/* * FreeRTOS Kernel V10.4.3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in * the Software without restriction, including without limitation the rights to * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of * the Software, and to permit persons to whom the Software is furnished to do so, * subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all * copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * * https://www.FreeRTOS.org * https://github.com/FreeRTOS * */ #ifndef QUEUE_H #define QUEUE_H #ifndef INC_FREERTOS_H #error "include FreeRTOS.h" must appear in source files before "include queue.h" #endif /* *INDENT-OFF* */ #ifdef __cplusplus extern "C" { #endif /* *INDENT-ON* */ #include "task.h" /** * Type by which queues are referenced. For example, a call to xQueueCreate() * returns an QueueHandle_t variable that can then be used as a parameter to * xQueueSend(), xQueueReceive(), etc. */ struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */ typedef struct QueueDefinition * QueueHandle_t; /** * Type by which queue sets are referenced. For example, a call to * xQueueCreateSet() returns an xQueueSet variable that can then be used as a * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc. */ typedef struct QueueDefinition * QueueSetHandle_t; /** * Queue sets can contain both queues and semaphores, so the * QueueSetMemberHandle_t is defined as a type to be used where a parameter or * return value can be either an QueueHandle_t or an SemaphoreHandle_t. */ typedef struct QueueDefinition * QueueSetMemberHandle_t; /* For internal use only. */ #define queueSEND_TO_BACK ( ( BaseType_t ) 0 ) #define queueSEND_TO_FRONT ( ( BaseType_t ) 1 ) #define queueOVERWRITE ( ( BaseType_t ) 2 ) /* For internal use only. These definitions *must* match those in queue.c. */ #define queueQUEUE_TYPE_BASE ( ( uint8_t ) 0U ) #define queueQUEUE_TYPE_SET ( ( uint8_t ) 0U ) #define queueQUEUE_TYPE_MUTEX ( ( uint8_t ) 1U ) #define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( uint8_t ) 2U ) #define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( uint8_t ) 3U ) #define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( uint8_t ) 4U ) /** * queue. h *
 * QueueHandle_t xQueueCreate(
 *                            UBaseType_t uxQueueLength,
 *                            UBaseType_t uxItemSize
 *                        );
 * 
* * Creates a new queue instance, and returns a handle by which the new queue * can be referenced. * * Internally, within the FreeRTOS implementation, queues use two blocks of * memory. The first block is used to hold the queue's data structures. The * second block is used to hold items placed into the queue. If a queue is * created using xQueueCreate() then both blocks of memory are automatically * dynamically allocated inside the xQueueCreate() function. (see * https://www.FreeRTOS.org/a00111.html). If a queue is created using * xQueueCreateStatic() then the application writer must provide the memory that * will get used by the queue. xQueueCreateStatic() therefore allows a queue to * be created without using any dynamic memory allocation. * * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html * * @param uxQueueLength The maximum number of items that the queue can contain. * * @param uxItemSize The number of bytes each item in the queue will require. * Items are queued by copy, not by reference, so this is the number of bytes * that will be copied for each posted item. Each item on the queue must be * the same size. * * @return If the queue is successfully create then a handle to the newly * created queue is returned. If the queue cannot be created then 0 is * returned. * * Example usage: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * };
 *
 * void vATask( void *pvParameters )
 * {
 * QueueHandle_t xQueue1, xQueue2;
 *
 *  // Create a queue capable of containing 10 uint32_t values.
 *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
 *  if( xQueue1 == 0 )
 *  {
 *      // Queue was not created and must not be used.
 *  }
 *
 *  // 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( xQueue2 == 0 )
 *  {
 *      // Queue was not created and must not be used.
