are
passing the queue handle by value so it does not matter that it is
declared on the stack here. */
xTaskCreate( prvSendFrontAndBackTest, "GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
/* Create the mutex used by the prvMutexTest task. */
xMutex = xSemaphoreCreateMutex();
/* Create the mutex demo tasks and pass it the mutex just created. We are
passing the mutex handle by value so it does not matter that it is declared
on the stack here. */
xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
}
/*-----------------------------------------------------------*/
static void prvSendFrontAndBackTest( void *pvParameters )
{
unsigned portLONG ulData, ulData2;
xQueueHandle xQueue;
#ifdef USE_STDIO
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
#endif
xQueue = ( xQueueHandle ) pvParameters;
for( ;; )
{
/* The queue is empty, so sending an item to the back of the queue
should have the same efect as sending it to the front of the queue.
First send to the front and check everything is as expected. */
xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
if( uxQueueMessagesWaiting( xQueue ) != 1 )
{
xErrorDetected = pdTRUE;
}
if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
/* The data we sent to the queue should equal the data we just received
from the queue. */
if( ulLoopCounter != ulData )
{
xErrorDetected = pdTRUE;
}
/* Then do the same, sending the data to the back, checking everything
is as expected. */
if( uxQueueMessagesWaiting( xQueue ) != 0 )
{
xErrorDetected = pdTRUE;
}
xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
if( uxQueueMessagesWaiting( xQueue ) != 1 )
{
xErrorDetected = pdTRUE;
}
if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( uxQueueMessagesWaiting( xQueue ) != 0 )
{
xErrorDetected = pdTRUE;
}
/* The data we sent to the queue should equal the data we just received
from the queue. */
if( ulLoopCounter != ulData )
{
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
for( ulData = 2; ulData < 5; ulData++ )
{
xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
}
/* Now the order in the queue should be 2, 3, 4, with 2 being the first
thing to be read out. Now add 1 then 0 to the front of the queue. */
if( uxQueueMessagesWaiting( xQueue ) != 3 )
{
xErrorDetected = pdTRUE;
}
ulData = 1;
xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
ulData = 0;
xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
/* Now the queue should be full, and when we read the data out we
should receive 0, 1, 2, 3, 4. */
if( uxQueueMessagesWaiting( xQueue ) != 5 )
{
xErrorDetected = pdTRUE;
}
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
{
xErrorDetected = pdTRUE;
}
if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
{
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* Check the data we read out is in the expected order. */
for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
{
/* Try peeking the data first. */
if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( ulData != ulData2 )
{
xErrorDetected = pdTRUE;
}
/* Now try receiving the data for real. The value should be the
same. Clobber the value first so we know we really received it. */
ulData2 = ~ulData2;
if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( ulData != ulData2 )
{
xErrorDetected = pdTRUE;
}
}
/* The queue should now be empty again. */
if( uxQueueMessagesWaiting( xQueue ) != 0 )
{
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* Our queue is empty once more, add 10, 11 to the back. */
ulData = 10;
if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
ulData = 11;
if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( uxQueueMessagesWaiting( xQueue ) != 2 )
{
xErrorDetected = pdTRUE;
}
/* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
front. */
for( ulData = 9; ulData >= 7; ulData-- )
{
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
}
/* Now check that the queue is full, and that receiving data provides
the expected sequence of 7, 8, 9, 10, 11. */
if( uxQueueMessagesWaiting( xQueue ) != 5 )
{
xErrorDetected = pdTRUE;
}
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
{
xErrorDetected = pdTRUE;
}
if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
{
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* Check the data we read out is in the expected order. */
for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
{
if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( ulData != ulData2 )
{
xErrorDetected = pdTRUE;
}
}
if( uxQueueMessagesWaiting( xQueue ) != 0 )
{
xErrorDetected = pdTRUE;
}
ulLoopCounter++;
}
}
/*-----------------------------------------------------------*/
static void prvLowPriorityMutexTask( void *pvParameters )
{
xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
#ifdef USE_STDIO
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
#endif
for( ;; )
{
/* Take the mutex. It should be available now. */
if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
/* Set our guarded variable to a known start value. */
ulGuardedVariable = 0;
/* Our priority should be as per that assigned when the task was
created. */
if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Now unsuspend the high priority task. This will attempt to take the
mutex, and block when it finds it cannot obtain it. */
vTaskResume( xHighPriorityMutexTask );
/* We should now have inherited the prioritoy of the high priority task,
as by now it will have attempted to get the mutex. */
if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* We can attempt to set our priority to the test priority - between the
idle priority and the medium/high test priorities, but our actual
prioroity should remain at the high priority. */
vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Now unsuspend the medium priority task. This should not run as our
inherited priority is above that of the medium priority task. */
vTaskResume( xMediumPriorityMutexTask );
/* If the did run then it will have incremented our guarded variable. */
if( ulGuardedVariable != 0 )
{
xErrorDetected = pdTRUE;
}
/* When we give back the semaphore our priority should be disinherited
back to the priority to which we attempted to set ourselves. This means
that when the high priority task next blocks, the medium priority task
should execute and increment the guarded variable. When we next run
both the high and medium priority tasks will have been suspended again. */
if( xSemaphoreGive( xMutex ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
/* Check that the guarded variable did indeed increment... */
if( ulGuardedVariable != 1 )
{
xErrorDetected = pdTRUE;
}
/* ... and that our priority has been disinherited to
genqMUTEX_TEST_PRIORITY. */
if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Set our priority back to our original priority ready for the next
loop around this test. */
vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
/* Just to show we are still running. */
ulLoopCounter2++;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static void prvMediumPriorityMutexTask( void *pvParameters )
{
for( ;; )
{
/* The medium priority task starts by suspending itself. The low
priority task will unsuspend this task when required. */
vTaskSuspend( NULL );
/* When this task unsuspends all it does is increment the guarded
variable, this is so the low priority task knows that it has
executed. */
ulGuardedVariable++;
}
}
/*-----------------------------------------------------------*/
static void prvHighPriorityMutexTask( void *pvParameters )
{
xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
for( ;; )
{
/* The high priority task starts by suspending itself. The low
priority task will unsuspend this task when required. */
vTaskSuspend( NULL );
/* When this task unsuspends all it does is attempt to obtain
the mutex. It should find the mutex is not available so a
block time is specified. */
if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
/* When we eventually obtain the mutex we just give it back then
return to suspend ready for the next test. */
if( xSemaphoreGive( xMutex ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreGenericQueueTasksStillRunning( void )
{
static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
/* If the demo task is still running then we expect the loopcounters to
have incremented since this function was last called. */
if( ulLastLoopCounter == ulLoopCounter )
{
xErrorDetected = pdTRUE;
}
if( ulLastLoopCounter2 == ulLoopCounter2 )
{
xErrorDetected = pdTRUE;
}
ulLastLoopCounter = ulLoopCounter;
ulLastLoopCounter2 = ulLoopCounter2;
/* Errors detected in the task itself will have latched xErrorDetected
to true. */
return !xErrorDetected;
}

45
Demo/Common/include/GenQTest.h Normal file
View file

@ -0,0 +1,45 @@
/*
FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
with commercial development and support options.
***************************************************************************
*/
#ifndef GEN_Q_TEST_H
#define GEN_Q_TEST_H
void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority );
portBASE_TYPE xAreGenericQueueTasksStillRunning( void );
#endif /* GEN_Q_TEST_H */

