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source: Rename project from "test" to "shoh"

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RedHawk
2023-04-04 17:52:02 +03:00
parent 1f2720a070
commit f8fd5e03da
54 changed files with 18 additions and 18 deletions
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25
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source/shoh/freertos/FreeRTOSConfig.h Normal file
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/*
FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
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. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#ifndef __IASMARM__
/* For SystemCoreClock */
#include "board.h"
#endif
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES (8UL)
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 64 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 1024 + 512) )
#define configMAX_TASK_NAME_LEN ( 10 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TICKLESS_IDLE 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. This example uses I2C to write to the LEDs. As
this takes a finite time, and because a timer callback writes to an LED, the
priority of the timer task is kept to a minimum to ensure it does not disrupt
test tasks that check their own execution times. */
#define configUSE_TIMERS 0
#define configTIMER_TASK_PRIORITY ( 0 )
#define configTIMER_QUEUE_LENGTH 5
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 5 /* 32 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x1f
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
#define configUSE_CUSTOM_TICK 0
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names - or at least those used in the unmodified vector table. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */
#warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in a future release.
#endif
#include "stack_macros.h"

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/**
* @file atomic.h
* @brief FreeRTOS atomic operation support.
*
* This file implements atomic functions by disabling interrupts globally.
* Implementations with architecture specific atomic instructions can be
* provided under each compiler directory.
*/
#ifndef ATOMIC_H
#define ATOMIC_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include atomic.h"
#endif
/* Standard includes. */
#include <stdint.h>
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/*
* Port specific definitions -- entering/exiting critical section.
* Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
*
* Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
* ATOMIC_ENTER_CRITICAL().
*
*/
#if defined( portSET_INTERRUPT_MASK_FROM_ISR )
/* Nested interrupt scheme is supported in this port. */
#define ATOMIC_ENTER_CRITICAL() \
UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
#define ATOMIC_EXIT_CRITICAL() \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
#else
/* Nested interrupt scheme is NOT supported in this port. */
#define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL()
#define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL()
#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
/*
* Port specific definition -- "always inline".
* Inline is compiler specific, and may not always get inlined depending on your
* optimization level. Also, inline is considered as performance optimization
* for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h,
* instead of resulting error, simply define it away.
*/
#ifndef portFORCE_INLINE
#define portFORCE_INLINE
#endif
#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */
#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */
/*----------------------------- Swap && CAS ------------------------------*/
/**
* Atomic compare-and-swap
*
* @brief Performs an atomic compare-and-swap operation on the specified values.
*
* @param[in, out] pulDestination Pointer to memory location from where value is
* to be loaded and checked.
* @param[in] ulExchange If condition meets, write this value to memory.
* @param[in] ulComparand Swap condition.
*
* @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
*
* @note This function only swaps *pulDestination with ulExchange, if previous
* *pulDestination value equals ulComparand.
*/
static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
uint32_t ulExchange,
uint32_t ulComparand )
{
uint32_t ulReturnValue;
ATOMIC_ENTER_CRITICAL();
{
if( *pulDestination == ulComparand )
{
*pulDestination = ulExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
}
else
{
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
}
}
ATOMIC_EXIT_CRITICAL();
return ulReturnValue;
}
/*-----------------------------------------------------------*/
/**
* Atomic swap (pointers)
*
* @brief Atomically sets the address pointed to by *ppvDestination to the value
* of *pvExchange.
*
* @param[in, out] ppvDestination Pointer to memory location from where a pointer
* value is to be loaded and written back to.
* @param[in] pvExchange Pointer value to be written to *ppvDestination.
*
* @return The initial value of *ppvDestination.
*/
static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange )
{
void * pReturnValue;
ATOMIC_ENTER_CRITICAL();
{
pReturnValue = *ppvDestination;
*ppvDestination = pvExchange;
}
ATOMIC_EXIT_CRITICAL();
return pReturnValue;
}
/*-----------------------------------------------------------*/
/**
* Atomic compare-and-swap (pointers)
*
* @brief Performs an atomic compare-and-swap operation on the specified pointer
* values.
*
* @param[in, out] ppvDestination Pointer to memory location from where a pointer
* value is to be loaded and checked.
* @param[in] pvExchange If condition meets, write this value to memory.
* @param[in] pvComparand Swap condition.
*
* @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
*
* @note This function only swaps *ppvDestination with pvExchange, if previous
* *ppvDestination value equals pvComparand.
*/
static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange,
void * pvComparand )
{
uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
ATOMIC_ENTER_CRITICAL();
{
if( *ppvDestination == pvComparand )
{
*ppvDestination = pvExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
}
}
ATOMIC_EXIT_CRITICAL();
return ulReturnValue;
}
/*----------------------------- Arithmetic ------------------------------*/
/**
* Atomic add
*
* @brief Atomically adds count to the value of the specified pointer points to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
* @param[in] ulCount Value to be added to *pulAddend.
*
* @return previous *pulAddend value.
*/
static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
uint32_t ulCount )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend += ulCount;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic subtract
*
* @brief Atomically subtracts count from the value of the specified pointer
* pointers to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
* @param[in] ulCount Value to be subtract from *pulAddend.
*
* @return previous *pulAddend value.
*/
static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
uint32_t ulCount )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend -= ulCount;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic increment
*
* @brief Atomically increments the value of the specified pointer points to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
*
* @return *pulAddend value before increment.
*/
static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend += 1;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic decrement
*
* @brief Atomically decrements the value of the specified pointer points to
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
*
* @return *pulAddend value before decrement.
*/
static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend -= 1;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*----------------------------- Bitwise Logical ------------------------------*/
/**
* Atomic OR
*
* @brief Performs an atomic OR operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be ORed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination |= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic AND
*
* @brief Performs an atomic AND operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be ANDed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination &= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic NAND
*
* @brief Performs an atomic NAND operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be NANDed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination = ~( ulCurrent & ulValue );
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic XOR
*
* @brief Performs an atomic XOR operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be XORed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination ^= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* ATOMIC_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef CO_ROUTINE_H
#define CO_ROUTINE_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include croutine.h"
#endif
#include "list.h"
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/* Used to hide the implementation of the co-routine control block. The
* control block structure however has to be included in the header due to
* the macro implementation of the co-routine functionality. */
typedef void * CoRoutineHandle_t;
/* Defines the prototype to which co-routine functions must conform. */
typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t,
UBaseType_t );
typedef struct corCoRoutineControlBlock
{
crCOROUTINE_CODE pxCoRoutineFunction;
ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
uint16_t uxState; /*< Used internally by the co-routine implementation. */
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
/**
* croutine. h
* @code{c}
* BaseType_t xCoRoutineCreate(
* crCOROUTINE_CODE pxCoRoutineCode,
* UBaseType_t uxPriority,
* UBaseType_t uxIndex
* );
* @endcode
*
* Create a new co-routine and add it to the list of co-routines that are
* ready to run.
*
* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
* functions require special syntax - see the co-routine section of the WEB
* documentation for more information.
*
* @param uxPriority The priority with respect to other co-routines at which
* the co-routine will run.
*
* @param uxIndex Used to distinguish between different co-routines that
* execute the same function. See the example below and the co-routine section
* of the WEB documentation for further information.
*
* @return pdPASS if the co-routine was successfully created and added to a ready
* list, otherwise an error code defined with ProjDefs.h.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* // This may not be necessary for const variables.
* static const char cLedToFlash[ 2 ] = { 5, 6 };
* static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // This co-routine just delays for a fixed period, then toggles
* // an LED. Two co-routines are created using this function, so
* // the uxIndex parameter is used to tell the co-routine which
* // LED to flash and how int32_t to delay. This assumes xQueue has
* // already been created.
* vParTestToggleLED( cLedToFlash[ uxIndex ] );
* crDELAY( xHandle, uxFlashRates[ uxIndex ] );
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
*
* // Function that creates two co-routines.
* void vOtherFunction( void )
* {
* uint8_t ucParameterToPass;
* TaskHandle_t xHandle;
*
* // Create two co-routines at priority 0. The first is given index 0
* // so (from the code above) toggles LED 5 every 200 ticks. The second
* // is given index 1 so toggles LED 6 every 400 ticks.
* for( uxIndex = 0; uxIndex < 2; uxIndex++ )
* {
* xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
* }
* }
* @endcode
* \defgroup xCoRoutineCreate xCoRoutineCreate
* \ingroup Tasks
*/
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
UBaseType_t uxPriority,
UBaseType_t uxIndex );
/**
* croutine. h
* @code{c}
* void vCoRoutineSchedule( void );
* @endcode
*
* Run a co-routine.
*
* vCoRoutineSchedule() executes the highest priority co-routine that is able
* to run. The co-routine will execute until it either blocks, yields or is
* preempted by a task. Co-routines execute cooperatively so one
* co-routine cannot be preempted by another, but can be preempted by a task.
*
* If an application comprises of both tasks and co-routines then
* vCoRoutineSchedule should be called from the idle task (in an idle task
* hook).
*
* Example usage:
* @code{c}
* // This idle task hook will schedule a co-routine each time it is called.
* // The rest of the idle task will execute between co-routine calls.
* void vApplicationIdleHook( void )
* {
* vCoRoutineSchedule();
* }
*
* // Alternatively, if you do not require any other part of the idle task to
* // execute, the idle task hook can call vCoRoutineSchedule() within an
* // infinite loop.
* void vApplicationIdleHook( void )
* {
* for( ;; )
* {
* vCoRoutineSchedule();
* }
* }
* @endcode
* \defgroup vCoRoutineSchedule vCoRoutineSchedule
* \ingroup Tasks
*/
void vCoRoutineSchedule( void );
/**
* croutine. h
* @code{c}
* crSTART( CoRoutineHandle_t xHandle );
* @endcode
*
* This macro MUST always be called at the start of a co-routine function.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static int32_t ulAVariable;
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // Co-routine functionality goes here.
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
* @endcode
* \defgroup crSTART crSTART
* \ingroup Tasks
*/
#define crSTART( pxCRCB ) \
switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \
case 0:
/**
* croutine. h
* @code{c}
* crEND();
* @endcode
*
* This macro MUST always be called at the end of a co-routine function.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static int32_t ulAVariable;
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // Co-routine functionality goes here.
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
* @endcode
* \defgroup crSTART crSTART
* \ingroup Tasks
*/
#define crEND() }
/*
* These macros are intended for internal use by the co-routine implementation
* only. The macros should not be used directly by application writers.
*/
#define crSET_STATE0( xHandle ) \
( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \
case ( __LINE__ * 2 ):
#define crSET_STATE1( xHandle ) \
( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \
case ( ( __LINE__ * 2 ) + 1 ):
/**
* croutine. h
* @code{c}
* crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
* @endcode
*
* Delay a co-routine for a fixed period of time.
*
* crDELAY can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* @param xHandle The handle of the co-routine to delay. This is the xHandle
* parameter of the co-routine function.
*
* @param xTickToDelay The number of ticks that the co-routine should delay
* for. The actual amount of time this equates to is defined by
* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
* can be used to convert ticks to milliseconds.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* // This may not be necessary for const variables.
* // We are to delay for 200ms.
* static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // Delay for 200ms.
* crDELAY( xHandle, xDelayTime );
*
* // Do something here.
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
* @endcode
* \defgroup crDELAY crDELAY
* \ingroup Tasks
*/
#define crDELAY( xHandle, xTicksToDelay ) \
if( ( xTicksToDelay ) > 0 ) \
{ \
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
} \
crSET_STATE0( ( xHandle ) );
/**
* @code{c}
* crQUEUE_SEND(
* CoRoutineHandle_t xHandle,
* QueueHandle_t pxQueue,
* void *pvItemToQueue,
* TickType_t xTicksToWait,
* BaseType_t *pxResult
* )
* @endcode
*
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
*
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
* xQueueSend() and xQueueReceive() can only be used from tasks.
*
* crQUEUE_SEND can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xHandle The handle of the calling co-routine. This is the xHandle
* parameter of the co-routine function.
*
* @param pxQueue The handle of the queue on which the data will be posted.
* The handle is obtained as the return value when the queue is created using
* the xQueueCreate() API function.
*
* @param pvItemToQueue A pointer to the data being posted onto the queue.
* The number of bytes of each queued item is specified when the queue is
* created. This number of bytes is copied from pvItemToQueue into the queue
* itself.
*
* @param xTickToDelay The number of ticks that the co-routine should block
* to wait for space to become available on the queue, should space not be
* available immediately. The actual amount of time this equates to is defined
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
* below).
*
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
* data was successfully posted onto the queue, otherwise it will be set to an
* error defined within ProjDefs.h.
*
* Example usage:
* @code{c}
* // Co-routine function that blocks for a fixed period then posts a number onto
* // a queue.
* static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static BaseType_t xNumberToPost = 0;
* static BaseType_t xResult;
*
* // Co-routines must begin with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // This assumes the queue has already been created.
* crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
*
* if( xResult != pdPASS )
* {
* // The message was not posted!
* }
*
* // Increment the number to be posted onto the queue.
* xNumberToPost++;
*
* // Delay for 100 ticks.
* crDELAY( xHandle, 100 );
* }
*
* // Co-routines must end with a call to crEND().