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueCreate xQueueCreate * \ingroup QueueManagement */ #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) ) #endif /** * queue. h *
 * QueueHandle_t xQueueCreateStatic(
 *                            UBaseType_t uxQueueLength,
 *                            UBaseType_t uxItemSize,
 *                            uint8_t *pucQueueStorageBuffer,
 *                            StaticQueue_t *pxQueueBuffer
 *                        );
 * 
* * Creates a new queue instance, and returns a handle by which the new queue * can be referenced. * * Internally, within the FreeRTOS implementation, queues use two blocks of * memory. The first block is used to hold the queue's data structures. The * second block is used to hold items placed into the queue. If a queue is * created using xQueueCreate() then both blocks of memory are automatically * dynamically allocated inside the xQueueCreate() function. (see * https://www.FreeRTOS.org/a00111.html). If a queue is created using * xQueueCreateStatic() then the application writer must provide the memory that * will get used by the queue. xQueueCreateStatic() therefore allows a queue to * be created without using any dynamic memory allocation. * * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html * * @param uxQueueLength The maximum number of items that the queue can contain. * * @param uxItemSize The number of bytes each item in the queue will require. * Items are queued by copy, not by reference, so this is the number of bytes * that will be copied for each posted item. Each item on the queue must be * the same size. * * @param pucQueueStorageBuffer If uxItemSize is not zero then * pucQueueStorageBuffer must point to a uint8_t array that is at least large * enough to hold the maximum number of items that can be in the queue at any * one time - which is ( uxQueueLength * uxItemsSize ) bytes. If uxItemSize is * zero then pucQueueStorageBuffer can be NULL. * * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which * will be used to hold the queue's data structure. * * @return If the queue is created then a handle to the created queue is * returned. If pxQueueBuffer is NULL then NULL is returned. * * Example usage: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * };
 *
 #define QUEUE_LENGTH 10
 #define ITEM_SIZE sizeof( uint32_t )
 *
 * // xQueueBuffer will hold the queue structure.
 * StaticQueue_t xQueueBuffer;
 *
 * // ucQueueStorage will hold the items posted to the queue.  Must be at least
 * // [(queue length) * ( queue item size)] bytes long.
 * uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ];
 *
 * void vATask( void *pvParameters )
 * {
 * QueueHandle_t xQueue1;
 *
 *  // Create a queue capable of containing 10 uint32_t values.
 *  xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold.
 *                          ITEM_SIZE     // The size of each item in the queue
 *                          &( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue.
 *                          &xQueueBuffer ); // The buffer that will hold the queue structure.
 *
 *  // The queue is guaranteed to be created successfully as no dynamic memory
 *  // allocation is used.  Therefore xQueue1 is now a handle to a valid queue.
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueCreateStatic xQueueCreateStatic * \ingroup QueueManagement */ #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) ) #endif /* configSUPPORT_STATIC_ALLOCATION */ /** * queue. h *
 * BaseType_t xQueueSendToToFront(
 *                                 QueueHandle_t    xQueue,
 *                                 const void       *pvItemToQueue,
 *                                 TickType_t       xTicksToWait
 *                             );
 * 
* * 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 and the * queue is full. The time is defined in tick periods so the constant * portTICK_PERIOD_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: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * } xMessage;
 *
 * uint32_t ulVar = 10UL;
 *
 * void vATask( void *pvParameters )
 * {
 * QueueHandle_t xQueue1, xQueue2;
 * struct AMessage *pxMessage;
 *
 *  // Create a queue capable of containing 10 uint32_t values.
 *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
 *
 *  // 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 uint32_t.  Wait for 10 ticks for space to become
 *      // available if necessary.
 *      if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 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, ( TickType_t ) 0 );
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueSend xQueueSend * \ingroup QueueManagement */ #define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) \ xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) /** * queue. h *
 * BaseType_t xQueueSendToBack(
 *                                 QueueHandle_t    xQueue,
 *                                 const void       *pvItemToQueue,
 *                                 TickType_t       xTicksToWait
 *                             );
 * 
* * 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 and the queue * is full. The time is defined in tick periods so the constant * portTICK_PERIOD_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: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * } xMessage;
 *
 * uint32_t ulVar = 10UL;
 *
 * void vATask( void *pvParameters )
 * {
 * QueueHandle_t xQueue1, xQueue2;
 * struct AMessage *pxMessage;
 *
 *  // Create a queue capable of containing 10 uint32_t values.
 *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
 *
 *  // 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 uint32_t.  Wait for 10 ticks for space to become
 *      // available if necessary.