3
Demo/PC/FreeRTOSConfig.h
View file

@ -53,13 +53,14 @@
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMINIMAL_STACK_SIZE ( ( unsigned portSHORT ) 128 ) /* This can be made smaller if required. */
#define configMINIMAL_STACK_SIZE ( ( unsigned portSHORT ) 256 ) /* This can be made smaller if required. */
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 32 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 1
#define configIDLE_SHOULD_YIELD 1
#define configUSE_CO_ROUTINES 1
#define configUSE_MUTEXES 1
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 10 )
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

10
Demo/PC/main.c
View file

@ -119,6 +119,7 @@ Changes from V3.2.4
#include "mevents.h"
#include "crhook.h"
#include "blocktim.h"
#include "GenQTest.h"
/* Priority definitions for the tasks in the demo application. */
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
@ -128,6 +129,7 @@ Changes from V3.2.4
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
#define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 512 )
#define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
@ -176,7 +178,7 @@ portSHORT main( void )
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
vCreateBlockTimeTasks();
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
vStartDynamicPriorityTasks();
vStartMultiEventTasks();
@ -391,6 +393,12 @@ static portSHORT sErrorHasOccurred = pdFALSE;
sErrorHasOccurred = pdTRUE;
}
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
vDisplayMessage( "Error in generic queue test task!\r\n" );
sErrorHasOccurred = pdTRUE;
}
if( sErrorHasOccurred == pdFALSE )
{
vDisplayMessage( "OK " );

370
Demo/PC/rtosdemo.tgt
View file

@ -15,7 +15,7 @@ WString
de6en
1
0
0
1
4
MCommand
0
@ -75,7 +75,7 @@ WVList
0
19
WPickList
50
52
20
MItem
3
@ -97,11 +97,11 @@ WCC
WString
25
d????Include directories:
1
0
26
WString
97
$(%watcom)\h;..\common\include;..\..\source\include;..\..\source\portable\owatcom\16bitdos\common
99
$(%watcom)\h;..\common\include;..\..\source\include;..\..\source\portable\owatcom\16bitdos\common;.
0
27
MCState
@ -113,7 +113,7 @@ WCC
WString
26
?????Force ANSI compliance
1
0
1
30
MCState
@ -125,7 +125,7 @@ WCC
WString
33
?????Disable stack depth checking
1
0
1
33
MVState
@ -137,11 +137,11 @@ WCC
WString
23
?????Macro definitions:
1
0
36
WString
52
OPEN_WATCOM_INDUSTRIAL_PC_PORT USE_STDIO DEBUG_BUILD
40
OPEN_WATCOM_INDUSTRIAL_PC_PORT USE_STDIO
0
37
MCState
@ -153,7 +153,7 @@ WCC
WString
34
?????Change char default to signed
1
0
1
40
MRState
@ -163,10 +163,10 @@ WString
WCC
42
WString
21
?????Compiler default
1
29
?????No debugging information
0
1
43
MRState
44
@ -175,9 +175,9 @@ WString
WCC
45
WString
21
?????Compiler default
1
28
?????Line number information
0
0
46
MRState
@ -187,22 +187,22 @@ WString
WCC
48
WString
25
?????Floating-point calls
1
1
21
?????Compiler default
0
0
49
MCState
MRState
50
WString
3
WCC
51
WString
31
???e?SS not assumed equal to DS
1
1
21
?????Compiler default
0
0
52
MRState
53
@ -211,114 +211,114 @@ WString
WCC
54
WString
9
??6??8086
1
25
?????Floating-point calls
0
1
55
MRState
MCState
56
WString
3
WCC
57
WString
10
??6??80186
1
31
???e?SS not assumed equal to DS
0
1
58
MVState
MRState
59
WString
3
WCC
60
WString
25
d????Include directories:
9
??6??8086
0
0
61
WString
99
$(%watcom)\h;..\common\include;..\..\source\include;..\..\source\portable\owatcom\16bitdos\common;.
0
MRState
62
MCState
WString
3
WCC
63
WString
3
WCC
64
WString
26
?????Force ANSI compliance
10
??6??80186
0
1
64
MVState
65
MCState
WString
3
WCC
66
WString
3
WCC
25
d????Include directories:
1
67
WString
33
?????Disable stack depth checking
97
$(%watcom)\h;..\common\include;..\..\source\include;..\..\source\portable\owatcom\16bitdos\common
0
1
68
MVState
MCState
69
WString
3
WCC
70
WString
23
?????Macro definitions:
0
26
?????Force ANSI compliance
1
1
71
WString
40
OPEN_WATCOM_INDUSTRIAL_PC_PORT USE_STDIO
0
MVState
72
MCState
73
WString
3
WCC
73
WString
23
?????Macro definitions:
1
74
WString
34
?????Change char default to signed
52
OPEN_WATCOM_INDUSTRIAL_PC_PORT USE_STDIO DEBUG_BUILD
0
1
75
MRState
MCState
76
WString
3
WCC
77
WString
29
?????No debugging information
0
34
?????Change char default to signed
1
1
78
MRState
MCState
79
WString
3
WCC
80
WString
28
?????Line number information
0
0
33
?????Disable stack depth checking
1
1
81
MRState
82
@ -329,7 +329,7 @@ WCC
WString
21
?????Compiler default
0
1
0
84
MRState
@ -341,7 +341,7 @@ WCC
WString
21
?????Compiler default
0
1
0
87
MRState
@ -353,7 +353,7 @@ WCC
WString
25
?????Floating-point calls
0
1
1
90
MCState
@ -365,7 +365,7 @@ WCC
WString
31
???e?SS not assumed equal to DS
0
1
1
93
MRState
@ -377,7 +377,7 @@ WCC
WString
9
??6??8086
0
1
0
96
MRState
@ -389,7 +389,7 @@ WCC
WString
10
??6??80186
0
1
1
99
WVList
@ -760,8 +760,8 @@ WVList
0
180
MItem
15
fileio\fileio.c
28
..\COMMON\MINIMAL\GenQTest.c
181
WString
4
@ -778,8 +778,8 @@ WVList
0
184
MItem
6
main.c
15
fileio\fileio.c
185
WString
4
@ -796,8 +796,8 @@ WVList
0
188
MItem
17
partest\partest.c
6
main.c
189
WString
4
@ -814,8 +814,8 @@ WVList
0
192
MItem
15
serial\serial.c
17
partest\partest.c
193
WString
4
@ -832,26 +832,26 @@ WVList
0
196
MItem
3
*.h
15
serial\serial.c
197
WString
3
NIL
4
COBJ
198
WVList
0
199
WVList
0
-1
20
1
1
0
0
200
MItem
31
..\..\SOURCE\INCLUDE\croutine.h
3
*.h
201
WString
3
@ -862,14 +862,14 @@ WVList
203
WVList
0
196
1
-1
1
0
0
204
MItem
27
..\..\source\include\list.h
31
..\..\SOURCE\INCLUDE\croutine.h
205
WString
3
@ -880,14 +880,14 @@ WVList
207
WVList
0
196
200
1
1
0
208
MItem
31
..\..\source\include\portable.h
27
..\..\source\include\list.h
209
WString
3
@ -898,14 +898,14 @@ WVList
211
WVList
0
196
200
1
1
0
212
MItem
31
..\..\source\include\projdefs.h
..\..\source\include\portable.h
213
WString
3
@ -916,14 +916,14 @@ WVList
215
WVList
0
196
200
1
1
0
216
MItem
28
..\..\source\include\queue.h
31
..\..\source\include\projdefs.h
217
WString
3
@ -934,14 +934,14 @@ WVList
219
WVList
0
196
200
1
1
0
220
MItem
29
..\..\source\include\semphr.h
28
..\..\source\include\queue.h
221
WString
3
@ -952,14 +952,14 @@ WVList
223
WVList
0
196
200
1
1
0
224
MItem
27
..\..\source\include\task.h
29
..\..\source\include\semphr.h
225
WString
3
@ -970,14 +970,14 @@ WVList
227
WVList
0
196
200
1
1
0
228
MItem
55
..\..\source\portable\owatcom\16bitdos\common\portasm.h
27
..\..\source\include\task.h
229
WString
3
@ -988,14 +988,14 @@ WVList
231
WVList
0
196
200
1
1
0
232
MItem
53
..\..\source\portable\owatcom\16bitdos\pc\portmacro.h
55
..\..\source\portable\owatcom\16bitdos\common\portasm.h
233
WString
3
@ -1006,14 +1006,14 @@ WVList
235
WVList
0
196
200
1
1
0
236
MItem
26
..\common\include\blockq.h
53
..\..\source\portable\owatcom\16bitdos\pc\portmacro.h
237
WString
3
@ -1024,14 +1024,14 @@ WVList
239
WVList
0
196
200
1
1
0
240
MItem
28
..\COMMON\INCLUDE\blocktim.h
26
..\common\include\blockq.h
241
WString
3
@ -1042,14 +1042,14 @@ WVList
243
WVList
0
196
200
1
1
0
244
MItem
27
..\common\include\comtest.h
28
..\COMMON\INCLUDE\blocktim.h
245
WString
3
@ -1060,14 +1060,14 @@ WVList
247
WVList
0
196
200
1
1
0
248
MItem
26
..\COMMON\INCLUDE\crhook.h
27
..\common\include\comtest.h
249
WString
3
@ -1078,14 +1078,14 @@ WVList
251
WVList
0
196
200
1
1
0
252
MItem
25
..\common\include\death.h
26
..\COMMON\INCLUDE\crhook.h
253
WString
3
@ -1096,14 +1096,14 @@ WVList
255
WVList
0
196
200
1
1
0
256
MItem
27
..\COMMON\INCLUDE\dynamic.h
25
..\common\include\death.h
257
WString
3
@ -1114,14 +1114,14 @@ WVList
259
WVList
0
196
200
1
1
0
260
MItem
26
..\common\include\fileio.h
27
..\COMMON\INCLUDE\dynamic.h
261
WString
3
@ -1132,14 +1132,14 @@ WVList
263
WVList
0
196
200
1
1
0
264
MItem
25
..\common\include\flash.h
26
..\common\include\fileio.h
265
WString
3
@ -1150,14 +1150,14 @@ WVList
267
WVList
0
196
200
1
1
0
268
MItem
24
..\common\include\flop.h
25
..\common\include\flash.h
269
WString
3
@ -1168,14 +1168,14 @@ WVList
271
WVList
0
196
200
1
1
0
272
MItem
27
..\common\include\partest.h
24
..\common\include\flop.h
273
WString
3
@ -1186,14 +1186,14 @@ WVList
275
WVList
0
196
200
1
1
0
276
MItem
25
..\common\include\pollq.h
28
..\COMMON\INCLUDE\GenQTest.h
277
WString
3
@ -1204,14 +1204,14 @@ WVList
279
WVList
0
196
200
1
1
0
280
MItem
25
..\common\include\print.h
27
..\common\include\partest.h
281
WString
3
@ -1222,14 +1222,14 @@ WVList
283
WVList
0
196
200
1
1
0
284
MItem
27
..\common\include\semtest.h
25
..\common\include\pollq.h
285
WString
3
@ -1240,14 +1240,14 @@ WVList
287
WVList
0
196
200
1
1
0
288
MItem
26
..\common\include\serial.h
25
..\common\include\print.h
289
WString
3
@ -1258,14 +1258,14 @@ WVList
291
WVList
0
196
200
1
1
0
292
MItem
16
FreeRTOSConfig.h
27
..\common\include\semtest.h
293
WString
3
@ -1276,7 +1276,43 @@ WVList
295
WVList
0
196
200
1
1
0
296
MItem
26
..\common\include\serial.h
297
WString
3
NIL
298
WVList
0
299
WVList
0
200
1
1
0
300
MItem
16
FreeRTOSConfig.h
301
WString
3
NIL
302
WVList
0
303
WVList
0
200
1
1
0