* crEND();
* }
* @endcode
* \defgroup crQUEUE_SEND crQUEUE_SEND
* \ingroup Tasks
*/
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
{ \
*( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \
crSET_STATE0( ( xHandle ) ); \
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
} \
if( *pxResult == errQUEUE_YIELD ) \
{ \
crSET_STATE1( ( xHandle ) ); \
*pxResult = pdPASS; \
} \
}
/**
* croutine. h
* @code{c}
* crQUEUE_RECEIVE(
* CoRoutineHandle_t xHandle,
* QueueHandle_t pxQueue,
* void *pvBuffer,
* TickType_t xTicksToWait,
* BaseType_t *pxResult
* )
* @endcode
*
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
*
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
* xQueueSend() and xQueueReceive() can only be used from tasks.
*
* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xHandle The handle of the calling co-routine. This is the xHandle
* parameter of the co-routine function.
*
* @param pxQueue The handle of the queue from which the data will be received.
* The handle is obtained as the return value when the queue is created using
* the xQueueCreate() API function.
*
* @param pvBuffer The buffer into which the received item is to be copied.
* The number of bytes of each queued item is specified when the queue is
* created. This number of bytes is copied into pvBuffer.
*
* @param xTickToDelay The number of ticks that the co-routine should block
* to wait for data to become available from the queue, should data not be
* available immediately. The actual amount of time this equates to is defined
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
* crQUEUE_SEND example).
*
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
* data was successfully retrieved from the queue, otherwise it will be set to
* an error code as defined within ProjDefs.h.
*
* Example usage:
* @code{c}
* // A co-routine receives the number of an LED to flash from a queue. It
* // blocks on the queue until the number is received.
* static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static BaseType_t xResult;
* static UBaseType_t uxLEDToFlash;
*
* // All co-routines must start with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // Wait for data to become available on the queue.
* crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
*
* if( xResult == pdPASS )
* {
* // We received the LED to flash - flash it!
* vParTestToggleLED( uxLEDToFlash );
* }
* }
*
* crEND();
* }
* @endcode
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
* \ingroup Tasks
*/
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
{ \
*( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \
crSET_STATE0( ( xHandle ) ); \
*( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \
} \
if( *( pxResult ) == errQUEUE_YIELD ) \
{ \
crSET_STATE1( ( xHandle ) ); \
*( pxResult ) = pdPASS; \
} \
}
/**
* croutine. h
* @code{c}
* crQUEUE_SEND_FROM_ISR(
* QueueHandle_t pxQueue,
* void *pvItemToQueue,
* BaseType_t xCoRoutinePreviouslyWoken
* )
* @endcode
*
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
* functions used by tasks.
*
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
* xQueueReceiveFromISR() can only be used to pass data between a task and and
* ISR.
*
* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
* that is being used from within a co-routine.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @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 xCoRoutinePreviouslyWoken This is included so an ISR can post onto
* the same queue multiple times from a single interrupt. The first call
* should always pass in pdFALSE. Subsequent calls should pass in
* the value returned from the previous call.
*
* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
* used by the ISR to determine if a context switch may be required following
* the ISR.
*
* Example usage:
* @code{c}
* // A co-routine that blocks on a queue waiting for characters to be received.
* static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* char cRxedChar;
* BaseType_t xResult;
*
* // All co-routines must start with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // Wait for data to become available on the queue. This assumes the
* // queue xCommsRxQueue has already been created!
* crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
*
* // Was a character received?
* if( xResult == pdPASS )
* {
* // Process the character here.
* }
* }
*
* // All co-routines must end with a call to crEND().
* crEND();
* }
*
* // An ISR that uses a queue to send characters received on a serial port to
* // a co-routine.
* void vUART_ISR( void )
* {
* char cRxedChar;
* BaseType_t xCRWokenByPost = pdFALSE;
*
* // We loop around reading characters until there are none left in the UART.
* while( UART_RX_REG_NOT_EMPTY() )
* {
* // Obtain the character from the UART.
* cRxedChar = UART_RX_REG;
*
* // Post the character onto a queue. xCRWokenByPost will be pdFALSE
* // the first time around the loop. If the post causes a co-routine
* // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
* // In this manner we can ensure that if more than one co-routine is
* // blocked on the queue only one is woken by this ISR no matter how
* // many characters are posted to the queue.
* xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
* }
* }
* @endcode
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
* \ingroup Tasks
*/
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) \
xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
/**
* croutine. h
* @code{c}
* crQUEUE_SEND_FROM_ISR(
* QueueHandle_t pxQueue,
* void *pvBuffer,
* BaseType_t * pxCoRoutineWoken
* )
* @endcode
*
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
* functions used by tasks.
*
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
* xQueueReceiveFromISR() can only be used to pass data between a task and and
* ISR.
*
* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
* from a queue that is being used from within a co-routine (a co-routine
* posted to the queue).
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvBuffer A pointer to a buffer into which the received item will be
* placed. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from the queue into
* pvBuffer.
*
* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
* *pxCoRoutineWoken will remain unchanged.
*
* @return pdTRUE an item was successfully received from the queue, otherwise
* pdFALSE.
*
* Example usage:
* @code{c}
* // A co-routine that posts a character to a queue then blocks for a fixed
* // period. The character is incremented each time.
* static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // cChar holds its value while this co-routine is blocked and must therefore
* // be declared static.
* static char cCharToTx = 'a';
* BaseType_t xResult;
*
* // All co-routines must start with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // Send the next character to the queue.
* crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
*
* if( xResult == pdPASS )
* {
* // The character was successfully posted to the queue.
* }
* else
* {
* // Could not post the character to the queue.
* }
*
* // Enable the UART Tx interrupt to cause an interrupt in this
* // hypothetical UART. The interrupt will obtain the character
* // from the queue and send it.
* ENABLE_RX_INTERRUPT();
*
* // Increment to the next character then block for a fixed period.
* // cCharToTx will maintain its value across the delay as it is
* // declared static.
* cCharToTx++;
* if( cCharToTx > 'x' )
* {
* cCharToTx = 'a';
* }
* crDELAY( 100 );
* }
*
* // All co-routines must end with a call to crEND().
* crEND();
* }
*
* // An ISR that uses a queue to receive characters to send on a UART.
* void vUART_ISR( void )
* {
* char cCharToTx;
* BaseType_t xCRWokenByPost = pdFALSE;
*
* while( UART_TX_REG_EMPTY() )
* {
* // Are there any characters in the queue waiting to be sent?
* // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
* // is woken by the post - ensuring that only a single co-routine is
* // woken no matter how many times we go around this loop.
* if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
* {
* SEND_CHARACTER( cCharToTx );
* }
* }
* }
* @endcode
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
* \ingroup Tasks
*/
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) \
xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
/*
* This function is intended for internal use by the co-routine macros only.
* The macro nature of the co-routine implementation requires that the
* prototype appears here. The function should not be used by application
* writers.
*
* Removes the current co-routine from its ready list and places it in the
* appropriate delayed list.
*/
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
List_t * pxEventList );
/*
* This function is intended for internal use by the queue implementation only.
* The function should not be used by application writers.
*
* Removes the highest priority co-routine from the event list and places it in
* the pending ready list.
*/
BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList );
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* CO_ROUTINE_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef DEPRECATED_DEFINITIONS_H
#define DEPRECATED_DEFINITIONS_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
* pre-processor definition was used to ensure the pre-processor found the correct
* portmacro.h file for the port being used. That scheme was deprecated in favour
* of setting the compiler's include path such that it found the correct
* portmacro.h file - removing the need for the constant and allowing the
* portmacro.h file to be located anywhere in relation to the port being used. The
* definitions below remain in the code for backward compatibility only. New
* projects should not use them. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef GCC_MEGA_AVR
#include "../portable/GCC/ATMega323/portmacro.h"
#endif
#ifdef IAR_MEGA_AVR
#include "../portable/IAR/ATMega323/portmacro.h"
#endif
#ifdef MPLAB_PIC24_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_DSPIC_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_PIC18F_PORT
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif
#ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif
#ifdef _FEDPICC
#include "libFreeRTOS/Include/portmacro.h"
#endif
#ifdef SDCC_CYGNAL
#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif
#ifdef GCC_ARM7
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif
#ifdef GCC_ARM7_ECLIPSE
#include "portmacro.h"
#endif
#ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif
#ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif
#ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif
#ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif
#ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif
#ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif
#ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif
#ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif
#ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif
#ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif
#ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif
#ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif
#ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif
#ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif
#ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif
#ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
#endif
#ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif
#ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
#endif
#ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h"
#endif
#ifdef GCC_MCF5235
#include "../../Source/portable/GCC/MCF5235/portmacro.h"
#endif
#ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif
#ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#endif
#ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif
#ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif
#ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif
#ifdef BCC_INDUSTRIAL_PC_PORT
/* A short file name has to be used in place of the normal
* FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef BCC_FLASH_LITE_186_PORT
/* A short file name has to be used in place of the normal
* FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef __GNUC__
#ifdef __AVR32_AVR32A__
#include "portmacro.h"
#endif
#endif
#ifdef __ICCAVR32__
#ifdef __CORE__
#if __CORE__ == __AVR32A__
#include "portmacro.h"
#endif
#endif
#endif
#ifdef __91467D
#include "portmacro.h"
#endif
#ifdef __96340
#include "portmacro.h"
#endif
#ifdef __IAR_V850ES_Fx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3_L__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Hx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3L__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#endif /* DEPRECATED_DEFINITIONS_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef EVENT_GROUPS_H
#define EVENT_GROUPS_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
#endif
/* FreeRTOS includes. */
#include "timers.h"
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/**
* An event group is a collection of bits to which an application can assign a
* meaning. For example, an application may create an event group to convey
* the status of various CAN bus related events in which bit 0 might mean "A CAN
* message has been received and is ready for processing", bit 1 might mean "The
* application has queued a message that is ready for sending onto the CAN
* network", and bit 2 might mean "It is time to send a SYNC message onto the
* CAN network" etc. A task can then test the bit values to see which events
* are active, and optionally enter the Blocked state to wait for a specified
* bit or a group of specified bits to be active. To continue the CAN bus
* example, a CAN controlling task can enter the Blocked state (and therefore
* not consume any processing time) until either bit 0, bit 1 or bit 2 are
* active, at which time the bit that was actually active would inform the task
* which action it had to take (process a received message, send a message, or
* send a SYNC).
*
* The event groups implementation contains intelligence to avoid race
* conditions that would otherwise occur were an application to use a simple
* variable for the same purpose. This is particularly important with respect
* to when a bit within an event group is to be cleared, and when bits have to
* be set and then tested atomically - as is the case where event groups are
* used to create a synchronisation point between multiple tasks (a
* 'rendezvous').
*/
/**
* event_groups.h
*
* Type by which event groups are referenced. For example, a call to
* xEventGroupCreate() returns an EventGroupHandle_t variable that can then
* be used as a parameter to other event group functions.
*
* \defgroup EventGroupHandle_t EventGroupHandle_t
* \ingroup EventGroup
*/
struct EventGroupDef_t;
typedef struct EventGroupDef_t * EventGroupHandle_t;
/*
* The type that holds event bits always matches TickType_t - therefore the
* number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
* 32 bits if set to 0.
*
* \defgroup EventBits_t EventBits_t
* \ingroup EventGroup
*/
typedef TickType_t EventBits_t;
/**
* event_groups.h
* @code{c}
* EventGroupHandle_t xEventGroupCreate( void );
* @endcode
*
* Create a new event group.
*
* Internally, within the FreeRTOS implementation, event groups use a [small]
* block of memory, in which the event group's structure is stored. If an event
* groups is created using xEventGroupCreate() then the required memory is
* automatically dynamically allocated inside the xEventGroupCreate() function.
* (see https://www.FreeRTOS.org/a00111.html). If an event group is created
* using xEventGroupCreateStatic() then the application writer must instead
* provide the memory that will get used by the event group.
* xEventGroupCreateStatic() therefore allows an event group to be created
* without using any dynamic memory allocation.
*
* Although event groups are not related to ticks, for internal implementation
* reasons the number of bits available for use in an event group is dependent
* on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
* configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
* 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
* 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
* event bits within an event group.
*
* @return If the event group was created then a handle to the event group is
* returned. If there was insufficient FreeRTOS heap available to create the
* event group then NULL is returned. See https://www.FreeRTOS.org/a00111.html
*
* Example usage:
* @code{c}
* // Declare a variable to hold the created event group.
* EventGroupHandle_t xCreatedEventGroup;
*
* // Attempt to create the event group.
* xCreatedEventGroup = xEventGroupCreate();
*
* // Was the event group created successfully?
* if( xCreatedEventGroup == NULL )
* {
* // The event group was not created because there was insufficient
* // FreeRTOS heap available.
* }
* else
* {
* // The event group was created.
* }
* @endcode
* \defgroup xEventGroupCreate xEventGroupCreate
* \ingroup EventGroup
*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
#endif
/**
* event_groups.h
* @code{c}
* EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
* @endcode
*
* Create a new event group.
*
* Internally, within the FreeRTOS implementation, event groups use a [small]
* block of memory, in which the event group's structure is stored. If an event
* groups is created using xEventGroupCreate() then the required memory is
* automatically dynamically allocated inside the xEventGroupCreate() function.
* (see https://www.FreeRTOS.org/a00111.html). If an event group is created
* using xEventGroupCreateStatic() then the application writer must instead
* provide the memory that will get used by the event group.