 *      if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 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, ( TickType_t ) 0 );
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueSend xQueueSend * \ingroup QueueManagement */ #define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) \ xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) /** * queue. h *
 * BaseType_t xQueueSend(
 *                            QueueHandle_t xQueue,
 *                            const void * pvItemToQueue,
 *                            TickType_t xTicksToWait
 *                       );
 * 
* * 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. * * @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 and the * queue is full. The time is defined in tick periods so the constant * portTICK_PERIOD_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: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * } xMessage;
 *
 * uint32_t ulVar = 10UL;
 *
 * void vATask( void *pvParameters )
 * {
 * QueueHandle_t xQueue1, xQueue2;
 * struct AMessage *pxMessage;
 *
 *  // Create a queue capable of containing 10 uint32_t values.
 *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
 *
 *  // 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 uint32_t.  Wait for 10 ticks for space to become
 *      // available if necessary.
 *      if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 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;
 *      xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueSend xQueueSend * \ingroup QueueManagement */ #define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) \ xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) /** * queue. h *
 * BaseType_t xQueueOverwrite(
 *                            QueueHandle_t xQueue,
 *                            const void * pvItemToQueue
 *                       );
 * 
* * Only for use with queues that have a length of one - so the queue is either * empty or full. * * Post an item on a queue. If the queue is already full then overwrite the * value held in the queue. The item is queued by copy, not by reference. * * This function must not be called from an interrupt service routine. * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR. * * @param xQueue The handle of the queue to which the data is being sent. * * @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. * * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and * therefore has the same return values as xQueueSendToFront(). However, pdPASS * is the only value that can be returned because xQueueOverwrite() will write * to the queue even when the queue is already full. * * Example usage: *
 *
 * void vFunction( void *pvParameters )
 * {
 * QueueHandle_t xQueue;
 * uint32_t ulVarToSend, ulValReceived;
 *
 *  // Create a queue to hold one uint32_t value.  It is strongly
 *  // recommended *not* to use xQueueOverwrite() on queues that can
 *  // contain more than one value, and doing so will trigger an assertion
 *  // if configASSERT() is defined.
 *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
 *
 *  // Write the value 10 to the queue using xQueueOverwrite().
 *  ulVarToSend = 10;
 *  xQueueOverwrite( xQueue, &ulVarToSend );
 *
 *  // Peeking the queue should now return 10, but leave the value 10 in
 *  // the queue.  A block time of zero is used as it is known that the
 *  // queue holds a value.
 *  ulValReceived = 0;
 *  xQueuePeek( xQueue, &ulValReceived, 0 );
 *
 *  if( ulValReceived != 10 )
 *  {
 *      // Error unless the item was removed by a different task.
 *  }
 *
 *  // The queue is still full.  Use xQueueOverwrite() to overwrite the
 *  // value held in the queue with 100.
 *  ulVarToSend = 100;
 *  xQueueOverwrite( xQueue, &ulVarToSend );
 *
 *  // This time read from the queue, leaving the queue empty once more.
 *  // A block time of 0 is used again.
 *  xQueueReceive( xQueue, &ulValReceived, 0 );
 *
 *  // The value read should be the last value written, even though the
 *  // queue was already full when the value was written.
 *  if( ulValReceived != 100 )
 *  {
 *      // Error!
 *  }
 *
 *  // ...
 * }
 * 
* \defgroup xQueueOverwrite xQueueOverwrite * \ingroup QueueManagement */ #define xQueueOverwrite( xQueue, pvItemToQueue ) \ xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE ) /** * queue. h *
 * BaseType_t xQueueGenericSend(
 *                                  QueueHandle_t xQueue,
 *                                  const void * pvItemToQueue,
 *                                  TickType_t xTicksToWait
 *                                  BaseType_t xCopyPosition
 *                              );
 * 
* * 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 and the * queue is full. The time is defined in tick periods so the constant * portTICK_PERIOD_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: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * } xMessage;
 *
 * uint32_t ulVar = 10UL;
 *
 * void vATask( void *pvParameters )
 * {
 * QueueHandle_t xQueue1, xQueue2;
 * struct AMessage *pxMessage;
 *
 *  // Create a queue capable of containing 10 uint32_t values.
 *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
 *
 *  // 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 uint32_t.  Wait for 10 ticks for space to become
 *      // available if necessary.