4
Demo/PC/rtosdemo.wpj
View file

@ -31,7 +31,7 @@ WRect
0
0
7168
7168
8523
0
0
9
@ -39,5 +39,5 @@ WFileName
12
rtosdemo.tgt
0
25
26
7

1
Demo/PC/serial/serial.c
View file

@ -500,6 +500,7 @@ static portSHORT sComPortISR( const xComPort * const pxPort )
portSHORT sInterruptID;
portCHAR cIn, cOut;
portBASE_TYPE xTaskWokenByPost = pdFALSE, xAnotherTaskWokenByPost = pdFALSE, xTaskWokenByTx = pdFALSE;
extern void vComTestUnsuspendTask( void );
portOUTPUT_BYTE( pxPort->us8259InterruptMaskReg, ( portINPUT_BYTE( pxPort->us8259InterruptMaskReg) | ~pxPort->ucInterruptEnableMast ) );

15
Source/include/FreeRTOS.h
View file

@ -111,4 +111,19 @@
#error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
#endif
#ifndef configUSE_MUTEXES
#define configUSE_MUTEXES 0
#endif
#if ( configUSE_MUTEXES == 1 )
/* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism
within the mutex implementation so must be available if mutexes are used. */
#undef INCLUDE_xTaskGetCurrentTaskHandle
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#else
#ifndef INCLUDE_xTaskGetCurrentTaskHandle
#define INCLUDE_xTaskGetCurrentTaskHandle 0
#endif
#endif
#endif /* INC_FREERTOS_H */