* xEventGroupCreateStatic() therefore allows an event group to be created
* without using any dynamic memory allocation.
*
* Although event groups are not related to ticks, for internal implementation
* reasons the number of bits available for use in an event group is dependent
* on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
* configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
* 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
* 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
* event bits within an event group.
*
* @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type
* StaticEventGroup_t, which will be then be used to hold the event group's data
* structures, removing the need for the memory to be allocated dynamically.
*
* @return If the event group was created then a handle to the event group is
* returned. If pxEventGroupBuffer was NULL then NULL is returned.
*
* Example usage:
* @code{c}
* // StaticEventGroup_t is a publicly accessible structure that has the same
* // size and alignment requirements as the real event group structure. It is
* // provided as a mechanism for applications to know the size of the event
* // group (which is dependent on the architecture and configuration file
* // settings) without breaking the strict data hiding policy by exposing the
* // real event group internals. This StaticEventGroup_t variable is passed
* // into the xSemaphoreCreateEventGroupStatic() function and is used to store
* // the event group's data structures
* StaticEventGroup_t xEventGroupBuffer;
*
* // Create the event group without dynamically allocating any memory.
* xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
* @endcode
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
#endif
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
* const EventBits_t uxBitsToWaitFor,
* const BaseType_t xClearOnExit,
* const BaseType_t xWaitForAllBits,
* const TickType_t xTicksToWait );
* @endcode
*
* [Potentially] block to wait for one or more bits to be set within a
* previously created event group.
*
* This function cannot be called from an interrupt.
*
* @param xEventGroup The event group in which the bits are being tested. The
* event group must have previously been created using a call to
* xEventGroupCreate().
*
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. For example, to wait for bit 0 and/or bit 2 set
* uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set
* uxBitsToWaitFor to 0x07. Etc.
*
* @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within
* uxBitsToWaitFor that are set within the event group will be cleared before
* xEventGroupWaitBits() returns if the wait condition was met (if the function
* returns for a reason other than a timeout). If xClearOnExit is set to
* pdFALSE then the bits set in the event group are not altered when the call to
* xEventGroupWaitBits() returns.
*
* @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then
* xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor
* are set or the specified block time expires. If xWaitForAllBits is set to
* pdFALSE then xEventGroupWaitBits() will return when any one of the bits set
* in uxBitsToWaitFor is set or the specified block time expires. The block
* time is specified by the xTicksToWait parameter.
*
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
* for one/all (depending on the xWaitForAllBits value) of the bits specified by
* uxBitsToWaitFor to become set. A value of portMAX_DELAY can be used to block
* indefinitely (provided INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
*
* @return The value of the event group at the time either the bits being waited
* for became set, or the block time expired. Test the return value to know
* which bits were set. If xEventGroupWaitBits() returned because its timeout
* expired then not all the bits being waited for will be set. If
* xEventGroupWaitBits() returned because the bits it was waiting for were set
* then the returned value is the event group value before any bits were
* automatically cleared in the case that xClearOnExit parameter was set to
* pdTRUE.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* void aFunction( EventGroupHandle_t xEventGroup )
* {
* EventBits_t uxBits;
* const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
*
* // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
* // the event group. Clear the bits before exiting.
* uxBits = xEventGroupWaitBits(
* xEventGroup, // The event group being tested.
* BIT_0 | BIT_4, // The bits within the event group to wait for.
* pdTRUE, // BIT_0 and BIT_4 should be cleared before returning.
* pdFALSE, // Don't wait for both bits, either bit will do.
* xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
*
* if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
* {
* // xEventGroupWaitBits() returned because both bits were set.
* }
* else if( ( uxBits & BIT_0 ) != 0 )
* {
* // xEventGroupWaitBits() returned because just BIT_0 was set.
* }
* else if( ( uxBits & BIT_4 ) != 0 )
* {
* // xEventGroupWaitBits() returned because just BIT_4 was set.
* }
* else
* {
* // xEventGroupWaitBits() returned because xTicksToWait ticks passed
* // without either BIT_0 or BIT_4 becoming set.
* }
* }
* @endcode
* \defgroup xEventGroupWaitBits xEventGroupWaitBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
* @endcode
*
* Clear bits within an event group. This function cannot be called from an
* interrupt.
*
* @param xEventGroup The event group in which the bits are to be cleared.
*
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group. For example, to clear bit 3 only, set uxBitsToClear to
* 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09.
*
* @return The value of the event group before the specified bits were cleared.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* void aFunction( EventGroupHandle_t xEventGroup )
* {
* EventBits_t uxBits;
*
* // Clear bit 0 and bit 4 in xEventGroup.
* uxBits = xEventGroupClearBits(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 );// The bits being cleared.
*
* if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
* {
* // Both bit 0 and bit 4 were set before xEventGroupClearBits() was
* // called. Both will now be clear (not set).
* }
* else if( ( uxBits & BIT_0 ) != 0 )
* {
* // Bit 0 was set before xEventGroupClearBits() was called. It will
* // now be clear.
* }
* else if( ( uxBits & BIT_4 ) != 0 )
* {
* // Bit 4 was set before xEventGroupClearBits() was called. It will
* // now be clear.
* }
* else
* {
* // Neither bit 0 nor bit 4 were set in the first place.
* }
* }
* @endcode
* \defgroup xEventGroupClearBits xEventGroupClearBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
* @endcode
*
* A version of xEventGroupClearBits() that can be called from an interrupt.
*
* Setting bits in an event group is not a deterministic operation because there
* are an unknown number of tasks that may be waiting for the bit or bits being
* set. FreeRTOS does not allow nondeterministic operations to be performed
* while interrupts are disabled, so protects event groups that are accessed
* from tasks by suspending the scheduler rather than disabling interrupts. As
* a result event groups cannot be accessed directly from an interrupt service
* routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
* timer task to have the clear operation performed in the context of the timer
* task.
*
* @note If this function returns pdPASS then the timer task is ready to run
* and a portYIELD_FROM_ISR(pdTRUE) should be executed to perform the needed
* clear on the event group. This behavior is different from
* xEventGroupSetBitsFromISR because the parameter xHigherPriorityTaskWoken is
* not present.
*
* @param xEventGroup The event group in which the bits are to be cleared.
*
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear.
* For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3
* and bit 0 set uxBitsToClear to 0x09.
*
* @return If the request to execute the function was posted successfully then
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
* if the timer service queue was full.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* // An event group which it is assumed has already been created by a call to
* // xEventGroupCreate().
* EventGroupHandle_t xEventGroup;
*
* void anInterruptHandler( void )
* {
* // Clear bit 0 and bit 4 in xEventGroup.
* xResult = xEventGroupClearBitsFromISR(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 ); // The bits being set.
*
* if( xResult == pdPASS )
* {
* // The message was posted successfully.
* portYIELD_FROM_ISR(pdTRUE);
* }
* }
* @endcode
* \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
* \ingroup EventGroup
*/
#if ( configUSE_TRACE_FACILITY == 1 )
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
#else
#define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) \
xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) ( xEventGroup ), ( uint32_t ) ( uxBitsToClear ), NULL )
#endif
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
* @endcode
*
* Set bits within an event group.
* This function cannot be called from an interrupt. xEventGroupSetBitsFromISR()
* is a version that can be called from an interrupt.
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* @param xEventGroup The event group in which the bits are to be set.
*
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
* and bit 0 set uxBitsToSet to 0x09.
*
* @return The value of the event group at the time the call to
* xEventGroupSetBits() returns. There are two reasons why the returned value
* might have the bits specified by the uxBitsToSet parameter cleared. First,
* if setting a bit results in a task that was waiting for the bit leaving the
* blocked state then it is possible the bit will be cleared automatically
* (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any
* unblocked (or otherwise Ready state) task that has a priority above that of
* the task that called xEventGroupSetBits() will execute and may change the
* event group value before the call to xEventGroupSetBits() returns.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* void aFunction( EventGroupHandle_t xEventGroup )
* {
* EventBits_t uxBits;
*
* // Set bit 0 and bit 4 in xEventGroup.
* uxBits = xEventGroupSetBits(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 );// The bits being set.
*
* if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
* {
* // Both bit 0 and bit 4 remained set when the function returned.
* }
* else if( ( uxBits & BIT_0 ) != 0 )
* {
* // Bit 0 remained set when the function returned, but bit 4 was
* // cleared. It might be that bit 4 was cleared automatically as a
* // task that was waiting for bit 4 was removed from the Blocked
* // state.
* }
* else if( ( uxBits & BIT_4 ) != 0 )
* {
* // Bit 4 remained set when the function returned, but bit 0 was
* // cleared. It might be that bit 0 was cleared automatically as a
* // task that was waiting for bit 0 was removed from the Blocked
* // state.
* }
* else
* {
* // Neither bit 0 nor bit 4 remained set. It might be that a task
* // was waiting for both of the bits to be set, and the bits were
* // cleared as the task left the Blocked state.
* }
* }
* @endcode
* \defgroup xEventGroupSetBits xEventGroupSetBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* A version of xEventGroupSetBits() that can be called from an interrupt.
*
* Setting bits in an event group is not a deterministic operation because there
* are an unknown number of tasks that may be waiting for the bit or bits being
* set. FreeRTOS does not allow nondeterministic operations to be performed in
* interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR()
* sends a message to the timer task to have the set operation performed in the
* context of the timer task - where a scheduler lock is used in place of a
* critical section.
*
* @param xEventGroup The event group in which the bits are to be set.
*
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
* and bit 0 set uxBitsToSet to 0x09.
*
* @param pxHigherPriorityTaskWoken As mentioned above, calling this function
* will result in a message being sent to the timer daemon task. If the
* priority of the timer daemon task is higher than the priority of the
* currently running task (the task the interrupt interrupted) then
* *pxHigherPriorityTaskWoken will be set to pdTRUE by
* xEventGroupSetBitsFromISR(), indicating that a context switch should be
* requested before the interrupt exits. For that reason
* *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
* example code below.
*
* @return If the request to execute the function was posted successfully then
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
* if the timer service queue was full.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* // An event group which it is assumed has already been created by a call to
* // xEventGroupCreate().
* EventGroupHandle_t xEventGroup;
*
* void anInterruptHandler( void )
* {
* BaseType_t xHigherPriorityTaskWoken, xResult;
*
* // xHigherPriorityTaskWoken must be initialised to pdFALSE.
* xHigherPriorityTaskWoken = pdFALSE;
*
* // Set bit 0 and bit 4 in xEventGroup.
* xResult = xEventGroupSetBitsFromISR(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 // The bits being set.
* &xHigherPriorityTaskWoken );
*
* // Was the message posted successfully?
* if( xResult == pdPASS )
* {
* // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
* // switch should be requested. The macro used is port specific and
* // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
* // refer to the documentation page for the port being used.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* }
* @endcode
* \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
* \ingroup EventGroup
*/
#if ( configUSE_TRACE_FACILITY == 1 )
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#else
#define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) \
xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) ( xEventGroup ), ( uint32_t ) ( uxBitsToSet ), ( pxHigherPriorityTaskWoken ) )
#endif
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
* const EventBits_t uxBitsToSet,
* const EventBits_t uxBitsToWaitFor,
* TickType_t xTicksToWait );
* @endcode
*
* Atomically set bits within an event group, then wait for a combination of
* bits to be set within the same event group. This functionality is typically
* used to synchronise multiple tasks, where each task has to wait for the other
* tasks to reach a synchronisation point before proceeding.
*
* This function cannot be used from an interrupt.
*
* The function will return before its block time expires if the bits specified
* by the uxBitsToWait parameter are set, or become set within that time. In
* this case all the bits specified by uxBitsToWait will be automatically
* cleared before the function returns.
*
* @param xEventGroup The event group in which the bits are being tested. The
* event group must have previously been created using a call to
* xEventGroupCreate().
*
* @param uxBitsToSet The bits to set in the event group before determining
* if, and possibly waiting for, all the bits specified by the uxBitsToWait
* parameter are set.
*
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. For example, to wait for bit 0 and bit 2 set
* uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set
* uxBitsToWaitFor to 0x07. Etc.
*
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
* for all of the bits specified by uxBitsToWaitFor to become set.
*
* @return The value of the event group at the time either the bits being waited
* for became set, or the block time expired. Test the return value to know
* which bits were set. If xEventGroupSync() returned because its timeout
* expired then not all the bits being waited for will be set. If
* xEventGroupSync() returned because all the bits it was waiting for were
* set then the returned value is the event group value before any bits were
* automatically cleared.
*
* Example usage:
* @code{c}
* // Bits used by the three tasks.
* #define TASK_0_BIT ( 1 << 0 )
* #define TASK_1_BIT ( 1 << 1 )
* #define TASK_2_BIT ( 1 << 2 )
*
* #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
*
* // Use an event group to synchronise three tasks. It is assumed this event
* // group has already been created elsewhere.
* EventGroupHandle_t xEventBits;
*
* void vTask0( void *pvParameters )
* {
* EventBits_t uxReturn;
* TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
*
* for( ;; )
* {
* // Perform task functionality here.
*
* // Set bit 0 in the event flag to note this task has reached the
* // sync point. The other two tasks will set the other two bits defined
* // by ALL_SYNC_BITS. All three tasks have reached the synchronisation
* // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms
* // for this to happen.
* uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
*
* if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
* {
* // All three tasks reached the synchronisation point before the call
* // to xEventGroupSync() timed out.
* }
* }
* }
*
* void vTask1( void *pvParameters )
* {
* for( ;; )
* {
* // Perform task functionality here.
*
* // Set bit 1 in the event flag to note this task has reached the
* // synchronisation point. The other two tasks will set the other two
* // bits defined by ALL_SYNC_BITS. All three tasks have reached the
* // synchronisation point when all the ALL_SYNC_BITS are set. Wait
* // indefinitely for this to happen.
* xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
*
* // xEventGroupSync() was called with an indefinite block time, so
* // this task will only reach here if the synchronisation was made by all
* // three tasks, so there is no need to test the return value.
* }
* }
*
* void vTask2( void *pvParameters )
* {
* for( ;; )
* {
* // Perform task functionality here.
*
* // Set bit 2 in the event flag to note this task has reached the
* // synchronisation point. The other two tasks will set the other two
* // bits defined by ALL_SYNC_BITS. All three tasks have reached the
* // synchronisation point when all the ALL_SYNC_BITS are set. Wait
* // indefinitely for this to happen.
* xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
*
* // xEventGroupSync() was called with an indefinite block time, so
* // this task will only reach here if the synchronisation was made by all
* // three tasks, so there is no need to test the return value.
* }
* }
*
* @endcode
* \defgroup xEventGroupSync xEventGroupSync
* \ingroup EventGroup
*/
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
* @endcode
*
* Returns the current value of the bits in an event group. This function
* cannot be used from an interrupt.
*
* @param xEventGroup The event group being queried.
*
* @return The event group bits at the time xEventGroupGetBits() was called.
*
* \defgroup xEventGroupGetBits xEventGroupGetBits
* \ingroup EventGroup
*/
#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( ( xEventGroup ), 0 )
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
* @endcode
*
* A version of xEventGroupGetBits() that can be called from an ISR.
*
* @param xEventGroup The event group being queried.
*
* @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
*
* \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
* \ingroup EventGroup
*/
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* void xEventGroupDelete( EventGroupHandle_t xEventGroup );
* @endcode
*
* Delete an event group that was previously created by a call to
* xEventGroupCreate(). Tasks that are blocked on the event group will be
* unblocked and obtain 0 as the event group's value.
*
* @param xEventGroup The event group being deleted.
*/
void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/* For internal use only. */
void vEventGroupSetBitsCallback( void * pvEventGroup,
const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
void vEventGroupClearBitsCallback( void * pvEventGroup,
const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) PRIVILEGED_FUNCTION;
void vEventGroupSetNumber( void * xEventGroup,
UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION;
#endif
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* EVENT_GROUPS_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This is the list implementation used by the scheduler. While it is tailored
* heavily for the schedulers needs, it is also available for use by
* application code.
*
* list_ts can only store pointers to list_item_ts. Each ListItem_t contains a
* numeric value (xItemValue). Most of the time the lists are sorted in
* ascending item value order.
*
* Lists are created already containing one list item. The value of this
* item is the maximum possible that can be stored, it is therefore always at
* the end of the list and acts as a marker. The list member pxHead always
* points to this marker - even though it is at the tail of the list. This
* is because the tail contains a wrap back pointer to the true head of
* the list.
*
* In addition to it's value, each list item contains a pointer to the next
* item in the list (pxNext), a pointer to the list it is in (pxContainer)
* and a pointer to back to the object that contains it. These later two
* pointers are included for efficiency of list manipulation. There is
* effectively a two way link between the object containing the list item and
* the list item itself.
*
*
* \page ListIntroduction List Implementation
* \ingroup FreeRTOSIntro
*/
#ifndef LIST_H
#define LIST_H
#ifndef INC_FREERTOS_H
#error "FreeRTOS.h must be included before list.h"
#endif
/*
* The list structure members are modified from within interrupts, and therefore
* by rights should be declared volatile. However, they are only modified in a
* functionally atomic way (within critical sections of with the scheduler
* suspended) and are either passed by reference into a function or indexed via
* a volatile variable. Therefore, in all use cases tested so far, the volatile
* qualifier can be omitted in order to provide a moderate performance
* improvement without adversely affecting functional behaviour. The assembly
* instructions generated by the IAR, ARM and GCC compilers when the respective
* compiler's options were set for maximum optimisation has been inspected and
* deemed to be as intended. That said, as compiler technology advances, and
* especially if aggressive cross module optimisation is used (a use case that
* has not been exercised to any great extend) then it is feasible that the
* volatile qualifier will be needed for correct optimisation. It is expected
* that a compiler removing essential code because, without the volatile
* qualifier on the list structure members and with aggressive cross module
* optimisation, the compiler deemed the code unnecessary will result in
* complete and obvious failure of the scheduler. If this is ever experienced
* then the volatile qualifier can be inserted in the relevant places within the
* list structures by simply defining configLIST_VOLATILE to volatile in
* FreeRTOSConfig.h (as per the example at the bottom of this comment block).
* If configLIST_VOLATILE is not defined then the preprocessor directives below
* will simply #define configLIST_VOLATILE away completely.
*
* To use volatile list structure members then add the following line to
* FreeRTOSConfig.h (without the quotes):
* "#define configLIST_VOLATILE volatile"
*/
#ifndef configLIST_VOLATILE
#define configLIST_VOLATILE
#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/* Macros that can be used to place known values within the list structures,
* then check that the known values do not get corrupted during the execution of
* the application. These may catch the list data structures being overwritten in
* memory. They will not catch data errors caused by incorrect configuration or
* use of FreeRTOS.*/
#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
/* Define the macros to do nothing. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
#define listTEST_LIST_ITEM_INTEGRITY( pxItem )
#define listTEST_LIST_INTEGRITY( pxList )
#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */
/* Define macros that add new members into the list structures. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
/* Define macros that set the new structure members to known values. */
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
/* Define macros that will assert if one of the structure members does not
* contain its expected value. */
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
/*
* Definition of the only type of object that a list can contain.
*/
struct xLIST;
struct xLIST_ITEM
{
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in ascending order. */
struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */
void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
};
typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */
#if ( configUSE_MINI_LIST_ITEM == 1 )
struct xMINI_LIST_ITEM
{
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue;
struct xLIST_ITEM * configLIST_VOLATILE pxNext;
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
};
typedef struct xMINI_LIST_ITEM MiniListItem_t;
#else
typedef struct xLIST_ITEM MiniListItem_t;
#endif
/*
* Definition of the type of queue used by the scheduler.
*/
typedef struct xLIST
{
listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
volatile UBaseType_t uxNumberOfItems;
ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
} List_t;
/*
* Access macro to set the owner of a list item. The owner of a list item
* is the object (usually a TCB) that contains the list item.
*
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList
*/
#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
/*
* Access macro to get the owner of a list item. The owner of a list item
* is the object (usually a TCB) that contains the list item.
*
* \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList
*/
#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
/*
* Access macro to set the value of the list item. In most cases the value is
* used to sort the list in ascending order.
*
* \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
/*
* Access macro to retrieve the value of the list item. The value can
* represent anything - for example the priority of a task, or the time at
* which a task should be unblocked.
*
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
/*
* Access macro to retrieve the value of the list item at the head of a given
* list.
*
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
/*
* Return the list item at the head of the list.
*
* \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
* \ingroup LinkedList
*/
#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
/*
* Return the next list item.
*
* \page listGET_NEXT listGET_NEXT
* \ingroup LinkedList
*/
#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
/*
* Return the list item that marks the end of the list
*
* \page listGET_END_MARKER listGET_END_MARKER
* \ingroup LinkedList
*/
#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
/*
* Access macro to determine if a list contains any items. The macro will
* only have the value true if the list is empty.
*
* \page listLIST_IS_EMPTY listLIST_IS_EMPTY
* \ingroup LinkedList
*/
#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE )
/*
* Access macro to return the number of items in the list.
*/
#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
/*
* Access function to obtain the owner of the next entry in a list.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
* and returns that entry's pxOwner parameter. Using multiple calls to this
* function it is therefore possible to move through every item contained in
* a list.
*
* The pxOwner parameter of a list item is a pointer to the object that owns
* the list item. In the scheduler this is normally a task control block.
* The pxOwner parameter effectively creates a two way link between the list
* item and its owner.
*
* @param pxTCB pxTCB is set to the address of the owner of the next list item.
* @param pxList The list from which the next item owner is to be returned.
*
* \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
* \ingroup LinkedList
*/
#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
{ \
List_t * const pxConstList = ( pxList ); \
/* Increment the index to the next item and return the item, ensuring */ \
/* we don't return the marker used at the end of the list. */ \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
{ \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
} \
( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
}
/*
* Version of uxListRemove() that does not return a value. Provided as a slight
* optimisation for xTaskIncrementTick() by being inline.
*
* Remove an item from a list. The list item has a pointer to the list that
* it is in, so only the list item need be passed into the function.
*
* @param uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page listREMOVE_ITEM listREMOVE_ITEM
* \ingroup LinkedList
*/
#define listREMOVE_ITEM( pxItemToRemove ) \
{ \
/* The list item knows which list it is in. Obtain the list from the list \
* item. */ \
List_t * const pxList = ( pxItemToRemove )->pxContainer; \
\
( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious; \
( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext; \
/* Make sure the index is left pointing to a valid item. */ \
if( pxList->pxIndex == ( pxItemToRemove ) ) \
{ \
pxList->pxIndex = ( pxItemToRemove )->pxPrevious; \
} \
\
( pxItemToRemove )->pxContainer = NULL; \
( pxList->uxNumberOfItems )--; \
}
/*
* Inline version of vListInsertEnd() to provide slight optimisation for
* xTaskIncrementTick().
*
* Insert a list item into a list. The item will be inserted in a position
* such that it will be the last item within the list returned by multiple
* calls to listGET_OWNER_OF_NEXT_ENTRY.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
* Placing an item in a list using vListInsertEnd effectively places the item
* in the list position pointed to by pxIndex. This means that every other
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
* the pxIndex parameter again points to the item being inserted.
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The list item to be inserted into the list.
*
* \page listINSERT_END listINSERT_END
* \ingroup LinkedList
*/
#define listINSERT_END( pxList, pxNewListItem ) \
{ \
ListItem_t * const pxIndex = ( pxList )->pxIndex; \
\
/* Only effective when configASSERT() is also defined, these tests may catch \
* the list data structures being overwritten in memory. They will not catch \
* data errors caused by incorrect configuration or use of FreeRTOS. */ \
listTEST_LIST_INTEGRITY( ( pxList ) ); \
listTEST_LIST_ITEM_INTEGRITY( ( pxNewListItem ) ); \
\
/* Insert a new list item into ( pxList ), but rather than sort the list, \
* makes the new list item the last item to be removed by a call to \
* listGET_OWNER_OF_NEXT_ENTRY(). */ \
( pxNewListItem )->pxNext = pxIndex; \
( pxNewListItem )->pxPrevious = pxIndex->pxPrevious; \
\
pxIndex->pxPrevious->pxNext = ( pxNewListItem ); \
pxIndex->pxPrevious = ( pxNewListItem ); \
\
/* Remember which list the item is in. */ \
( pxNewListItem )->pxContainer = ( pxList ); \
\
( ( pxList )->uxNumberOfItems )++; \
}
/*
* Access function to obtain the owner of the first entry in a list. Lists
* are normally sorted in ascending item value order.
*
* This function returns the pxOwner member of the first item in the list.
* The pxOwner parameter of a list item is a pointer to the object that owns
* the list item. In the scheduler this is normally a task control block.
* The pxOwner parameter effectively creates a two way link between the list
* item and its owner.
*
* @param pxList The list from which the owner of the head item is to be
* returned.
*
* \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
* \ingroup LinkedList
*/
#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner )
/*
* Check to see if a list item is within a list. The list item maintains a
* "container" pointer that points to the list it is in. All this macro does
* is check to see if the container and the list match.
*
* @param pxList The list we want to know if the list item is within.
* @param pxListItem The list item we want to know if is in the list.
* @return pdTRUE if the list item is in the list, otherwise pdFALSE.
*/
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) )
/*
* Return the list a list item is contained within (referenced from).
*
* @param pxListItem The list item being queried.
* @return A pointer to the List_t object that references the pxListItem
*/
#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer )
/*
* This provides a crude means of knowing if a list has been initialised, as
* pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
* function.
*/
#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
/*
* Must be called before a list is used! This initialises all the members
* of the list structure and inserts the xListEnd item into the list as a
* marker to the back of the list.
*
* @param pxList Pointer to the list being initialised.
*
* \page vListInitialise vListInitialise
* \ingroup LinkedList
*/
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
/*
* Must be called before a list item is used. This sets the list container to
* null so the item does not think that it is already contained in a list.
*
* @param pxItem Pointer to the list item being initialised.
*
* \page vListInitialiseItem vListInitialiseItem
* \ingroup LinkedList
*/
void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
/*
* Insert a list item into a list. The item will be inserted into the list in
* a position determined by its item value (ascending item value order).
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The item that is to be placed in the list.
*
* \page vListInsert vListInsert
* \ingroup LinkedList
*/
void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* Insert a list item into a list. The item will be inserted in a position
* such that it will be the last item within the list returned by multiple
* calls to listGET_OWNER_OF_NEXT_ENTRY.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
* Placing an item in a list using vListInsertEnd effectively places the item
* in the list position pointed to by pxIndex. This means that every other
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
* the pxIndex parameter again points to the item being inserted.