 *      if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 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, ( TickType_t ) 0, queueSEND_TO_BACK );
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueSend xQueueSend * \ingroup QueueManagement */ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; /** * queue. h *
 * BaseType_t xQueuePeek(
 *                           QueueHandle_t xQueue,
 *                           void * const pvBuffer,
 *                           TickType_t xTicksToWait
 *                       );
 * 
* * 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. See * xQueuePeekFromISR() for an alternative that can be called from an interrupt * service routine. * * @param xQueue 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_PERIOD_MS should be used to convert to real time if this is required. * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue * is empty. * * @return pdTRUE if an item was successfully received from the queue, * otherwise pdFALSE. * * Example usage: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * } xMessage;
 *
 * QueueHandle_t 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, ( TickType_t ) 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 ), ( TickType_t ) 10 ) )
 *      {
 *          // pcRxedMessage now points to the struct AMessage variable posted
 *          // by vATask, but the item still remains on the queue.
 *      }
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueuePeek xQueuePeek * \ingroup QueueManagement */ BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * queue. h *
 * BaseType_t xQueuePeekFromISR(
 *                                  QueueHandle_t xQueue,
 *                                  void *pvBuffer,
 *                              );
 * 
* * A version of xQueuePeek() that can be called from an interrupt service * routine (ISR). * * 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(). * * @param xQueue 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. * * @return pdTRUE if an item was successfully received from the queue, * otherwise pdFALSE. * * \defgroup xQueuePeekFromISR xQueuePeekFromISR * \ingroup QueueManagement */ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION; /** * queue. h *
 * BaseType_t xQueueReceive(
 *                               QueueHandle_t xQueue,
 *                               void *pvBuffer,
 *                               TickType_t xTicksToWait
 *                          );
 * 
* * 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. * * @param xQueue 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. xQueueReceive() will return immediately if xTicksToWait * is zero and the queue is empty. The time is defined in tick periods so the * constant portTICK_PERIOD_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: *
 * struct AMessage
 * {
 *  char ucMessageID;
 *  char ucData[ 20 ];
 * } xMessage;
 *
 * QueueHandle_t 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, ( TickType_t ) 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( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
 *      {
 *          // pcRxedMessage now points to the struct AMessage variable posted
 *          // by vATask.
 *      }
 *  }
 *
 *  // ... Rest of task code.
 * }
 * 
* \defgroup xQueueReceive xQueueReceive * \ingroup QueueManagement */ BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * queue. h *
 * UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
 * 
* * Return the number of messages stored in a queue. * * @param xQueue A handle to the queue being queried. * * @return The number of messages available in the queue. * * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting * \ingroup QueueManagement */ UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /** * queue. h *
 * UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
 * 
* * Return the number of free spaces available in a queue. This is equal to the * number of items that can be sent to the queue before the queue becomes full * if no items are removed. * * @param xQueue A handle to the queue being queried. * * @return The number of spaces available in the queue. * * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting * \ingroup QueueManagement */ UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /** * queue. h *
 * void vQueueDelete( QueueHandle_t xQueue );
 * 
* * Delete a queue - freeing all the memory allocated for storing of items * placed on the queue. * * @param xQueue A handle to the queue to be deleted. * * \defgroup vQueueDelete vQueueDelete * \ingroup QueueManagement */ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /** * queue. h *
 * BaseType_t xQueueSendToFrontFromISR(
 *                                       QueueHandle_t xQueue,
 *                                       const void *pvItemToQueue,
 *                                       BaseType_t *pxHigherPriorityTaskWoken
 *                                    );
 * 
* * 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 pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task * to unblock, and the unblocked task has a priority higher than the currently * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then * a context switch should be requested before the interrupt is exited. * * @return pdTRUE if the data was successfully sent to the queue, otherwise * errQUEUE_FULL. * * Example usage for buffered IO (where the ISR can obtain more than one value * per call): *
 * void vBufferISR( void )
 * {
 * char cIn;
 * BaseType_t xHigherPrioritTaskWoken;
 *
 *  // We have not woken a task at the start of the ISR.
 *  xHigherPriorityTaskWoken = pdFALSE;
 *
 *  // Loop until the buffer is empty.
 *  do
 *  {
 *      // Obtain a byte from the buffer.
 *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
 *
 *      // Post the byte.
 *      xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
 *
 *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
 *
 *  // Now the buffer is empty we can switch context if necessary.