722
Source/include/queue.h
View file

@ -38,6 +38,11 @@
typedef void * xQueueHandle;
/* For internal use only. */
#define queueSEND_TO_BACK ( 0 )
#define queueSEND_TO_FRONT ( 1 )
/**
* queue. h
* <pre>
@ -96,6 +101,170 @@ typedef void * xQueueHandle;
*/
xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendToToFront(
xQueueHandle xQueue,
const void * pvItemToQueue,
portTickType xTicksToWait
);
* </pre>
*
* This is a macro that calls xQueueGenericSend().
*
* Post an item to the front of a queue. The item is queued by copy, not by
* reference. This function must not be called from an interrupt service
* routine. See xQueueSendFromISR () for an alternative which may be used
* in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0. The
* time is defined in tick periods so the constant portTICK_RATE_MS
* should be used to convert to real time if this is required.
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
portCHAR ucMessageID;
portCHAR ucData[ 20 ];
} xMessage;
unsigned portLONG ulVar = 10UL;
void vATask( void *pvParameters )
{
xQueueHandle xQueue1, xQueue2;
struct AMessage *pxMessage;
// Create a queue capable of containing 10 unsigned long values.
xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
// Create a queue capable of containing 10 pointers to AMessage structures.
// These should be passed by pointer as they contain a lot of data.
xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
// ...
if( xQueue1 != 0 )
{
// Send an unsigned long. Wait for 10 ticks for space to become
// available if necessary.
if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
{
// Failed to post the message, even after 10 ticks.
}
}
if( xQueue2 != 0 )
{
// Send a pointer to a struct AMessage object. Don't block if the
// queue is already full.
pxMessage = & xMessage;
xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
}
// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendToBack(
xQueueHandle xQueue,
const void * pvItemToQueue,
portTickType xTicksToWait
);
* </pre>
*
* This is a macro that calls xQueueGenericSend().
*
* Post an item to the back of a queue. The item is queued by copy, not by
* reference. This function must not be called from an interrupt service
* routine. See xQueueSendFromISR () for an alternative which may be used
* in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0. The
* time is defined in tick periods so the constant portTICK_RATE_MS
* should be used to convert to real time if this is required.
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
portCHAR ucMessageID;
portCHAR ucData[ 20 ];
} xMessage;
unsigned portLONG ulVar = 10UL;
void vATask( void *pvParameters )
{
xQueueHandle xQueue1, xQueue2;
struct AMessage *pxMessage;
// Create a queue capable of containing 10 unsigned long values.
xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
// Create a queue capable of containing 10 pointers to AMessage structures.
// These should be passed by pointer as they contain a lot of data.
xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
// ...
if( xQueue1 != 0 )
{
// Send an unsigned long. Wait for 10 ticks for space to become
// available if necessary.
if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
{
// Failed to post the message, even after 10 ticks.
}
}
if( xQueue2 != 0 )
{
// Send a pointer to a struct AMessage object. Don't block if the
// queue is already full.
pxMessage = & xMessage;
xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
}
// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
/**
* queue. h
* <pre>
@ -106,6 +275,11 @@ xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBA
);
* </pre>
*
* This is a macro that calls xQueueGenericSend(). It is included for
* backward compatibility with versions of FreeRTOS.org that did not
* include the xQueueSendToFront() and xQueueSendToBack() macros. It is
* equivalent to xQueueSendToBack().
*
* Post an item on a queue. The item is queued by copy, not by reference.
* This function must not be called from an interrupt service routine.
* See xQueueSendFromISR () for an alternative which may be used in an ISR.
@ -173,7 +347,187 @@ xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBA
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueSend( xQueueHandle xQueue, const void * pvItemToQueue, portTickType xTicksToWait );
#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueGenericSend(
xQueueHandle xQueue,
const void * pvItemToQueue,
portTickType xTicksToWait
portBASE_TYPE xCopyPosition
);
* </pre>
*
* It is preferred that the macros xQueueSend(), xQueueSendToFront() and
* xQueueSendToBack() are used in place of calling this function directly.
*
* Post an item on a queue. The item is queued by copy, not by reference.
* This function must not be called from an interrupt service routine.
* See xQueueSendFromISR () for an alternative which may be used in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0. The
* time is defined in tick periods so the constant portTICK_RATE_MS
* should be used to convert to real time if this is required.
*
* @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
* item at the back of the queue, or queueSEND_TO_FRONT to place the item
* at the front of the queue (for high priority messages).
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
portCHAR ucMessageID;
portCHAR ucData[ 20 ];
} xMessage;
unsigned portLONG ulVar = 10UL;
void vATask( void *pvParameters )
{
xQueueHandle xQueue1, xQueue2;
struct AMessage *pxMessage;
// Create a queue capable of containing 10 unsigned long values.
xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
// Create a queue capable of containing 10 pointers to AMessage structures.
// These should be passed by pointer as they contain a lot of data.
xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
// ...
if( xQueue1 != 0 )
{
// Send an unsigned long. Wait for 10 ticks for space to become
// available if necessary.
if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
{
// Failed to post the message, even after 10 ticks.
}
}
if( xQueue2 != 0 )
{
// Send a pointer to a struct AMessage object. Don't block if the
// queue is already full.
pxMessage = & xMessage;
xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
}
// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portTickType xCopyPosition );
/**
* queue. h
* <pre>
portBASE_TYPE xQueuePeek(
xQueueHandle xQueue,
void *pvBuffer,
portTickType xTicksToWait
);</pre>
*
* This is a macro that calls the xQueueGenericReceive() function.
*
* Receive an item from a queue without removing the item from the queue.
* The item is received by copy so a buffer of adequate size must be
* provided. The number of bytes copied into the buffer was defined when
* the queue was created.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to xQueueReceive().
*
* This macro must not be used in an interrupt service routine.
*
* @param pxQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for an item to receive should the queue be empty at the time
* of the call. The time is defined in tick periods so the constant
* portTICK_RATE_MS should be used to convert to real time if this is required.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* Example usage:
<pre>
struct AMessage
{
portCHAR ucMessageID;
portCHAR ucData[ 20 ];
} xMessage;
xQueueHandle xQueue;
// Task to create a queue and post a value.
void vATask( void *pvParameters )
{
struct AMessage *pxMessage;
// Create a queue capable of containing 10 pointers to AMessage structures.
// These should be passed by pointer as they contain a lot of data.
xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
if( xQueue == 0 )
{
// Failed to create the queue.
}
// ...
// Send a pointer to a struct AMessage object. Don't block if the
// queue is already full.
pxMessage = & xMessage;
xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
// ... Rest of task code.
}
// Task to peek the data from the queue.
void vADifferentTask( void *pvParameters )
{
struct AMessage *pxRxedMessage;
if( xQueue != 0 )
{
// Peek a message on the created queue. Block for 10 ticks if a
// message is not immediately available.
if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
{
// pcRxedMessage now points to the struct AMessage variable posted
// by vATask, but the item still remains on the queue.
}
}
// ... Rest of task code.
}
</pre>
* \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement
*/
#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
/**
* queue. h
@ -184,10 +538,14 @@ signed portBASE_TYPE xQueueSend( xQueueHandle xQueue, const void * pvItemToQueue
portTickType xTicksToWait
);</pre>
*
* This is a macro that calls the xQueueGenericReceive() function.
*
* Receive an item from a queue. The item is received by copy so a buffer of
* adequate size must be provided. The number of bytes copied into the buffer
* was defined when the queue was created.
*
* Successfully received items are removed from the queue.
*
* This function must not be used in an interrupt service routine. See
* xQueueReceiveFromISR for an alternative that can.
*
@ -260,7 +618,104 @@ signed portBASE_TYPE xQueueSend( xQueueHandle xQueue, const void * pvItemToQueue
* \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait );
#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueGenericReceive(
xQueueHandle xQueue,
void *pvBuffer,
portTickType xTicksToWait
portBASE_TYPE xJustPeek
);</pre>
*
* It is preferred that the macro xQueueReceive() be used rather than calling
* this function directly.
*
* Receive an item from a queue. The item is received by copy so a buffer of
* adequate size must be provided. The number of bytes copied into the buffer
* was defined when the queue was created.
*