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The list item to be inserted into the list.
*
* \page vListInsertEnd vListInsertEnd
* \ingroup LinkedList
*/
void vListInsertEnd( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* Remove an item from a list. The list item has a pointer to the list that
* it is in, so only the list item need be passed into the function.
*
* @param uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page uxListRemove uxListRemove
* \ingroup LinkedList
*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* ifndef LIST_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Message buffers build functionality on top of FreeRTOS stream buffers.
* Whereas stream buffers are used to send a continuous stream of data from one
* task or interrupt to another, message buffers are used to send variable
* length discrete messages from one task or interrupt to another. Their
* implementation is light weight, making them particularly suited for interrupt
* to task and core to core communication scenarios.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* timeout to 0.
*
* Message buffers hold variable length messages. To enable that, when a
* message is written to the message buffer an additional sizeof( size_t ) bytes
* are also written to store the message's length (that happens internally, with
* the API function). sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so writing a 10 byte message to a message buffer on a 32-bit
* architecture will actually reduce the available space in the message buffer
* by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length
* of the message).
*/
#ifndef FREERTOS_MESSAGE_BUFFER_H
#define FREERTOS_MESSAGE_BUFFER_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include message_buffer.h"
#endif
/* Message buffers are built onto of stream buffers. */
#include "stream_buffer.h"
/* *INDENT-OFF* */
#if defined( __cplusplus )
extern "C" {
#endif
/* *INDENT-ON* */
/**
* Type by which message buffers are referenced. For example, a call to
* xMessageBufferCreate() returns an MessageBufferHandle_t variable that can
* then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
* etc. Message buffer is essentially built as a stream buffer hence its handle
* is also set to same type as a stream buffer handle.
*/
typedef StreamBufferHandle_t MessageBufferHandle_t;
/*-----------------------------------------------------------*/
/**
* message_buffer.h
*
* @code{c}
* MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
* @endcode
*
* Creates a new message buffer using dynamically allocated memory. See
* xMessageBufferCreateStatic() for a version that uses statically allocated
* memory (memory that is allocated at compile time).
*
* configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
* FreeRTOSConfig.h for xMessageBufferCreate() to be available.
*
* @param xBufferSizeBytes The total number of bytes (not messages) the message
* buffer will be able to hold at any one time. When a message is written to
* the message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architectures a 10 byte message will
* take up 14 bytes of message buffer space.
*
* @param pxSendCompletedCallback Callback invoked when a send operation to the
* message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
* is called without the parameter, then it will use the default implementation
* provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when a receive operation from
* the message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
* is called without the parameter, it will use the default implementation provided
* by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If NULL is returned, then the message buffer cannot be created
* because there is insufficient heap memory available for FreeRTOS to allocate
* the message buffer data structures and storage area. A non-NULL value being
* returned indicates that the message buffer has been created successfully -
* the returned value should be stored as the handle to the created message
* buffer.
*
* Example use:
* @code{c}
*
* void vAFunction( void )
* {
* MessageBufferHandle_t xMessageBuffer;
* const size_t xMessageBufferSizeBytes = 100;
*
* // Create a message buffer that can hold 100 bytes. The memory used to hold
* // both the message buffer structure and the messages themselves is allocated
* // dynamically. Each message added to the buffer consumes an additional 4
* // bytes which are used to hold the length of the message.
* xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
*
* if( xMessageBuffer == NULL )
* {
* // There was not enough heap memory space available to create the
* // message buffer.
* }
* else
* {
* // The message buffer was created successfully and can now be used.
* }
*
* @endcode
* \defgroup xMessageBufferCreate xMessageBufferCreate
* \ingroup MessageBufferManagement
*/
#define xMessageBufferCreate( xBufferSizeBytes ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, pdTRUE, NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xMessageBufferCreateWithCallback( xBufferSizeBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, pdTRUE, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* message_buffer.h
*
* @code{c}
* MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
* uint8_t *pucMessageBufferStorageArea,
* StaticMessageBuffer_t *pxStaticMessageBuffer );
* @endcode
* Creates a new message buffer using statically allocated memory. See
* xMessageBufferCreate() for a version that uses dynamically allocated memory.
*
* @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
* pucMessageBufferStorageArea parameter. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to store
* the message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so on most 32-bit architecture a 10 byte message will take up
* 14 bytes of message buffer space. The maximum number of bytes that can be
* stored in the message buffer is actually (xBufferSizeBytes - 1).
*
* @param pucMessageBufferStorageArea Must point to a uint8_t array that is at
* least xBufferSizeBytes big. This is the array to which messages are
* copied when they are written to the message buffer.
*
* @param pxStaticMessageBuffer Must point to a variable of type
* StaticMessageBuffer_t, which will be used to hold the message buffer's data
* structure.
*
* @param pxSendCompletedCallback Callback invoked when a new message is sent to the message buffer.
* If the parameter is NULL or xMessageBufferCreate() is called without the parameter, then it will use the default
* implementation provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when a message is read from a
* message buffer. If the parameter is NULL or xMessageBufferCreate() is called without the parameter, it will
* use the default implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If the message buffer is created successfully then a handle to the
* created message buffer is returned. If either pucMessageBufferStorageArea or
* pxStaticmessageBuffer are NULL then NULL is returned.
*
* Example use:
* @code{c}
*
* // Used to dimension the array used to hold the messages. The available space
* // will actually be one less than this, so 999.
#define STORAGE_SIZE_BYTES 1000
*
* // Defines the memory that will actually hold the messages within the message
* // buffer.
* static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
*
* // The variable used to hold the message buffer structure.
* StaticMessageBuffer_t xMessageBufferStruct;
*
* void MyFunction( void )
* {
* MessageBufferHandle_t xMessageBuffer;
*
* xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucStorageBuffer ),
* ucStorageBuffer,
* &xMessageBufferStruct );
*
* // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
* // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
* // reference the created message buffer in other message buffer API calls.
*
* // Other code that uses the message buffer can go here.
* }
*
* @endcode
* \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
* \ingroup MessageBufferManagement
*/
#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, pdTRUE, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xMessageBufferCreateStaticWithCallback( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, pdTRUE, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Sends a discrete message to the message buffer. The message can be any
* length that fits within the buffer's free space, and is copied into the
* buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferSend() to write to a message buffer from a task. Use
* xMessageBufferSendFromISR() to write to a message buffer from an interrupt
* service routine (ISR).
*
* @param xMessageBuffer The handle of the message buffer to which a message is
* being sent.
*
* @param pvTxData A pointer to the message that is to be copied into the
* message buffer.
*
* @param xDataLengthBytes The length of the message. That is, the number of
* bytes to copy from pvTxData into the message buffer. When a message is
* written to the message buffer an additional sizeof( size_t ) bytes are also
* written to store the message's length. sizeof( size_t ) is typically 4 bytes
* on a 32-bit architecture, so on most 32-bit architecture setting
* xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
* bytes (20 bytes of message data and 4 bytes to hold the message length).
*
* @param xTicksToWait The maximum amount of time the calling task should remain
* in the Blocked state to wait for enough space to become available in the
* message buffer, should the message buffer have insufficient space when
* xMessageBufferSend() is called. The calling task will never block if
* xTicksToWait is zero. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into
* a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will cause
* the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
*
* @return The number of bytes written to the message buffer. If the call to
* xMessageBufferSend() times out before there was enough space to write the
* message into the message buffer then zero is returned. If the call did not
* time out then xDataLengthBytes is returned.
*
* Example use:
* @code{c}
* void vAFunction( MessageBufferHandle_t xMessageBuffer )
* {
* size_t xBytesSent;
* uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
* char *pcStringToSend = "String to send";
* const TickType_t x100ms = pdMS_TO_TICKS( 100 );
*
* // Send an array to the message buffer, blocking for a maximum of 100ms to
* // wait for enough space to be available in the message buffer.
* xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
*
* if( xBytesSent != sizeof( ucArrayToSend ) )
* {
* // The call to xMessageBufferSend() times out before there was enough
* // space in the buffer for the data to be written.
* }
*
* // Send the string to the message buffer. Return immediately if there is
* // not enough space in the buffer.
* xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The string could not be added to the message buffer because there was
* // not enough free space in the buffer.
* }
* }
* @endcode
* \defgroup xMessageBufferSend xMessageBufferSend
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \
xStreamBufferSend( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( xTicksToWait ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* Interrupt safe version of the API function that sends a discrete message to
* the message buffer. The message can be any length that fits within the
* buffer's free space, and is copied into the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferSend() to write to a message buffer from a task. Use
* xMessageBufferSendFromISR() to write to a message buffer from an interrupt
* service routine (ISR).
*
* @param xMessageBuffer The handle of the message buffer to which a message is
* being sent.
*
* @param pvTxData A pointer to the message that is to be copied into the
* message buffer.
*
* @param xDataLengthBytes The length of the message. That is, the number of
* bytes to copy from pvTxData into the message buffer. When a message is
* written to the message buffer an additional sizeof( size_t ) bytes are also
* written to store the message's length. sizeof( size_t ) is typically 4 bytes
* on a 32-bit architecture, so on most 32-bit architecture setting
* xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
* bytes (20 bytes of message data and 4 bytes to hold the message length).
*
* @param pxHigherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for data. Calling
* xMessageBufferSendFromISR() can make data available, and so cause a task that
* was waiting for data to leave the Blocked state. If calling
* xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the
* unblocked task has a priority higher than the currently executing task (the
* task that was interrupted), then, internally, xMessageBufferSendFromISR()
* will set *pxHigherPriorityTaskWoken to pdTRUE. If
* xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. This will
* ensure that the interrupt returns directly to the highest priority Ready
* state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it
* is passed into the function. See the code example below for an example.
*
* @return The number of bytes actually written to the message buffer. If the
* message buffer didn't have enough free space for the message to be stored
* then 0 is returned, otherwise xDataLengthBytes is returned.
*
* Example use:
* @code{c}
* // A message buffer that has already been created.
* MessageBufferHandle_t xMessageBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* size_t xBytesSent;
* char *pcStringToSend = "String to send";
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Attempt to send the string to the message buffer.
* xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
* ( void * ) pcStringToSend,
* strlen( pcStringToSend ),
* &xHigherPriorityTaskWoken );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The string could not be added to the message buffer because there was
* // not enough free space in the buffer.
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xMessageBufferSendFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \
xStreamBufferSendFromISR( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Receives a discrete message from a message buffer. Messages can be of
* variable length and are copied out of the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferReceive() to read from a message buffer from a task. Use
* xMessageBufferReceiveFromISR() to read from a message buffer from an
* interrupt service routine (ISR).
*
* @param xMessageBuffer The handle of the message buffer from which a message
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received message is
* to be copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
* parameter. This sets the maximum length of the message that can be received.
* If xBufferLengthBytes is too small to hold the next message then the message
* will be left in the message buffer and 0 will be returned.
*
* @param xTicksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for a message, should the message buffer be empty.
* xMessageBufferReceive() will return immediately if xTicksToWait is zero and
* the message buffer is empty. The block time is specified in tick periods, so
* the absolute time it represents is dependent on the tick frequency. The
* macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
*
* @return The length, in bytes, of the message read from the message buffer, if
* any. If xMessageBufferReceive() times out before a message became available
* then zero is returned. If the length of the message is greater than
* xBufferLengthBytes then the message will be left in the message buffer and
* zero is returned.
*
* Example use:
* @code{c}
* void vAFunction( MessageBuffer_t xMessageBuffer )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
*
* // Receive the next message from the message buffer. Wait in the Blocked
* // state (so not using any CPU processing time) for a maximum of 100ms for
* // a message to become available.
* xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* xBlockTime );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains a message that is xReceivedBytes long. Process
* // the message here....
* }
* }
* @endcode
* \defgroup xMessageBufferReceive xMessageBufferReceive
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \
xStreamBufferReceive( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( xTicksToWait ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* An interrupt safe version of the API function that receives a discrete
* message from a message buffer. Messages can be of variable length and are
* copied out of the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferReceive() to read from a message buffer from a task. Use
* xMessageBufferReceiveFromISR() to read from a message buffer from an
* interrupt service routine (ISR).
*
* @param xMessageBuffer The handle of the message buffer from which a message
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received message is
* to be copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
* parameter. This sets the maximum length of the message that can be received.
* If xBufferLengthBytes is too small to hold the next message then the message
* will be left in the message buffer and 0 will be returned.
*
* @param pxHigherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for space to become available. Calling
* xMessageBufferReceiveFromISR() can make space available, and so cause a task
* that is waiting for space to leave the Blocked state. If calling
* xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and
* the unblocked task has a priority higher than the currently executing task
* (the task that was interrupted), then, internally,
* xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
* If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. That will
* ensure the interrupt returns directly to the highest priority Ready state
* task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
* passed into the function. See the code example below for an example.
*
* @return The length, in bytes, of the message read from the message buffer, if
* any.
*
* Example use:
* @code{c}
* // A message buffer that has already been created.
* MessageBuffer_t xMessageBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Receive the next message from the message buffer.
* xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* &xHigherPriorityTaskWoken );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains a message that is xReceivedBytes long. Process
* // the message here....