 *  if( xHigherPriorityTaskWoken )
 *  {
 *      taskYIELD ();
 *  }
 * }
 * 
* * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ #define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT ) /** * queue. h *
 * BaseType_t xQueueSendToBackFromISR(
 *                                       QueueHandle_t xQueue,
 *                                       const void *pvItemToQueue,
 *                                       BaseType_t *pxHigherPriorityTaskWoken
 *                                    );
 * 
* * 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 pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task * to unblock, and the unblocked task has a priority higher than the currently * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then * a context switch should be requested before the interrupt is exited. * * @return pdTRUE if the data was successfully sent to the queue, otherwise * errQUEUE_FULL. * * Example usage for buffered IO (where the ISR can obtain more than one value * per call): *
 * void vBufferISR( void )
 * {
 * char cIn;
 * BaseType_t xHigherPriorityTaskWoken;
 *
 *  // We have not woken a task at the start of the ISR.
 *  xHigherPriorityTaskWoken = pdFALSE;
 *
 *  // Loop until the buffer is empty.
 *  do
 *  {
 *      // Obtain a byte from the buffer.
 *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
 *
 *      // Post the byte.
 *      xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
 *
 *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
 *
 *  // Now the buffer is empty we can switch context if necessary.
 *  if( xHigherPriorityTaskWoken )
 *  {
 *      taskYIELD ();
 *  }
 * }
 * 
* * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ #define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) /** * queue. h *
 * BaseType_t xQueueOverwriteFromISR(
 *                            QueueHandle_t xQueue,
 *                            const void * pvItemToQueue,
 *                            BaseType_t *pxHigherPriorityTaskWoken
 *                       );
 * 
* * A version of xQueueOverwrite() that can be used in an interrupt service * routine (ISR). * * Only for use with queues that can hold a single item - so the queue is either * empty or full. * * Post an item on a queue. If the queue is already full then overwrite the * value held in the queue. The item is queued by copy, not by reference. * * @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 pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task * to unblock, and the unblocked task has a priority higher than the currently * running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then * a context switch should be requested before the interrupt is exited. * * @return xQueueOverwriteFromISR() is a macro that calls * xQueueGenericSendFromISR(), and therefore has the same return values as * xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be * returned because xQueueOverwriteFromISR() will write to the queue even when * the queue is already full. * * Example usage: *
 *
 * QueueHandle_t xQueue;
 *
 * void vFunction( void *pvParameters )
 * {
 *  // Create a queue to hold one uint32_t value.  It is strongly
 *  // recommended *not* to use xQueueOverwriteFromISR() on queues that can
 *  // contain more than one value, and doing so will trigger an assertion
 *  // if configASSERT() is defined.
 *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
 * }
 *
 * void vAnInterruptHandler( void )
 * {
 * // xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
 * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 * uint32_t ulVarToSend, ulValReceived;
 *
 *  // Write the value 10 to the queue using xQueueOverwriteFromISR().
 *  ulVarToSend = 10;
 *  xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
 *
 *  // The queue is full, but calling xQueueOverwriteFromISR() again will still
 *  // pass because the value held in the queue will be overwritten with the
 *  // new value.
 *  ulVarToSend = 100;
 *  xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
 *
 *  // Reading from the queue will now return 100.
 *
 *  // ...
 *
 *  if( xHigherPrioritytaskWoken == pdTRUE )
 *  {
 *      // Writing to the queue caused a task to unblock and the unblocked task
 *      // has a priority higher than or equal to the priority of the currently
 *      // executing task (the task this interrupt interrupted).  Perform a context
 *      // switch so this interrupt returns directly to the unblocked task.
 *      portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
 *  }
 * }
 * 
* \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR * \ingroup QueueManagement */ #define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE ) /** * queue. h *
 * BaseType_t xQueueSendFromISR(
 *                                   QueueHandle_t xQueue,
 *                                   const void *pvItemToQueue,
 *                                   BaseType_t *pxHigherPriorityTaskWoken
 *                              );
 * 
* * 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 * 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 pxHigherPriorityTaskWoken xQueueSendFromISR() will set * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task * to unblock, and the unblocked task has a priority higher than the currently * running task. If xQueueSendFromISR() sets this value to pdTRUE then * a context switch should be requested before the interrupt is exited. * * @return pdTRUE if the data was successfully sent to the queue, otherwise * errQUEUE_FULL. * * Example usage for buffered IO (where the ISR can obtain more than one value * per call): *
 * void vBufferISR( void )
 * {
 * char cIn;
 * BaseType_t xHigherPriorityTaskWoken;
 *
 *  // We have not woken a task at the start of the ISR.