* This function must not be used in an interrupt service routine. See
* xQueueReceiveFromISR for an alternative that can.
*
* @param pxQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for an item to receive should the queue be empty at the time
* of the call. The time is defined in tick periods so the constant
* portTICK_RATE_MS should be used to convert to real time if this is required.
*
* @param xJustPeek When set to true, the item received from the queue is not
* actually removed from the queue - meaning a subsequent call to
* xQueueReceive() will return the same item. When set to false, the item
* being received from the queue is also removed from the queue.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* Example usage:
<pre>
struct AMessage
{
portCHAR ucMessageID;
portCHAR ucData[ 20 ];
} xMessage;
xQueueHandle xQueue;
// Task to create a queue and post a value.
void vATask( void *pvParameters )
{
struct AMessage *pxMessage;
// Create a queue capable of containing 10 pointers to AMessage structures.
// These should be passed by pointer as they contain a lot of data.
xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
if( xQueue == 0 )
{
// Failed to create the queue.
}
// ...
// Send a pointer to a struct AMessage object. Don't block if the
// queue is already full.
pxMessage = & xMessage;
xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
// ... Rest of task code.
}
// Task to receive from the queue.
void vADifferentTask( void *pvParameters )
{
struct AMessage *pxRxedMessage;
if( xQueue != 0 )
{
// Receive a message on the created queue. Block for 10 ticks if a
// message is not immediately available.
if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
{
// pcRxedMessage now points to the struct AMessage variable posted
// by vATask.
}
}
// ... Rest of task code.
}
</pre>
* \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek );
/**
* queue. h
@ -291,6 +746,162 @@ unsigned portBASE_TYPE uxQueueMessagesWaiting( xQueueHandle xQueue );
*/
void vQueueDelete( xQueueHandle xQueue );
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendToFrontFromISR(
xQueueHandle pxQueue,
const void *pvItemToQueue,
portBASE_TYPE xTaskPreviouslyWoken
);
</pre>
*
* This is a macro that calls xQueueGenericSendFromISR().
*
* Post an item to the front of a queue. It is safe to use this macro from
* within an interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param cTaskPreviouslyWoken This is included so an ISR can post onto
* the same queue multiple times from a single interrupt. The first call
* should always pass in pdFALSE. Subsequent calls should pass in
* the value returned from the previous call. See the file serial .c in the
* PC port for a good example of this mechanism.
*
* @return pdTRUE if a task was woken by posting onto the queue. This is
* used by the ISR to determine if a context switch may be required following
* the ISR.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
portCHAR cIn;
portBASE_TYPE xTaskWokenByPost;
// We have not woken a task at the start of the ISR.
cTaskWokenByPost = pdFALSE;
// Loop until the buffer is empty.
do
{
// Obtain a byte from the buffer.
cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
// Post the byte. The first time round the loop cTaskWokenByPost
// will be pdFALSE. If the queue send causes a task to wake we do
// not want the task to run until we have finished the ISR, so
// xQueueSendFromISR does not cause a context switch. Also we
// don't want subsequent posts to wake any other tasks, so we store
// the return value back into cTaskWokenByPost so xQueueSendFromISR
// knows not to wake any task the next iteration of the loop.
xTaskWokenByPost = xQueueSendToFrontFromISR( xRxQueue, &cIn, cTaskWokenByPost );
} while( portINPUT_BYTE( BUFFER_COUNT ) );
// Now the buffer is empty we can switch context if necessary.
if( cTaskWokenByPost )
{
taskYIELD ();
}
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendToFromFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_FRONT )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendToBackFromISR(
xQueueHandle pxQueue,
const void *pvItemToQueue,
portBASE_TYPE xTaskPreviouslyWoken
);
</pre>
*
* This is a macro that calls xQueueGenericSendFromISR().
*
* Post an item to the back of a queue. It is safe to use this macro from
* within an interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param cTaskPreviouslyWoken This is included so an ISR can post onto
* the same queue multiple times from a single interrupt. The first call
* should always pass in pdFALSE. Subsequent calls should pass in
* the value returned from the previous call. See the file serial .c in the
* PC port for a good example of this mechanism.
*
* @return pdTRUE if a task was woken by posting onto the queue. This is
* used by the ISR to determine if a context switch may be required following
* the ISR.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
portCHAR cIn;
portBASE_TYPE xTaskWokenByPost;
// We have not woken a task at the start of the ISR.
cTaskWokenByPost = pdFALSE;
// Loop until the buffer is empty.
do
{
// Obtain a byte from the buffer.
cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
// Post the byte. The first time round the loop cTaskWokenByPost
// will be pdFALSE. If the queue send causes a task to wake we do
// not want the task to run until we have finished the ISR, so
// xQueueSendFromISR does not cause a context switch. Also we
// don't want subsequent posts to wake any other tasks, so we store
// the return value back into cTaskWokenByPost so xQueueSendFromISR
// knows not to wake any task the next iteration of the loop.
xTaskWokenByPost = xQueueSendToBackFromISR( xRxQueue, &cIn, cTaskWokenByPost );
} while( portINPUT_BYTE( BUFFER_COUNT ) );
// Now the buffer is empty we can switch context if necessary.
if( cTaskWokenByPost )
{
taskYIELD ();
}
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK )
/**
* queue. h
* <pre>
@ -301,8 +912,13 @@ void vQueueDelete( xQueueHandle xQueue );
);
</pre>
*
* Post an item on a queue. It is safe to use this function from within an
* interrupt service routine.
* This is a macro that calls xQueueGenericSendFromISR(). It is included
* for backward compatibility with versions of FreeRTOS.org that did not
* include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()
* macros.
*
* Post an item to the back of a queue. It is safe to use this function from
* within an interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
@ -364,7 +980,91 @@ void vQueueDelete( xQueueHandle xQueue );
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken );
#define xQueueSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueGenericSendFromISR(
xQueueHandle pxQueue,
const void *pvItemToQueue,
portBASE_TYPE xTaskPreviouslyWoken
portBASE_TYPE xCopyPosition
);
</pre>
*
* It is preferred that the macros xQueueSendFromISR(),
* xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
* of calling this function directly.
*
* Post an item on a queue. It is safe to use this function from within an
* interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param cTaskPreviouslyWoken This is included so an ISR can post onto
* the same queue multiple times from a single interrupt. The first call
* should always pass in pdFALSE. Subsequent calls should pass in
* the value returned from the previous call. See the file serial .c in the
* PC port for a good example of this mechanism.
*
* @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
* item at the back of the queue, or queueSEND_TO_FRONT to place the item
* at the front of the queue (for high priority messages).
*
* @return pdTRUE if a task was woken by posting onto the queue. This is
* used by the ISR to determine if a context switch may be required following
* the ISR.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
portCHAR cIn;
portBASE_TYPE xTaskWokenByPost;
// We have not woken a task at the start of the ISR.
cTaskWokenByPost = pdFALSE;
// Loop until the buffer is empty.
do
{
// Obtain a byte from the buffer.
cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
// Post the byte. The first time round the loop cTaskWokenByPost
// will be pdFALSE. If the queue send causes a task to wake we do
// not want the task to run until we have finished the ISR, so
// xQueueSendFromISR does not cause a context switch. Also we
// don't want subsequent posts to wake any other tasks, so we store
// the return value back into cTaskWokenByPost so xQueueSendFromISR
// knows not to wake any task the next iteration of the loop.
xTaskWokenByPost = xQueueGenericSendFromISR( xRxQueue, &cIn, cTaskWokenByPost, queueSEND_TO_BACK );
} while( portINPUT_BYTE( BUFFER_COUNT ) );
// Now the buffer is empty we can switch context if necessary.
if( cTaskWokenByPost )
{
taskYIELD ();
}
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition );
/**
* queue. h
@ -453,13 +1153,13 @@ signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItem
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );
/*
* The functions defined above are for passing data to and from tasks. The
* functions below are the equivalents for passing data to and from
* co-rtoutines.
* co-routines.
*
* These functions are called from the co-routine macro implementation and
* should not be called directly from application code. Instead use the macro
@ -470,5 +1170,11 @@ signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffe
signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );
signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );
#endif
/*
* For internal use only. Use xSemaphoreCreateMutex() instead of calling
* this function directly.
*/
xQueueHandle xQueueCreateMutex( void );
#endif /* QUEUE_H */