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xMessageBufferReceiveFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \
xStreamBufferReceiveFromISR( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Deletes a message buffer that was previously created using a call to
* xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message
* buffer was created using dynamic memory (that is, by xMessageBufferCreate()),
* then the allocated memory is freed.
*
* A message buffer handle must not be used after the message buffer has been
* deleted.
*
* @param xMessageBuffer The handle of the message buffer to be deleted.
*
*/
#define vMessageBufferDelete( xMessageBuffer ) \
vStreamBufferDelete( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Tests to see if a message buffer is full. A message buffer is full if it
* cannot accept any more messages, of any size, until space is made available
* by a message being removed from the message buffer.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return If the message buffer referenced by xMessageBuffer is full then
* pdTRUE is returned. Otherwise pdFALSE is returned.
*/
#define xMessageBufferIsFull( xMessageBuffer ) \
xStreamBufferIsFull( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Tests to see if a message buffer is empty (does not contain any messages).
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return If the message buffer referenced by xMessageBuffer is empty then
* pdTRUE is returned. Otherwise pdFALSE is returned.
*
*/
#define xMessageBufferIsEmpty( xMessageBuffer ) \
xStreamBufferIsEmpty( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Resets a message buffer to its initial empty state, discarding any message it
* contained.
*
* A message buffer can only be reset if there are no tasks blocked on it.
*
* @param xMessageBuffer The handle of the message buffer being reset.
*
* @return If the message buffer was reset then pdPASS is returned. If the
* message buffer could not be reset because either there was a task blocked on
* the message queue to wait for space to become available, or to wait for a
* a message to be available, then pdFAIL is returned.
*
* \defgroup xMessageBufferReset xMessageBufferReset
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReset( xMessageBuffer ) \
xStreamBufferReset( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer );
* @endcode
* Returns the number of bytes of free space in the message buffer.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return The number of bytes that can be written to the message buffer before
* the message buffer would be full. When a message is written to the message
* buffer an additional sizeof( size_t ) bytes are also written to store the
* message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
* of the largest message that can be written to the message buffer is 6 bytes.
*
* \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSpaceAvailable( xMessageBuffer ) \
xStreamBufferSpacesAvailable( xMessageBuffer )
#define xMessageBufferSpacesAvailable( xMessageBuffer ) \
xStreamBufferSpacesAvailable( xMessageBuffer ) /* Corrects typo in original macro name. */
/**
* message_buffer.h
* @code{c}
* size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer );
* @endcode
* Returns the length (in bytes) of the next message in a message buffer.
* Useful if xMessageBufferReceive() returned 0 because the size of the buffer
* passed into xMessageBufferReceive() was too small to hold the next message.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return The length (in bytes) of the next message in the message buffer, or 0
* if the message buffer is empty.
*
* \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
* \ingroup MessageBufferManagement
*/
#define xMessageBufferNextLengthBytes( xMessageBuffer ) \
xStreamBufferNextMessageLengthBytes( xMessageBuffer ) PRIVILEGED_FUNCTION;
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is sent to a message buffer or stream buffer. If there was a task that
* was blocked on the message or stream buffer waiting for data to arrive then
* the sbSEND_COMPLETED() macro sends a notification to the task to remove it
* from the Blocked state. xMessageBufferSendCompletedFromISR() does the same
* thing. It is provided to enable application writers to implement their own
* version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* @param xMessageBuffer The handle of the stream buffer to which data was
* written.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xMessageBufferSendCompletedFromISR(). If calling
* xMessageBufferSendCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
* \ingroup StreamBufferManagement
*/
#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
xStreamBufferSendCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is read out of a message buffer or stream buffer. If there was a task
* that was blocked on the message or stream buffer waiting for data to arrive
* then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
* remove it from the Blocked state. xMessageBufferReceiveCompletedFromISR()
* does the same thing. It is provided to enable application writers to
* implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
* ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* @param xMessageBuffer The handle of the stream buffer from which data was
* read.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xMessageBufferReceiveCompletedFromISR(). If calling
* xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
* \ingroup StreamBufferManagement
*/
#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
xStreamBufferReceiveCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
/* *INDENT-OFF* */
#if defined( __cplusplus )
} /* extern "C" */
#endif
/* *INDENT-ON* */
#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* When the MPU is used the standard (non MPU) API functions are mapped to
* equivalents that start "MPU_", the prototypes for which are defined in this
* header files. This will cause the application code to call the MPU_ version
* which wraps the non-MPU version with privilege promoting then demoting code,
* so the kernel code always runs will full privileges.
*/
#ifndef MPU_PROTOTYPES_H
#define MPU_PROTOTYPES_H
/* MPU versions of task.h API functions. */
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint16_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetInfo( TaskHandle_t xTask,
TaskStatus_t * pxTaskStatus,
BaseType_t xGetFreeStackSpace,
eTaskState eState ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskPrioritySet( TaskHandle_t xTask,
UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask,
TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue ) FREERTOS_SYSTEM_CALL;
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
void * pvParameter ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
const UBaseType_t uxArraySize,
configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercent( void ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetRunTimeStats( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear,
uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
/* MPU versions of queue.h API functions. */
BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue,
const void * const pvItemToQueue,
TickType_t xTicksToWait,
const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount,
StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueAddToRegistry( QueueHandle_t xQueue,
const char * pcName ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue,
UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
/* MPU versions of timers.h API functions. */
TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL;
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction,
StaticTimer_t * pxTimerBuffer ) FREERTOS_SYSTEM_CALL;
void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetTimerID( TimerHandle_t xTimer,
void * pvNewID ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
void * pvParameter1,
uint32_t ulParameter2,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
/* MPU versions of event_group.h API functions. */
EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL;
/* MPU versions of message/stream_buffer.h API functions. */
size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) FREERTOS_SYSTEM_CALL;
StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) FREERTOS_SYSTEM_CALL;
#endif /* MPU_PROTOTYPES_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef MPU_WRAPPERS_H
#define MPU_WRAPPERS_H
/* This file redefines API functions to be called through a wrapper macro, but
* only for ports that are using the MPU. */
#if ( portUSING_MPU_WRAPPERS == 1 )
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
* included from queue.c or task.c to prevent it from having an effect within
* those files. */
#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/*
* Map standard (non MPU) API functions to equivalents that start
* "MPU_". This will cause the application code to call the MPU_
* version, which wraps the non-MPU version with privilege promoting
* then demoting code, so the kernel code always runs will full
* privileges.
*/
/* Map standard task.h API functions to the MPU equivalents. */
#define xTaskCreate MPU_xTaskCreate
#define xTaskCreateStatic MPU_xTaskCreateStatic
#define vTaskDelete MPU_vTaskDelete
#define vTaskDelay MPU_vTaskDelay
#define xTaskDelayUntil MPU_xTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState
#define vTaskGetInfo MPU_vTaskGetInfo
#define vTaskPrioritySet MPU_vTaskPrioritySet
#define vTaskSuspend MPU_vTaskSuspend
#define vTaskResume MPU_vTaskResume
#define vTaskSuspendAll MPU_vTaskSuspendAll
#define xTaskResumeAll MPU_xTaskResumeAll
#define xTaskGetTickCount MPU_xTaskGetTickCount
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
#define pcTaskGetName MPU_pcTaskGetName
#define xTaskGetHandle MPU_xTaskGetHandle
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
#define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
#define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer
#define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define uxTaskGetSystemState MPU_uxTaskGetSystemState
#define vTaskList MPU_vTaskList
#define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
#define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter
#define ulTaskGetIdleRunTimePercent MPU_ulTaskGetIdleRunTimePercent
#define xTaskGenericNotify MPU_xTaskGenericNotify
#define xTaskGenericNotifyWait MPU_xTaskGenericNotifyWait
#define ulTaskGenericNotifyTake MPU_ulTaskGenericNotifyTake
#define xTaskGenericNotifyStateClear MPU_xTaskGenericNotifyStateClear
#define ulTaskGenericNotifyValueClear MPU_ulTaskGenericNotifyValueClear
#define xTaskCatchUpTicks MPU_xTaskCatchUpTicks
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
#define vTaskSetTimeOutState MPU_vTaskSetTimeOutState
#define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
/* Map standard queue.h API functions to the MPU equivalents. */
#define xQueueGenericSend MPU_xQueueGenericSend
#define xQueueReceive MPU_xQueueReceive
#define xQueuePeek MPU_xQueuePeek
#define xQueueSemaphoreTake MPU_xQueueSemaphoreTake
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
#define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable
#define vQueueDelete MPU_vQueueDelete
#define xQueueCreateMutex MPU_xQueueCreateMutex
#define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
#define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic
#define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
#define xQueueGenericCreate MPU_xQueueGenericCreate
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
#define xQueueCreateSet MPU_xQueueCreateSet
#define xQueueAddToSet MPU_xQueueAddToSet
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#define xQueueSelectFromSet MPU_xQueueSelectFromSet
#define xQueueGenericReset MPU_xQueueGenericReset
#if ( configQUEUE_REGISTRY_SIZE > 0 )
#define vQueueAddToRegistry MPU_vQueueAddToRegistry
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
#define pcQueueGetName MPU_pcQueueGetName
#endif
/* Map standard timer.h API functions to the MPU equivalents. */
#define pvTimerGetTimerID MPU_pvTimerGetTimerID
#define vTimerSetTimerID MPU_vTimerSetTimerID
#define xTimerIsTimerActive MPU_xTimerIsTimerActive
#define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
#define pcTimerGetName MPU_pcTimerGetName
#define vTimerSetReloadMode MPU_vTimerSetReloadMode
#define uxTimerGetReloadMode MPU_uxTimerGetReloadMode
#define xTimerGetPeriod MPU_xTimerGetPeriod
#define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
#define xTimerGenericCommand MPU_xTimerGenericCommand
/* Map standard event_group.h API functions to the MPU equivalents. */
#define xEventGroupCreate MPU_xEventGroupCreate
#define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
#define xEventGroupWaitBits MPU_xEventGroupWaitBits
#define xEventGroupClearBits MPU_xEventGroupClearBits
#define xEventGroupSetBits MPU_xEventGroupSetBits
#define xEventGroupSync MPU_xEventGroupSync
#define vEventGroupDelete MPU_vEventGroupDelete
/* Map standard message/stream_buffer.h API functions to the MPU
* equivalents. */
#define xStreamBufferSend MPU_xStreamBufferSend
#define xStreamBufferReceive MPU_xStreamBufferReceive
#define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes
#define vStreamBufferDelete MPU_vStreamBufferDelete
#define xStreamBufferIsFull MPU_xStreamBufferIsFull
#define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty
#define xStreamBufferReset MPU_xStreamBufferReset
#define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable
#define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable
#define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel
#define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate
#define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic
/* Remove the privileged function macro, but keep the PRIVILEGED_DATA
* macro so applications can place data in privileged access sections
* (useful when using statically allocated objects). */
#define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) )
#define FREERTOS_SYSTEM_CALL
#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
/* Ensure API functions go in the privileged execution section. */
#define PRIVILEGED_FUNCTION __attribute__( ( section( "privileged_functions" ) ) )
#define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) )
#define FREERTOS_SYSTEM_CALL __attribute__( ( section( "freertos_system_calls" ) ) )
#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#else /* portUSING_MPU_WRAPPERS */
#define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA
#define FREERTOS_SYSTEM_CALL
#endif /* portUSING_MPU_WRAPPERS */
#endif /* MPU_WRAPPERS_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*-----------------------------------------------------------
* Portable layer API. Each function must be defined for each port.
*----------------------------------------------------------*/
#ifndef PORTABLE_H
#define PORTABLE_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
* pre-processor definition was used to ensure the pre-processor found the correct
* portmacro.h file for the port being used. That scheme was deprecated in favour
* of setting the compiler's include path such that it found the correct
* portmacro.h file - removing the need for the constant and allowing the
* portmacro.h file to be located anywhere in relation to the port being used.
* Purely for reasons of backward compatibility the old method is still valid, but
* to make it clear that new projects should not use it, support for the port
* specific constants has been moved into the deprecated_definitions.h header
* file. */
#include "deprecated_definitions.h"
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
* did not result in a portmacro.h header file being included - and it should be
* included here. In this case the path to the correct portmacro.h header file
* must be set in the compiler's include path. */
#ifndef portENTER_CRITICAL
#include "portmacro.h"
#endif
#if portBYTE_ALIGNMENT == 32
#define portBYTE_ALIGNMENT_MASK ( 0x001f )
#elif portBYTE_ALIGNMENT == 16
#define portBYTE_ALIGNMENT_MASK ( 0x000f )
#elif portBYTE_ALIGNMENT == 8
#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
#elif portBYTE_ALIGNMENT == 4
#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
#elif portBYTE_ALIGNMENT == 2
#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
#elif portBYTE_ALIGNMENT == 1
#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
#else /* if portBYTE_ALIGNMENT == 32 */
#error "Invalid portBYTE_ALIGNMENT definition"
#endif /* if portBYTE_ALIGNMENT == 32 */
#ifndef portUSING_MPU_WRAPPERS
#define portUSING_MPU_WRAPPERS 0
#endif
#ifndef portNUM_CONFIGURABLE_REGIONS
#define portNUM_CONFIGURABLE_REGIONS 1
#endif
#ifndef portHAS_STACK_OVERFLOW_CHECKING
#define portHAS_STACK_OVERFLOW_CHECKING 0
#endif
#ifndef portARCH_NAME
#define portARCH_NAME NULL
#endif
#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP
/* Defaults to 0 for backward compatibility. */
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
#endif
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
#include "mpu_wrappers.h"
/*
* Setup the stack of a new task so it is ready to be placed under the
* scheduler control. The registers have to be placed on the stack in
* the order that the port expects to find them.