 *  xHigherPriorityTaskWoken = pdFALSE;
 *
 *  // Loop until the buffer is empty.
 *  do
 *  {
 *      // Obtain a byte from the buffer.
 *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
 *
 *      // Post the byte.
 *      xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
 *
 *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
 *
 *  // Now the buffer is empty we can switch context if necessary.
 *  if( xHigherPriorityTaskWoken )
 *  {
 *      // Actual macro used here is port specific.
 *      portYIELD_FROM_ISR ();
 *  }
 * }
 * 
* * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ #define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) /** * queue. h *
 * BaseType_t xQueueGenericSendFromISR(
 *                                         QueueHandle_t    xQueue,
 *                                         const    void    *pvItemToQueue,
 *                                         BaseType_t  *pxHigherPriorityTaskWoken,
 *                                         BaseType_t  xCopyPosition
 *                                     );
 * 
* * It is preferred that the macros xQueueSendFromISR(), * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place * of calling this function directly. xQueueGiveFromISR() is an * equivalent for use by semaphores that don't actually copy any data. * * 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 pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task * to unblock, and the unblocked task has a priority higher than the currently * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then * a context switch should be requested before the interrupt is exited. * * @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 data was successfully sent to the queue, otherwise * errQUEUE_FULL. * * Example usage for buffered IO (where the ISR can obtain more than one value * per call): *
 * void vBufferISR( void )
 * {
 * char cIn;
 * BaseType_t xHigherPriorityTaskWokenByPost;
 *
 *  // We have not woken a task at the start of the ISR.
 *  xHigherPriorityTaskWokenByPost = pdFALSE;
 *
 *  // Loop until the buffer is empty.
 *  do
 *  {
 *      // Obtain a byte from the buffer.
 *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
 *
 *      // Post each byte.
 *      xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
 *
 *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
 *
 *  // Now the buffer is empty we can switch context if necessary.  Note that the
 *  // name of the yield function required is port specific.
 *  if( xHigherPriorityTaskWokenByPost )
 *  {
 *      portYIELD_FROM_ISR();
 *  }
 * }
 * 
* * \defgroup xQueueSendFromISR xQueueSendFromISR * \ingroup QueueManagement */ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /** * queue. h *
 * BaseType_t xQueueReceiveFromISR(
 *                                     QueueHandle_t    xQueue,
 *                                     void             *pvBuffer,
 *                                     BaseType_t       *pxTaskWoken
 *                                 );
 * 
* * Receive an item from a queue. It is safe to use this function from within an * interrupt service routine. * * @param xQueue 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 pxTaskWoken A task may be blocked waiting for space to become * available on the queue. If xQueueReceiveFromISR causes such a task to * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will * remain unchanged. * * @return pdTRUE if an item was successfully received from the queue, * otherwise pdFALSE. * * Example usage: *
 *
 * QueueHandle_t xQueue;
 *
 * // Function to create a queue and post some values.
 * void vAFunction( void *pvParameters )
 * {
 * char cValueToPost;
 * const TickType_t xTicksToWait = ( TickType_t )0xff;
 *
 *  // Create a queue capable of containing 10 characters.
 *  xQueue = xQueueCreate( 10, sizeof( char ) );
 *  if( xQueue == 0 )
 *  {
 *      // Failed to create the queue.
 *  }
 *
 *  // ...
 *
 *  // Post some characters that will be used within an ISR.  If the queue
 *  // is full then this task will block for xTicksToWait ticks.
 *  cValueToPost = 'a';
 *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
 *  cValueToPost = 'b';
 *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
 *
 *  // ... keep posting characters ... this task may block when the queue
 *  // becomes full.
 *
 *  cValueToPost = 'c';
 *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
 * }
 *
 * // ISR that outputs all the characters received on the queue.
 * void vISR_Routine( void )
 * {
 * BaseType_t xTaskWokenByReceive = pdFALSE;
 * char cRxedChar;
 *
 *  while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
 *  {
 *      // A character was received.  Output the character now.