60
Source/include/semphr.h
View file

@ -54,6 +54,13 @@ typedef xQueueHandle xSemaphoreHandle;
* as we don't want to actually store any data - we just want to know if the
* queue is empty or full.
*
* This type of semaphore can be used for pure synchronisation between tasks or
* between an interrupt and a task. The semaphore need not be given back once
* obtained, so one task/interrupt can continuously 'give' the semaphore while
* another continuously 'takes' the semaphore. For this reason this type of
* semaphore does not use a priority inheritance mechanism. For an alternative
* that does use priority inheritance see xSemaphoreCreateMutex().
*
* @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle.
*
* Example usage:
@ -205,7 +212,7 @@ typedef xQueueHandle xSemaphoreHandle;
* \defgroup xSemaphoreGive xSemaphoreGive
* \ingroup Semaphores
*/
#define xSemaphoreGive( xSemaphore ) xQueueSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME )
#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
/**
* semphr. h
@ -218,6 +225,9 @@ typedef xQueueHandle xSemaphoreHandle;
* <i>Macro</i> to release a semaphore. The semaphore must of been created using
* vSemaphoreCreateBinary (), and obtained using xSemaphoreTake ().
*
* Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
* must not be used with this macro.
*
* This macro can be used from an ISR.
*
* @param xSemaphore A handle to the semaphore being released. This is the
@ -285,8 +295,52 @@ typedef xQueueHandle xSemaphoreHandle;
* \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
* \ingroup Semaphores
*/
#define xSemaphoreGiveFromISR( xSemaphore, xTaskPreviouslyWoken ) xQueueSendFromISR( ( xQueueHandle ) xSemaphore, NULL, xTaskPreviouslyWoken )
#define xSemaphoreGiveFromISR( xSemaphore, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, xTaskPreviouslyWoken, queueSEND_TO_BACK )
/**
* semphr. h
* <pre>xSemaphoreCreateMutex( xSemaphoreHandle xSemaphore )</pre>
*
* <i>Macro</i> that implements a mutex semaphore by using the existing queue
* mechanism.
*
* This type of semaphore uses a priority inheritance mechanism so a task
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
* semaphore it is no longer required.
*
* Mutex type semaphores cannot be used from within interrupt service routines.
*
* See xSemaphoreCreateBinary() for an alternative implemnetation that can be
* used for pure synchronisation (where one task or interrupt always 'gives' the
* semaphore and another always 'takes' the semaphore) and from within interrupt
* service routines.
*
* @param xSemaphore Handle to the created mutex semaphore. Should be of type
* xSemaphoreHandle.
*
* Example usage:
<pre>
xSemaphoreHandle xSemaphore;
void vATask( void * pvParameters )
{
// Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
// This is a macro so pass the variable in directly.
vSemaphoreCreateMutex( xSemaphore );
if( xSemaphore != NULL )
{
// The semaphore was created successfully.
// The semaphore can now be used.
}
}
</pre>
* \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
* \ingroup Semaphores
*/
#define xSemaphoreCreateMutex() xQueueCreateMutex()
#endif
#endif /* SEMAPHORE_H */

22
Source/include/task.h
View file

@ -364,7 +364,7 @@ void vTaskDelay( portTickType xTicksToDelay );
* \defgroup vTaskDelayUntil vTaskDelayUntil
* \ingroup TaskCtrl
*/
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );
void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement );
/**
* task. h
@ -894,7 +894,7 @@ inline void vTaskIncrementTick( void );
* portTICK_RATE_MS can be used to convert kernel ticks into a real time
* period.
*/
void vTaskPlaceOnEventList( xList *pxEventList, portTickType xTicksToWait );
void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait );
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
@ -911,7 +911,7 @@ void vTaskPlaceOnEventList( xList *pxEventList, portTickType xTicksToWait );
* @return pdTRUE if the task being removed has a higher priority than the task
* making the call, otherwise pdFALSE.
*/
signed portBASE_TYPE xTaskRemoveFromEventList( const xList *pxEventList );
signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList );
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
@ -944,13 +944,13 @@ xTaskHandle xTaskGetCurrentTaskHandle( void );
/*
* Capture the current time status for future reference.
*/
void vTaskSetTimeOutState( xTimeOutType *pxTimeOut );
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut );
/*
* Compare the time status now with that previously captured to see if the
* timeout has expired.
*/
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType * const pxTicksToWait );
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait );
/*
* Shortcut used by the queue implementation to prevent unnecessary call to
@ -964,6 +964,18 @@ void vTaskMissedYield( void );
*/
portBASE_TYPE xTaskGetSchedulerState( void );
/*
* Raises the priority of the mutex holder to that of the calling task should
* the mutex holder have a priority less than the calling task.
*/
void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder );
/*
* Set the priority of a task back to its proper priority in the case that it
* inherited a higher priority while it was holding a semaphore.
*/
void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder );
#endif /* TASK_H */

26
Source/portable/Paradigm/Tern_EE/large_untested/portasm.h
View file

@ -51,18 +51,18 @@ void portSWITCH_CONTEXT( void );
*/
void portFIRST_CONTEXT( void );
#define portSWITCH_CONTEXT()
// asm { mov ax, seg pxCurrentTCB }
// asm { mov ds, ax }
// asm { les bx, pxCurrentTCB } /* Save the stack pointer into the TCB. */
// asm { mov es:0x2[ bx ], ss }
// asm { mov es:[ bx ], sp }
// asm { call far ptr vTaskSwitchContext } /* Perform the switch. */
// asm { mov ax, seg pxCurrentTCB } /* Restore the stack pointer from the TCB. */
// asm { mov ds, ax }
// asm { les bx, dword ptr pxCurrentTCB }
// asm { mov ss, es:[ bx + 2 ] }
// asm { mov sp, es:[ bx ] }
#define portSWITCH_CONTEXT() \
asm { mov ax, seg pxCurrentTCB } \
asm { mov ds, ax } \
asm { les bx, pxCurrentTCB } /* Save the stack pointer into the TCB. */ \
asm { mov es:0x2[ bx ], ss } \
asm { mov es:[ bx ], sp } \
asm { call far ptr vTaskSwitchContext } /* Perform the switch. */ \
asm { mov ax, seg pxCurrentTCB } /* Restore the stack pointer from the TCB. */ \
asm { mov ds, ax } \
asm { les bx, dword ptr pxCurrentTCB } \
asm { mov ss, es:[ bx + 2 ] } \
asm { mov sp, es:[ bx ] }
#define portFIRST_CONTEXT() \
asm { mov ax, seg pxCurrentTCB } \
@ -70,7 +70,7 @@ void portFIRST_CONTEXT( void );
asm { les bx, dword ptr pxCurrentTCB } \
asm { mov ss, es:[ bx + 2 ] } \
asm { mov sp, es:[ bx ] } \
asm { pop bx } \
asm { pop bp } \
asm { pop di } \
asm { pop si } \
asm { pop ds } \