*
*/
#if ( portUSING_MPU_WRAPPERS == 1 )
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack,
TaskFunction_t pxCode,
void * pvParameters,
BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
#else
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters,
BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
#endif
#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack,
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION;
#else
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION;
#endif
#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */
/* Used by heap_5.c to define the start address and size of each memory region
* that together comprise the total FreeRTOS heap space. */
typedef struct HeapRegion
{
uint8_t * pucStartAddress;
size_t xSizeInBytes;
} HeapRegion_t;
/* Used to pass information about the heap out of vPortGetHeapStats(). */
typedef struct xHeapStats
{
size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */
} HeapStats_t;
/*
* Used to define multiple heap regions for use by heap_5.c. This function
* must be called before any calls to pvPortMalloc() - not creating a task,
* queue, semaphore, mutex, software timer, event group, etc. will result in
* pvPortMalloc being called.
*
* pxHeapRegions passes in an array of HeapRegion_t structures - each of which
* defines a region of memory that can be used as the heap. The array is
* terminated by a HeapRegions_t structure that has a size of 0. The region
* with the lowest start address must appear first in the array.
*/
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
/*
* Returns a HeapStats_t structure filled with information about the current
* heap state.
*/
void vPortGetHeapStats( HeapStats_t * pxHeapStats );
/*
* Map to the memory management routines required for the port.
*/
void * pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
void * pvPortCalloc( size_t xNum,
size_t xSize ) PRIVILEGED_FUNCTION;
void vPortFree( void * pv ) PRIVILEGED_FUNCTION;
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
#if ( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
void * pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION;
void vPortFreeStack( void * pv ) PRIVILEGED_FUNCTION;
#else
#define pvPortMallocStack pvPortMalloc
#define vPortFreeStack vPortFree
#endif
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
/**
* task.h
* @code{c}
* void vApplicationMallocFailedHook( void )
* @endcode
*
* This hook function is called when allocation failed.
*/
void vApplicationMallocFailedHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
#endif
/*
* Setup the hardware ready for the scheduler to take control. This generally
* sets up a tick interrupt and sets timers for the correct tick frequency.
*/
BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
/*
* Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
* the hardware is left in its original condition after the scheduler stops
* executing.
*/
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
/*
* The structures and methods of manipulating the MPU are contained within the
* port layer.
*
* Fills the xMPUSettings structure with the memory region information
* contained in xRegions.
*/
#if ( portUSING_MPU_WRAPPERS == 1 )
struct xMEMORY_REGION;
void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
const struct xMEMORY_REGION * const xRegions,
StackType_t * pxBottomOfStack,
uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
#endif
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* PORTABLE_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
#ifdef __cplusplus
extern "C" {
#endif
#include "chip.h"
#include "board.h"
/*-----------------------------------------------------------
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
*
* These settings should not be altered.
*-----------------------------------------------------------
*/
/* Type definitions. */
#define portCHAR char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
#define portSTACK_TYPE uint32_t
#define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t;
typedef unsigned long UBaseType_t;
#if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
* not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1
#endif
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYield( void );
#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } while( 0 )
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
extern uint32_t ulSetInterruptMaskFromISR( void ) __attribute__( ( naked ) );
extern void vClearInterruptMaskFromISR( uint32_t ulMask ) __attribute__( ( naked ) );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMaskFromISR( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portNOP()
#define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef PROJDEFS_H
#define PROJDEFS_H
/*
* Defines the prototype to which task functions must conform. Defined in this
* file to ensure the type is known before portable.h is included.
*/
typedef void (* TaskFunction_t)( void * );
/* Converts a time in milliseconds to a time in ticks. This macro can be
* overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
* definition here is not suitable for your application. */
#ifndef pdMS_TO_TICKS
#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000U ) )
#endif
#define pdFALSE ( ( BaseType_t ) 0 )
#define pdTRUE ( ( BaseType_t ) 1 )
#define pdPASS ( pdTRUE )
#define pdFAIL ( pdFALSE )
#define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
#define errQUEUE_FULL ( ( BaseType_t ) 0 )
/* FreeRTOS error definitions. */
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
#define errQUEUE_BLOCKED ( -4 )
#define errQUEUE_YIELD ( -5 )
/* Macros used for basic data corruption checks. */
#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
#endif
#if ( configUSE_16_BIT_TICKS == 1 )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a
#else
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
#endif
/* The following errno values are used by FreeRTOS+ components, not FreeRTOS
* itself. */
#define pdFREERTOS_ERRNO_NONE 0 /* No errors */
#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */
#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS
* itself. */
#define pdFREERTOS_LITTLE_ENDIAN 0
#define pdFREERTOS_BIG_ENDIAN 1
/* Re-defining endian values for generic naming. */
#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN
#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN
#endif /* PROJDEFS_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef STACK_MACROS_H
#define STACK_MACROS_H
/*
* Call the stack overflow hook function if the stack of the task being swapped
* out is currently overflowed, or looks like it might have overflowed in the
* past.
*
* Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
* the current stack state only - comparing the current top of stack value to
* the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
* will also cause the last few stack bytes to be checked to ensure the value
* to which the bytes were set when the task was created have not been
* overwritten. Note this second test does not guarantee that an overflowed
* stack will always be recognised.
*/
/*-----------------------------------------------------------*/
/*
* portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
* use on the stack.
*/
#ifndef portSTACK_LIMIT_PADDING
#define portSTACK_LIMIT_PADDING 0
#endif
#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
\
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
\
if( ( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
\
\
pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
\
/* Has the extremity of the task stack ever been written over? */ \
if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW()
#endif
#endif /* STACK_MACROS_H */

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Stream buffers are used to send a continuous stream of data from one task or
* interrupt to another. Their implementation is light weight, making them
* particularly suited for interrupt to task and core to core communication
* scenarios.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xStreamBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xStreamBufferReceive()) inside a critical section section and set the
* receive block time to 0.
*
*/
#ifndef STREAM_BUFFER_H
#define STREAM_BUFFER_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
#endif
/* *INDENT-OFF* */
#if defined( __cplusplus )
extern "C" {
#endif
/* *INDENT-ON* */
/**
* Type by which stream buffers are referenced. For example, a call to
* xStreamBufferCreate() returns an StreamBufferHandle_t variable that can
* then be used as a parameter to xStreamBufferSend(), xStreamBufferReceive(),
* etc.
*/
struct StreamBufferDef_t;
typedef struct StreamBufferDef_t * StreamBufferHandle_t;
/**
* Type used as a stream buffer's optional callback.
*/
typedef void (* StreamBufferCallbackFunction_t)( StreamBufferHandle_t xStreamBuffer,
BaseType_t xIsInsideISR,
BaseType_t * const pxHigherPriorityTaskWoken );
/**
* stream_buffer.h
*
* @code{c}
* StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
* @endcode
*
* Creates a new stream buffer using dynamically allocated memory. See
* xStreamBufferCreateStatic() for a version that uses statically allocated
* memory (memory that is allocated at compile time).
*
* configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
* FreeRTOSConfig.h for xStreamBufferCreate() to be available.
*
* @param xBufferSizeBytes The total number of bytes the stream buffer will be
* able to hold at any one time.
*
* @param xTriggerLevelBytes The number of bytes that must be in the stream
* buffer before a task that is blocked on the stream buffer to wait for data is
* moved out of the blocked state. For example, if a task is blocked on a read
* of an empty stream buffer that has a trigger level of 1 then the task will be
* unblocked when a single byte is written to the buffer or the task's block
* time expires. As another example, if a task is blocked on a read of an empty
* stream buffer that has a trigger level of 10 then the task will not be
* unblocked until the stream buffer contains at least 10 bytes or the task's
* block time expires. If a reading task's block time expires before the
* trigger level is reached then the task will still receive however many bytes
* are actually available. Setting a trigger level of 0 will result in a
* trigger level of 1 being used. It is not valid to specify a trigger level
* that is greater than the buffer size.
*
* @param pxSendCompletedCallback Callback invoked when number of bytes at least equal to
* trigger level is sent to the stream buffer. If the parameter is NULL, it will use the default
* implementation provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when more than zero bytes are read from a
* stream buffer. If the parameter is NULL, it will use the default
* implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If NULL is returned, then the stream buffer cannot be created
* because there is insufficient heap memory available for FreeRTOS to allocate
* the stream buffer data structures and storage area. A non-NULL value being
* returned indicates that the stream buffer has been created successfully -
* the returned value should be stored as the handle to the created stream
* buffer.
*
* Example use:
* @code{c}
*
* void vAFunction( void )
* {
* StreamBufferHandle_t xStreamBuffer;
* const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
*
* // Create a stream buffer that can hold 100 bytes. The memory used to hold
* // both the stream buffer structure and the data in the stream buffer is
* // allocated dynamically.
* xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
*
* if( xStreamBuffer == NULL )
* {
* // There was not enough heap memory space available to create the
* // stream buffer.
* }
* else
* {
* // The stream buffer was created successfully and can now be used.
* }
* }
* @endcode
* \defgroup xStreamBufferCreate xStreamBufferCreate
* \ingroup StreamBufferManagement
*/
#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xStreamBufferCreateWithCallback( xBufferSizeBytes, xTriggerLevelBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* stream_buffer.h
*
* @code{c}
* StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
* size_t xTriggerLevelBytes,
* uint8_t *pucStreamBufferStorageArea,
* StaticStreamBuffer_t *pxStaticStreamBuffer );
* @endcode
* Creates a new stream buffer using statically allocated memory. See
* xStreamBufferCreate() for a version that uses dynamically allocated memory.
*
* configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h for
* xStreamBufferCreateStatic() to be available.
*
* @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
* pucStreamBufferStorageArea parameter.
*
* @param xTriggerLevelBytes The number of bytes that must be in the stream
* buffer before a task that is blocked on the stream buffer to wait for data is
* moved out of the blocked state. For example, if a task is blocked on a read
* of an empty stream buffer that has a trigger level of 1 then the task will be
* unblocked when a single byte is written to the buffer or the task's block
* time expires. As another example, if a task is blocked on a read of an empty
* stream buffer that has a trigger level of 10 then the task will not be
* unblocked until the stream buffer contains at least 10 bytes or the task's
* block time expires. If a reading task's block time expires before the
* trigger level is reached then the task will still receive however many bytes
* are actually available. Setting a trigger level of 0 will result in a
* trigger level of 1 being used. It is not valid to specify a trigger level
* that is greater than the buffer size.
*
* @param pucStreamBufferStorageArea Must point to a uint8_t array that is at
* least xBufferSizeBytes big. This is the array to which streams are
* copied when they are written to the stream buffer.
*
* @param pxStaticStreamBuffer Must point to a variable of type
* StaticStreamBuffer_t, which will be used to hold the stream buffer's data
* structure.
*
* @param pxSendCompletedCallback Callback invoked when number of bytes at least equal to
* trigger level is sent to the stream buffer. If the parameter is NULL, it will use the default
* implementation provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when more than zero bytes are read from a
* stream buffer. If the parameter is NULL, it will use the default
* implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If the stream buffer is created successfully then a handle to the
* created stream buffer is returned. If either pucStreamBufferStorageArea or
* pxStaticstreamBuffer are NULL then NULL is returned.
*
* Example use:
* @code{c}
*
* // Used to dimension the array used to hold the streams. The available space
* // will actually be one less than this, so 999.
#define STORAGE_SIZE_BYTES 1000
*
* // Defines the memory that will actually hold the streams within the stream
* // buffer.
* static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
*
* // The variable used to hold the stream buffer structure.
* StaticStreamBuffer_t xStreamBufferStruct;
*
* void MyFunction( void )
* {
* StreamBufferHandle_t xStreamBuffer;
* const size_t xTriggerLevel = 1;
*
* xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucStorageBuffer ),
* xTriggerLevel,
* ucStorageBuffer,
* &xStreamBufferStruct );
*
* // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
* // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
* // reference the created stream buffer in other stream buffer API calls.
*
* // Other code that uses the stream buffer can go here.
* }
*
* @endcode
* \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic
* \ingroup StreamBufferManagement
*/
#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, ( pucStreamBufferStorageArea ), ( pxStaticStreamBuffer ), NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xStreamBufferCreateStaticWithCallback( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, ( pucStreamBufferStorageArea ), ( pxStaticStreamBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* stream_buffer.h
*
* @code{c}
* size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Sends bytes to a stream buffer. The bytes are copied into the stream buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xStreamBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xStreamBufferReceive()) inside a critical section and set the receive
* block time to 0.
*
* Use xStreamBufferSend() to write to a stream buffer from a task. Use
* xStreamBufferSendFromISR() to write to a stream buffer from an interrupt
* service routine (ISR).
*
* @param xStreamBuffer The handle of the stream buffer to which a stream is
* being sent.