 *      vOutputCharacter( cRxedChar );
 *
 *      // If removing the character from the queue woke the task that was
 *      // posting onto the queue cTaskWokenByReceive will have been set to
 *      // pdTRUE.  No matter how many times this loop iterates only one
 *      // task will be woken.
 *  }
 *
 *  if( cTaskWokenByPost != ( char ) pdFALSE;
 *  {
 *      taskYIELD ();
 *  }
 * }
 * 
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR * \ingroup QueueManagement */ BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /* * Utilities to query queues that are safe to use from an ISR. These utilities * should be used only from witin an ISR, or within a critical section. */ BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /* * 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-routines. * * These functions are called from the co-routine macro implementation and * should not be called directly from application code. Instead use the macro * wrappers defined within croutine.h. */ BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken ); BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void * pvBuffer, BaseType_t * pxTaskWoken ); BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void * pvItemToQueue, TickType_t xTicksToWait ); BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void * pvBuffer, TickType_t xTicksToWait ); /* * For internal use only. Use xSemaphoreCreateMutex(), * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling * these functions directly. */ QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION; QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION; QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION; BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; /* * For internal use only. Use xSemaphoreTakeMutexRecursive() or * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. */ BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION; /* * Reset a queue back to its original empty state. The return value is now * obsolete and is always set to pdPASS. */ #define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE ) /* * The registry is provided as a means for kernel aware debuggers to * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add * a queue, semaphore or mutex handle to the registry if you want the handle * to be available to a kernel aware debugger. If you are not using a kernel * aware debugger then this function can be ignored. * * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0 * within FreeRTOSConfig.h for the registry to be available. Its value * does not effect the number of queues, semaphores and mutexes that can be * created - just the number that the registry can hold. * * @param xQueue The handle of the queue being added to the registry. This * is the handle returned by a call to xQueueCreate(). Semaphore and mutex * handles can also be passed in here. * * @param pcName The name to be associated with the handle. This is the * name that the kernel aware debugger will display. The queue registry only * stores a pointer to the string - so the string must be persistent (global or * preferably in ROM/Flash), not on the stack. */ #if ( configQUEUE_REGISTRY_SIZE > 0 ) void vQueueAddToRegistry( QueueHandle_t xQueue, const char * pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /* * The registry is provided as a means for kernel aware debuggers to * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add * a queue, semaphore or mutex handle to the registry if you want the handle * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to * remove the queue, semaphore or mutex from the register. If you are not using * a kernel aware debugger then this function can be ignored. * * @param xQueue The handle of the queue being removed from the registry. */ #if ( configQUEUE_REGISTRY_SIZE > 0 ) void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; #endif /* * The queue registry is provided as a means for kernel aware debuggers to * locate queues, semaphores and mutexes. Call pcQueueGetName() to look * up and return the name of a queue in the queue registry from the queue's * handle. * * @param xQueue The handle of the queue the name of which will be returned. * @return If the queue is in the registry then a pointer to the name of the * queue is returned. If the queue is not in the registry then NULL is * returned. */ #if ( configQUEUE_REGISTRY_SIZE > 0 ) const char * pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /* * Generic version of the function used to create a queue using dynamic memory * allocation. This is called by other functions and macros that create other * RTOS objects that use the queue structure as their base. */ #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; #endif /* * Generic version of the function used to create a queue using dynamic memory * allocation. This is called by other functions and macros that create other * RTOS objects that use the queue structure as their base. */ #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t * pucQueueStorage, StaticQueue_t * pxStaticQueue, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; #endif /* * Queue sets provide a mechanism to allow a task to block (pend) on a read * operation from multiple queues or semaphores simultaneously. * * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this * function. * * A queue set must be explicitly created using a call to xQueueCreateSet() * before it can be used. Once created, standard FreeRTOS queues and semaphores * can be added to the set using calls to xQueueAddToSet(). * xQueueSelectFromSet() is then used to determine which, if any, of the queues * or semaphores contained in the set is in a state where a queue read or * semaphore take operation would be successful. * * Note 1: See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html * for reasons why queue sets are very rarely needed in practice as there are * simpler methods of blocking on multiple objects. * * Note 2: Blocking on a queue set that contains a mutex will not cause the * mutex holder to inherit the priority of the blocked task. * * Note 3: An additional 4 bytes of RAM is required for each space in a every * queue added to a queue set. Therefore counting semaphores that have a high * maximum count value should not be added to a queue set. * * Note 4: A receive (in the case of a queue) or take (in the case of a * semaphore) operation must not be performed on a member of a queue set unless * a call to xQueueSelectFromSet() has first returned a handle to that set member. * * @param uxEventQueueLength Queue sets store events that occur on * the queues and semaphores contained in the set. uxEventQueueLength specifies * the maximum number of events that can be queued at once. To be absolutely * certain that events are not lost uxEventQueueLength should be set to the * total sum of the length of the queues added to the set, where binary * semaphores and mutexes have a length of 1, and counting semaphores have a * length set by their maximum count value. Examples: * + If a queue set is to hold a queue of length 5, another queue of length 12, * and a binary semaphore, then uxEventQueueLength should be set to * (5 + 12 + 1), or 18. * + If a queue set is to hold three binary semaphores then uxEventQueueLength * should be set to (1 + 1 + 1 ), or 3. * + If a queue set is to hold a counting semaphore that has a maximum count of * 5, and a counting semaphore that has a maximum count of 3, then * uxEventQueueLength should be set to (5 + 3), or 8. * * @return If the queue set is created successfully then a handle to the created * queue set is returned. Otherwise NULL is returned. */ QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION; /* * Adds a queue or semaphore to a queue set that was previously created by a * call to xQueueCreateSet(). * * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this * function. * * Note 1: A receive (in the case of a queue) or take (in the case of a * semaphore) operation must not be performed on a member of a queue set unless * a call to xQueueSelectFromSet() has first returned a handle to that set member. * * @param xQueueOrSemaphore The handle of the queue or semaphore being added to * the queue set (cast to an QueueSetMemberHandle_t type). * * @param xQueueSet The handle of the queue set to which the queue or semaphore * is being added. * * @return If the queue or semaphore was successfully added to the queue set * then pdPASS is returned. If the queue could not be successfully added to the * queue set because it is already a member of a different queue set then pdFAIL * is returned. */ BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; /* * Removes a queue or semaphore from a queue set. A queue or semaphore can only * be removed from a set if the queue or semaphore is empty. * * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this * function. * * @param xQueueOrSemaphore The handle of the queue or semaphore being removed * from the queue set (cast to an QueueSetMemberHandle_t type). * * @param xQueueSet The handle of the queue set in which the queue or semaphore * is included. * * @return If the queue or semaphore was successfully removed from the queue set * then pdPASS is returned. If the queue was not in the queue set, or the * queue (or semaphore) was not empty, then pdFAIL is returned. */ BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; /* * xQueueSelectFromSet() selects from the members of a queue set a queue or * semaphore that either contains data (in the case of a queue) or is available * to take (in the case of a semaphore). xQueueSelectFromSet() effectively * allows a task to block (pend) on a read operation on all the queues and * semaphores in a queue set simultaneously. * * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this * function. * * Note 1: See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html * for reasons why queue sets are very rarely needed in practice as there are * simpler methods of blocking on multiple objects. * * Note 2: Blocking on a queue set that contains a mutex will not cause the * mutex holder to inherit the priority of the blocked task. * * Note 3: A receive (in the case of a queue) or take (in the case of a * semaphore) operation must not be performed on a member of a queue set unless * a call to xQueueSelectFromSet() has first returned a handle to that set member. * * @param xQueueSet The queue set on which the task will (potentially) block. * * @param xTicksToWait The maximum time, in ticks, that the calling task will * remain in the Blocked state (with other tasks executing) to wait for a member * of the queue set to be ready for a successful queue read or semaphore take * operation. * * @return xQueueSelectFromSet() will return the handle of a queue (cast to * a QueueSetMemberHandle_t type) contained in the queue set that contains data, * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained * in the queue set that is available, or NULL if no such queue or semaphore * exists before before the specified block time expires. */ QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /* * A version of xQueueSelectFromSet() that can be used from an ISR. */ QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; /* Not public API functions. */ void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION; void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION; UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /* *INDENT-OFF* */ #ifdef __cplusplus } #endif /* *INDENT-ON* */ #endif /* QUEUE_H */