223
Source/queue.c
View file

@ -90,6 +90,15 @@ Changes from V4.1.3:
#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )
#define queueERRONEOUS_UNBLOCK ( -1 )
/* For internal use only. */
#define queueSEND_TO_BACK ( 0 )
#define queueSEND_TO_FRONT ( 1 )
/* Effectively make a union out of the xQUEUE structure. */
#define pxMutexHolder pcTail
#define uxQueueType pcHead
#define queueQUEUE_IS_MUTEX NULL
/*
* Definition of the queue used by the scheduler.
* Items are queued by copy, not reference.
@ -127,12 +136,13 @@ typedef xQUEUE * xQueueHandle;
* functions are documented in the API header file.
*/
xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );
signed portBASE_TYPE xQueueSend( xQueueHandle xQueue, const void * pvItemToQueue, portTickType xTicksToWait );
signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
unsigned portBASE_TYPE uxQueueMessagesWaiting( xQueueHandle pxQueue );
void vQueueDelete( xQueueHandle xQueue );
signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken );
signed portBASE_TYPE xQueueReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition );
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );
xQueueHandle xQueueCreateMutex( void );
#if configUSE_CO_ROUTINES == 1
signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
@ -166,20 +176,15 @@ static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue );
static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue );
/*
* Macro that copies an item into the queue. This is done by copying the item
* byte for byte, not by reference. Updates the queue state to ensure it's
* integrity after the copy.
* Copies an item into the queue, either at the front of the queue or the
* back of the queue.
*/
#define prvCopyQueueData( pxQueue, pvItemToQueue ) \
{ \
memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); \
++( pxQueue->uxMessagesWaiting ); \
pxQueue->pcWriteTo += pxQueue->uxItemSize; \
if( pxQueue->pcWriteTo >= pxQueue->pcTail ) \
{ \
pxQueue->pcWriteTo = pxQueue->pcHead; \
} \
}
static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition );
/*
* Copies an item out of a queue.
*/
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer );
/*-----------------------------------------------------------*/
/*
@ -248,7 +253,49 @@ size_t xQueueSizeInBytes;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
#if ( configUSE_MUTEXES == 1 )
xQueueHandle xQueueCreateMutex( void )
{
xQUEUE *pxNewQueue;
/* Allocate the new queue structure. */
pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
if( pxNewQueue != NULL )
{
/* Information required for priority inheritance. */
pxNewQueue->pxMutexHolder = NULL;
pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
/* Queues used as a mutex no data is actually copied into or out
of the queue. */
pxNewQueue->pcWriteTo = NULL;
pxNewQueue->pcReadFrom = NULL;
/* Each mutex has a length of 1 (like a binary semaphore) and
an item size of 0 as nothing is actually copied into or out
of the mutex. */
pxNewQueue->uxMessagesWaiting = 0;
pxNewQueue->uxLength = 1;
pxNewQueue->uxItemSize = 0;
pxNewQueue->xRxLock = queueUNLOCKED;
pxNewQueue->xTxLock = queueUNLOCKED;
/* Ensure the event queues start with the correct state. */
vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
/* Start with the semaphore in the expected state. */
xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK );
}
return pxNewQueue;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
{
signed portBASE_TYPE xReturn = pdPASS;
xTimeOutType xTimeOut;
@ -285,15 +332,15 @@ xTimeOutType xTimeOut;
queue being modified here. Places where the event list is modified
include:
+ xQueueSendFromISR(). This checks the lock on the queue to see if
it has access. If the queue is locked then the Tx lock count is
+ xQueueGenericSendFromISR(). This checks the lock on the queue to see
if it has access. If the queue is locked then the Tx lock count is
incremented to signify that a task waiting for data can be made ready
once the queue lock is removed. If the queue is not locked then
a task can be moved from the event list, but will not be removed
from the delayed list or placed in the ready list until the scheduler
is unlocked.
+ xQueueReceiveFromISR(). As per xQueueSendFromISR().
+ xQueueReceiveFromISR(). As per xQueueGenericSendFromISR().
*/
/* If the queue is already full we may have to block. */
@ -390,7 +437,7 @@ xTimeOutType xTimeOut;
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
{
/* There is room in the queue, copy the data into the queue. */
prvCopyQueueData( pxQueue, pvItemToQueue );
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
xReturn = pdPASS;
/* Update the TxLock count so prvUnlockQueue knows to check for
@ -425,16 +472,16 @@ xTimeOutType xTimeOut;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken )
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition )
{
/* Similar to xQueueSend, except we don't block if there is no room in the
queue. Also we don't directly wake a task that was blocked on a queue
read, instead we return a flag to say whether a context switch is required
or not (i.e. has a task with a higher priority than us been woken by this
post). */
/* Similar to xQueueGenericSend, except we don't block if there is no room
in the queue. Also we don't directly wake a task that was blocked on a
queue read, instead we return a flag to say whether a context switch is
required or not (i.e. has a task with a higher priority than us been woken
by this post). */
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
{
prvCopyQueueData( pxQueue, pvItemToQueue );
prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
/* If the queue is locked we do not alter the event list. This will
be done when the queue is unlocked later. */
@ -467,13 +514,14 @@ signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItem
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
{
signed portBASE_TYPE xReturn = pdTRUE;
xTimeOutType xTimeOut;
signed portCHAR *pcOriginalReadPosition;
/* This function is very similar to xQueueSend(). See comments within
xQueueSend() for a more detailed explanation.
/* This function is very similar to xQueueGenericSend(). See comments
within xQueueGenericSend() for a more detailed explanation.
Make sure other tasks do not access the queue. */
vTaskSuspendAll();
@ -493,6 +541,17 @@ xTimeOutType xTimeOut;
leave with nothing? */
if( xTicksToWait > ( portTickType ) 0 )
{
#if ( configUSE_MUTEXES == 1 )
{
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
{
portENTER_CRITICAL();
vTaskPriorityInherit( ( xTaskHandle * const ) pxQueue->pxMutexHolder );
portEXIT_CRITICAL();
}
}
#endif
vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
taskENTER_CRITICAL();
{
@ -522,17 +581,38 @@ xTimeOutType xTimeOut;
{
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
{
pxQueue->pcReadFrom += pxQueue->uxItemSize;
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
/* Remember our read position in case we are just peeking. */
pcOriginalReadPosition = pxQueue->pcReadFrom;
prvCopyDataFromQueue( pxQueue, pvBuffer );
if( xJustPeeking == pdFALSE )
{
pxQueue->pcReadFrom = pxQueue->pcHead;
}
/* We are actually removing data. */
--( pxQueue->uxMessagesWaiting );
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
/* Increment the lock count so prvUnlockQueue knows to check for
tasks waiting for space to become available on the queue. */
++( pxQueue->xRxLock );
#if ( configUSE_MUTEXES == 1 )
{
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
{
/* Record the information required to implement
priority inheritance should it become necessary. */
pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
}
}
#endif
}
else
{
/* We are not removing the data, so reset our read
pointer. */
pxQueue->pcReadFrom = pcOriginalReadPosition;
}
xReturn = pdPASS;
}
else
@ -563,21 +643,15 @@ xTimeOutType xTimeOut;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken )
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken )
{
signed portBASE_TYPE xReturn;
/* We cannot block from an ISR, so check there is data available. */
if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
{
/* Copy the data from the queue. */
pxQueue->pcReadFrom += pxQueue->uxItemSize;
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
{
pxQueue->pcReadFrom = pxQueue->pcHead;
}
prvCopyDataFromQueue( pxQueue, pvBuffer );
--( pxQueue->uxMessagesWaiting );
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
/* If the queue is locked we will not modify the event list. Instead
we update the lock count so the task that unlocks the queue will know
@ -636,6 +710,57 @@ void vQueueDelete( xQueueHandle pxQueue )
}
/*-----------------------------------------------------------*/
static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
{
if( pxQueue->uxItemSize == 0 )
{
#if ( configUSE_MUTEXES == 1 )
{
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
{
/* The mutex is no longer being held. */
vTaskPriorityDisinherit( ( xTaskHandle * const ) pxQueue->pxMutexHolder );
}
}
#endif
}
else if( xPosition == queueSEND_TO_BACK )
{
memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
pxQueue->pcWriteTo += pxQueue->uxItemSize;
if( pxQueue->pcWriteTo >= pxQueue->pcTail )
{
pxQueue->pcWriteTo = pxQueue->pcHead;
}
}
else
{
memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
pxQueue->pcReadFrom -= pxQueue->uxItemSize;
if( pxQueue->pcReadFrom < pxQueue->pcHead )
{
pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
}
}
++( pxQueue->uxMessagesWaiting );
}
/*-----------------------------------------------------------*/
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
{
if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
{
pxQueue->pcReadFrom += pxQueue->uxItemSize;
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
{
pxQueue->pcReadFrom = pxQueue->pcHead;
}
memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
}
}
/*-----------------------------------------------------------*/
static void prvUnlockQueue( xQueueHandle pxQueue )
{
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
@ -754,7 +879,7 @@ signed portBASE_TYPE xReturn;
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
{
/* There is room in the queue, copy the data into the queue. */
prvCopyQueueData( pxQueue, pvItemToQueue );
prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
xReturn = pdPASS;
/* Were any co-routines waiting for data to become available? */
@ -762,7 +887,7 @@ signed portBASE_TYPE xReturn;
{
/* 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 mechansim is used as if
Instead the same pending ready list mechanism is used as if
the event were caused from within an interrupt. */
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{
@ -837,7 +962,7 @@ signed portBASE_TYPE xReturn;
{
/* 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 mechansim is used as if
Instead the same pending ready list mechanism is used as if
the event were caused from within an interrupt. */
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
{
@ -866,7 +991,7 @@ signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvIt
exit without doing anything. */
if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
{
prvCopyQueueData( pxQueue, pvItemToQueue );
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. */

