/* FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. >>! NOTE: The modification to the GPL is included to allow you to !<< >>! distribute a combined work that includes FreeRTOS without being !<< >>! obliged to provide the source code for proprietary components !<< >>! outside of the FreeRTOS kernel. !<< FreeRTOS 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. Full license text is available from the following link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! *************************************************************************** * * * Having a problem? Start by reading the FAQ "My application does * * not run, what could be wrong?" * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ #ifndef QUEUE_H #define QUEUE_H #ifndef INC_FREERTOS_H #error "include FreeRTOS.h" must appear in source files before "include queue.h" #endif #ifdef __cplusplus extern "C" { #endif /** * 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. */ typedef void * 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 void * 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 void * 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. This allocates the storage required by the * new queue and returns a handle for the queue. * * @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 */ #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( uxQueueLength, uxItemSize, queueQUEUE_TYPE_BASE ) /** * queue. h *
 BaseType_t xQueueSendToToFront(
								   QueueHandle_t	xQueue,
								   const void		*pvItemToQueue,
								   TickType_t		xTicksToWait
							   );
 * 
* * 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 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 *pvBuffer,
							 TickType_t xTicksToWait
						 );
* * 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. 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 xQueueReceive xQueueReceive * \ingroup QueueManagement */ #define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) /** * 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
							);
* * 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. * * @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 */ #define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) /** * queue. h *
 BaseType_t xQueueGenericReceive(
									   QueueHandle_t	xQueue,
									   void	*pvBuffer,
									   TickType_t	xTicksToWait
									   BaseType_t	xJustPeek
									);
* * 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 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. * xQueueGenericReceive() will return immediately if the queue is empty and * xTicksToWait is 0. * * @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:
 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( xQueueGenericReceive( 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 xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeek ) 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. * * 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 )
	{
		taskYIELD_YIELD_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; /** * 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; /* * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). * Likewise xQueueAltGenericReceive() is an alternative version of * xQueueGenericReceive(). * * The source code that implements the alternative (Alt) API is much * simpler because it executes everything from within a critical section. * This is the approach taken by many other RTOSes, but FreeRTOS.org has the * preferred fully featured API too. The fully featured API has more * complex code that takes longer to execute, but makes much less use of * critical sections. Therefore the alternative API sacrifices interrupt * responsiveness to gain execution speed, whereas the fully featured API * sacrifices execution speed to ensure better interrupt responsiveness. */ BaseType_t xQueueAltGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, BaseType_t xCopyPosition ); BaseType_t xQueueAltGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, BaseType_t xJustPeeking ); #define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) #define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) #define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) #define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) /* * 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 xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION; void* xQueueGetMutexHolder( 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 pxMutex ) PRIVILEGED_FUNCTION; /* * Reset a queue back to its original empty state. pdPASS is returned if the * queue is successfully reset. pdFAIL is returned if the queue could not be * reset because there are tasks blocked on the queue waiting to either * receive from the queue or send to the queue. */ #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 *pcName ) 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 /* * Generic version of the queue creation function, which is in turn called by * any queue, semaphore or mutex creation function or macro. */ QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; /* * 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 http://wwwFreeRTOS.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 http://wwwFreeRTOS.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 ) 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; #ifdef __cplusplus } #endif #endif /* QUEUE_H */