147
Source/tasks.c
View file

@ -229,10 +229,6 @@ Changes since V4.3.1:
#define configMAX_TASK_NAME_LEN 16
#endif
#ifndef INCLUDE_xTaskGetCurrentTaskHandle
#define INCLUDE_xTaskGetCurrentTaskHandle 0
#endif
#ifndef configIDLE_SHOULD_YIELD
#define configIDLE_SHOULD_YIELD 1
#endif
@ -261,9 +257,16 @@ typedef struct tskTaskControlBlock
xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
unsigned portSHORT usStackDepth; /*< Total depth of the stack (when empty). This is defined as the number of variables the stack can hold, not the number of bytes. */
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
#endif
#if ( configUSE_MUTEXES == 1 )
unsigned portBASE_TYPE uxBasePriority;
#endif
} tskTCB;
/*lint -e956 */
@ -429,7 +432,7 @@ register tskTCB *pxTCB; \
* Utility to ready a TCB for a given task. Mainly just copies the parameters
* into the TCB structure.
*/
static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
/*
* Utility to ready all the lists used by the scheduler. This is called
@ -485,7 +488,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
*/
#if ( configUSE_TRACE_FACILITY == 1 )
static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
#endif
@ -496,7 +499,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
*/
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte );
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
#endif
@ -524,7 +527,9 @@ signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR
{
signed portBASE_TYPE xReturn;
tskTCB * pxNewTCB;
static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
#if ( configUSE_TRACE_FACILITY == 1 )
static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
#endif
/* Allocate the memory required by the TCB and stack for the new task.
checking that the allocation was successful. */
@ -535,7 +540,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
portSTACK_TYPE *pxTopOfStack;
/* Setup the newly allocated TCB with the initial state of the task. */
prvInitialiseTCBVariables( pxNewTCB, usStackDepth, pcName, uxPriority );
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
/* Calculate the top of stack address. This depends on whether the
stack grows from high memory to low (as per the 80x86) or visa versa.
@ -543,7 +548,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
required by the port. */
#if portSTACK_GROWTH < 0
{
pxTopOfStack = pxNewTCB->pxStack + ( pxNewTCB->usStackDepth - 1 );
pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
}
#else
{
@ -593,9 +598,13 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
uxTopUsedPriority = pxNewTCB->uxPriority;
}
#if ( configUSE_TRACE_FACILITY == 1 )
{
/* Add a counter into the TCB for tracing only. */
pxNewTCB->uxTCBNumber = uxTaskNumber;
uxTaskNumber++;
}
#endif
prvAddTaskToReadyQueue( pxNewTCB );
@ -695,7 +704,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
#if ( INCLUDE_vTaskDelayUntil == 1 )
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement )
void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
{
portTickType xTimeToWake;
portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
@ -867,13 +876,22 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
/* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( pxTask );
#if ( configUSE_MUTEXES == 1 )
{
uxCurrentPriority = pxTCB->uxBasePriority;
}
#else
{
uxCurrentPriority = pxTCB->uxPriority;
}
#endif
if( uxCurrentPriority != uxNewPriority )
{
/* The priority change may have readied a task of higher
priority than the calling task. */
if( uxNewPriority > pxCurrentTCB->uxPriority )
if( uxNewPriority > uxCurrentPriority )
{
if( pxTask != NULL )
{
@ -891,7 +909,26 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
xYieldRequired = pdTRUE;
}
#if ( configUSE_MUTEXES == 1 )
{
/* Only change the priority being used if the task is not
currently using an inherited priority. */
if( pxTCB->uxBasePriority == pxTCB->uxPriority )
{
pxTCB->uxPriority = uxNewPriority;
}
/* The base priority gets set whatever. */
pxTCB->uxBasePriority = uxNewPriority;
}
#else
{
pxTCB->uxPriority = uxNewPriority;
}
#endif
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxNewPriority );
/* If the task is in the blocked or suspended list we need do
@ -1051,7 +1088,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
{
/* We cannot access the delayed or ready lists, so will hold this
task pending until the scheduler is resumed, at which point a
yield will be preformed if necessary. */
yield will be performed if necessary. */
vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
}
@ -1457,7 +1494,7 @@ void vTaskSwitchContext( void )
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnEventList( xList *pxEventList, portTickType xTicksToWait )
void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
{
portTickType xTimeToWake;
@ -1527,7 +1564,7 @@ portTickType xTimeToWake;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xTaskRemoveFromEventList( const xList *pxEventList )
signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
{
tskTCB *pxUnblockedTCB;
portBASE_TYPE xReturn;
@ -1574,14 +1611,14 @@ portBASE_TYPE xReturn;
}
/*-----------------------------------------------------------*/
void vTaskSetTimeOutState( xTimeOutType *pxTimeOut )
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
{
pxTimeOut->xOverflowCount = xNumOfOverflows;
pxTimeOut->xTimeOnEntering = xTickCount;
}
/*-----------------------------------------------------------*/
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType * const pxTicksToWait )
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
{
portBASE_TYPE xReturn;
@ -1701,10 +1738,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
{
pxTCB->usStackDepth = usStackDepth;
/* Store the function name in the TCB. */
strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
@ -1716,6 +1751,11 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStack
}
pxTCB->uxPriority = uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
pxTCB->uxBasePriority = uxPriority;
}
#endif
vListInitialiseItem( &( pxTCB->xGenericListItem ) );
vListInitialiseItem( &( pxTCB->xEventListItem ) );
@ -1831,7 +1871,7 @@ tskTCB *pxNewTCB;
#if ( configUSE_TRACE_FACILITY == 1 )
static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
{
volatile tskTCB *pxNextTCB, *pxFirstTCB;
static portCHAR pcStatusString[ 50 ];
@ -1853,7 +1893,7 @@ tskTCB *pxNewTCB;
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte )
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
{
register unsigned portSHORT usCount = 0;
@ -1933,4 +1973,63 @@ tskTCB *pxNewTCB;
#endif
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
{
tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
{
/* Adjust the mutex holder state to account for its new priority. */
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
/* If the task being modified is in the read state it will need to
be moved in to a new list. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
{
vListRemove( &( pxTCB->xGenericListItem ) );
/* Inherit the priority before being moved into the new list. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyQueue( pxTCB );
}
else
{
/* Just inherit the priority. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
}
}
}
#endif
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
{
tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
if( pxMutexHolder != NULL )
{
if( pxTCB->uxPriority != pxTCB->uxBasePriority )
{
/* We must be the running task to be able to give the mutex back.
Remove ourselves from the ready list we currently appear in. */
vListRemove( &( pxTCB->xGenericListItem ) );
/* Disinherit the priority before adding ourselves into the new
ready list. */
pxTCB->uxPriority = pxTCB->uxBasePriority;
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
prvAddTaskToReadyQueue( pxTCB );
}
}
}
#endif