*
* @param pvTxData A pointer to the buffer that holds the bytes to be copied
* into the stream buffer.
*
* @param xDataLengthBytes The maximum number of bytes to copy from pvTxData
* into the stream buffer.
*
* @param xTicksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for enough space to become available in the stream
* buffer, should the stream buffer contain too little space to hold the
* another xDataLengthBytes bytes. The block time is specified in tick periods,
* so the absolute time it represents is dependent on the tick frequency. The
* macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. If a task times out
* before it can write all xDataLengthBytes into the buffer it will still write
* as many bytes as possible. A task does not use any CPU time when it is in
* the blocked state.
*
* @return The number of bytes written to the stream buffer. If a task times
* out before it can write all xDataLengthBytes into the buffer it will still
* write as many bytes as possible.
*
* Example use:
* @code{c}
* void vAFunction( StreamBufferHandle_t xStreamBuffer )
* {
* size_t xBytesSent;
* uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
* char *pcStringToSend = "String to send";
* const TickType_t x100ms = pdMS_TO_TICKS( 100 );
*
* // Send an array to the stream buffer, blocking for a maximum of 100ms to
* // wait for enough space to be available in the stream buffer.
* xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
*
* if( xBytesSent != sizeof( ucArrayToSend ) )
* {
* // The call to xStreamBufferSend() times out before there was enough
* // space in the buffer for the data to be written, but it did
* // successfully write xBytesSent bytes.
* }
*
* // Send the string to the stream buffer. Return immediately if there is not
* // enough space in the buffer.
* xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The entire string could not be added to the stream buffer because
* // there was not enough free space in the buffer, but xBytesSent bytes
* // were sent. Could try again to send the remaining bytes.
* }
* }
* @endcode
* \defgroup xStreamBufferSend xStreamBufferSend
* \ingroup StreamBufferManagement
*/
size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* Interrupt safe version of the API function that sends a stream of bytes to
* the stream buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xStreamBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xStreamBufferReceive()) inside a critical section and set the receive
* block time to 0.
*
* Use xStreamBufferSend() to write to a stream buffer from a task. Use
* xStreamBufferSendFromISR() to write to a stream buffer from an interrupt
* service routine (ISR).
*
* @param xStreamBuffer The handle of the stream buffer to which a stream is
* being sent.
*
* @param pvTxData A pointer to the data that is to be copied into the stream
* buffer.
*
* @param xDataLengthBytes The maximum number of bytes to copy from pvTxData
* into the stream buffer.
*
* @param pxHigherPriorityTaskWoken It is possible that a stream buffer will
* have a task blocked on it waiting for data. Calling
* xStreamBufferSendFromISR() can make data available, and so cause a task that
* was waiting for data to leave the Blocked state. If calling
* xStreamBufferSendFromISR() causes a task to leave the Blocked state, and the
* unblocked task has a priority higher than the currently executing task (the
* task that was interrupted), then, internally, xStreamBufferSendFromISR()
* will set *pxHigherPriorityTaskWoken to pdTRUE. If
* xStreamBufferSendFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. This will
* ensure that the interrupt returns directly to the highest priority Ready
* state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it
* is passed into the function. See the example code below for an example.
*
* @return The number of bytes actually written to the stream buffer, which will
* be less than xDataLengthBytes if the stream buffer didn't have enough free
* space for all the bytes to be written.
*
* Example use:
* @code{c}
* // A stream buffer that has already been created.
* StreamBufferHandle_t xStreamBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* size_t xBytesSent;
* char *pcStringToSend = "String to send";
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Attempt to send the string to the stream buffer.
* xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
* ( void * ) pcStringToSend,
* strlen( pcStringToSend ),
* &xHigherPriorityTaskWoken );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // There was not enough free space in the stream buffer for the entire
* // string to be written, ut xBytesSent bytes were written.
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xStreamBufferSendFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR
* \ingroup StreamBufferManagement
*/
size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Receives bytes from a stream buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xStreamBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xStreamBufferReceive()) inside a critical section and set the receive
* block time to 0.
*
* Use xStreamBufferReceive() to read from a stream buffer from a task. Use
* xStreamBufferReceiveFromISR() to read from a stream buffer from an
* interrupt service routine (ISR).
*
* @param xStreamBuffer The handle of the stream buffer from which bytes are to
* be received.
*
* @param pvRxData A pointer to the buffer into which the received bytes will be
* copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the
* pvRxData parameter. This sets the maximum number of bytes to receive in one
* call. xStreamBufferReceive will return as many bytes as possible up to a
* maximum set by xBufferLengthBytes.
*
* @param xTicksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for data to become available if the stream buffer is
* empty. xStreamBufferReceive() will return immediately if xTicksToWait is
* zero. The block time is specified in tick periods, so the absolute time it
* represents is dependent on the tick frequency. The macro pdMS_TO_TICKS() can
* be used to convert a time specified in milliseconds into a time specified in
* ticks. Setting xTicksToWait to portMAX_DELAY will cause the task to wait
* indefinitely (without timing out), provided INCLUDE_vTaskSuspend is set to 1
* in FreeRTOSConfig.h. A task does not use any CPU time when it is in the
* Blocked state.
*
* @return The number of bytes actually read from the stream buffer, which will
* be less than xBufferLengthBytes if the call to xStreamBufferReceive() timed
* out before xBufferLengthBytes were available.
*
* Example use:
* @code{c}
* void vAFunction( StreamBuffer_t xStreamBuffer )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
*
* // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
* // Wait in the Blocked state (so not using any CPU processing time) for a
* // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
* // available.
* xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* xBlockTime );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains another xReceivedBytes bytes of data, which can
* // be processed here....
* }
* }
* @endcode
* \defgroup xStreamBufferReceive xStreamBufferReceive
* \ingroup StreamBufferManagement
*/
size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* An interrupt safe version of the API function that receives bytes from a
* stream buffer.
*
* Use xStreamBufferReceive() to read bytes from a stream buffer from a task.
* Use xStreamBufferReceiveFromISR() to read bytes from a stream buffer from an
* interrupt service routine (ISR).
*
* @param xStreamBuffer The handle of the stream buffer from which a stream
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received bytes are
* copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the
* pvRxData parameter. This sets the maximum number of bytes to receive in one
* call. xStreamBufferReceive will return as many bytes as possible up to a
* maximum set by xBufferLengthBytes.
*
* @param pxHigherPriorityTaskWoken It is possible that a stream buffer will
* have a task blocked on it waiting for space to become available. Calling
* xStreamBufferReceiveFromISR() can make space available, and so cause a task
* that is waiting for space to leave the Blocked state. If calling
* xStreamBufferReceiveFromISR() causes a task to leave the Blocked state, and
* the unblocked task has a priority higher than the currently executing task
* (the task that was interrupted), then, internally,
* xStreamBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
* If xStreamBufferReceiveFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. That will
* ensure the interrupt returns directly to the highest priority Ready state
* task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
* passed into the function. See the code example below for an example.
*
* @return The number of bytes read from the stream buffer, if any.
*
* Example use:
* @code{c}
* // A stream buffer that has already been created.
* StreamBuffer_t xStreamBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Receive the next stream from the stream buffer.
* xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* &xHigherPriorityTaskWoken );
*
* if( xReceivedBytes > 0 )
* {
* // ucRxData contains xReceivedBytes read from the stream buffer.
* // Process the stream here....
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xStreamBufferReceiveFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR
* \ingroup StreamBufferManagement
*/
size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
* @endcode
*
* Deletes a stream buffer that was previously created using a call to
* xStreamBufferCreate() or xStreamBufferCreateStatic(). If the stream
* buffer was created using dynamic memory (that is, by xStreamBufferCreate()),
* then the allocated memory is freed.
*
* A stream buffer handle must not be used after the stream buffer has been
* deleted.
*
* @param xStreamBuffer The handle of the stream buffer to be deleted.
*
* \defgroup vStreamBufferDelete vStreamBufferDelete
* \ingroup StreamBufferManagement
*/
void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
* @endcode
*
* Queries a stream buffer to see if it is full. A stream buffer is full if it
* does not have any free space, and therefore cannot accept any more data.
*
* @param xStreamBuffer The handle of the stream buffer being queried.
*
* @return If the stream buffer is full then pdTRUE is returned. Otherwise
* pdFALSE is returned.
*
* \defgroup xStreamBufferIsFull xStreamBufferIsFull
* \ingroup StreamBufferManagement
*/
BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
* @endcode
*
* Queries a stream buffer to see if it is empty. A stream buffer is empty if
* it does not contain any data.
*
* @param xStreamBuffer The handle of the stream buffer being queried.
*
* @return If the stream buffer is empty then pdTRUE is returned. Otherwise
* pdFALSE is returned.
*
* \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty
* \ingroup StreamBufferManagement
*/
BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
* @endcode
*
* Resets a stream buffer to its initial, empty, state. Any data that was in
* the stream buffer is discarded. A stream buffer can only be reset if there
* are no tasks blocked waiting to either send to or receive from the stream
* buffer.
*
* @param xStreamBuffer The handle of the stream buffer being reset.
*
* @return If the stream buffer is reset then pdPASS is returned. If there was
* a task blocked waiting to send to or read from the stream buffer then the
* stream buffer is not reset and pdFAIL is returned.
*
* \defgroup xStreamBufferReset xStreamBufferReset
* \ingroup StreamBufferManagement
*/
BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
* @endcode
*
* Queries a stream buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the stream buffer before it
* is full.
*
* @param xStreamBuffer The handle of the stream buffer being queried.
*
* @return The number of bytes that can be written to the stream buffer before
* the stream buffer would be full.
*
* \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable
* \ingroup StreamBufferManagement
*/
size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
* @endcode
*
* Queries a stream buffer to see how much data it contains, which is equal to
* the number of bytes that can be read from the stream buffer before the stream
* buffer would be empty.
*
* @param xStreamBuffer The handle of the stream buffer being queried.
*
* @return The number of bytes that can be read from the stream buffer before
* the stream buffer would be empty.
*
* \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable
* \ingroup StreamBufferManagement
*/
size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
* @endcode
*
* A stream buffer's trigger level is the number of bytes that must be in the
* stream buffer before a task that is blocked on the stream buffer to
* wait for data is moved out of the blocked state. For example, if a task is
* blocked on a read of an empty stream buffer that has a trigger level of 1
* then the task will be unblocked when a single byte is written to the buffer
* or the task's block time expires. As another example, if a task is blocked
* on a read of an empty stream buffer that has a trigger level of 10 then the
* task will not be unblocked until the stream buffer contains at least 10 bytes
* or the task's block time expires. If a reading task's block time expires
* before the trigger level is reached then the task will still receive however
* many bytes are actually available. Setting a trigger level of 0 will result
* in a trigger level of 1 being used. It is not valid to specify a trigger
* level that is greater than the buffer size.
*
* A trigger level is set when the stream buffer is created, and can be modified
* using xStreamBufferSetTriggerLevel().
*
* @param xStreamBuffer The handle of the stream buffer being updated.
*
* @param xTriggerLevel The new trigger level for the stream buffer.
*
* @return If xTriggerLevel was less than or equal to the stream buffer's length
* then the trigger level will be updated and pdTRUE is returned. Otherwise
* pdFALSE is returned.
*
* \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel
* \ingroup StreamBufferManagement
*/
BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is sent to a message buffer or stream buffer. If there was a task that
* was blocked on the message or stream buffer waiting for data to arrive then
* the sbSEND_COMPLETED() macro sends a notification to the task to remove it
* from the Blocked state. xStreamBufferSendCompletedFromISR() does the same
* thing. It is provided to enable application writers to implement their own
* version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* @param xStreamBuffer The handle of the stream buffer to which data was
* written.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xStreamBufferSendCompletedFromISR(). If calling
* xStreamBufferSendCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR
* \ingroup StreamBufferManagement
*/
BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/**
* stream_buffer.h
*
* @code{c}
* BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is read out of a message buffer or stream buffer. If there was a task
* that was blocked on the message or stream buffer waiting for data to arrive
* then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
* remove it from the Blocked state. xStreamBufferReceiveCompletedFromISR()
* does the same thing. It is provided to enable application writers to
* implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
* ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* @param xStreamBuffer The handle of the stream buffer from which data was
* read.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xStreamBufferReceiveCompletedFromISR(). If calling
* xStreamBufferReceiveCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR
* \ingroup StreamBufferManagement
*/
BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/* Functions below here are not part of the public API. */
StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#if ( configUSE_TRACE_FACILITY == 1 )
void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer,
UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#endif
/* *INDENT-OFF* */
#if defined( __cplusplus )
}
#endif
/* *INDENT-ON* */
#endif /* !defined( STREAM_BUFFER_H ) */

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/*
* @brief Common FreeRTOS functions shared among platforms
*
* @note
* Copyright(C) NXP Semiconductors, 2012
* All rights reserved.
*
* @par
* Software that is described herein is for illustrative purposes only
* which provides customers with programming information regarding the
* LPC products. This software is supplied "AS IS" without any warranties of
* any kind, and NXP Semiconductors and its licensor disclaim any and
* all warranties, express or implied, including all implied warranties of
* merchantability, fitness for a particular purpose and non-infringement of
* intellectual property rights. NXP Semiconductors assumes no responsibility
* or liability for the use of the software, conveys no license or rights under any
* patent, copyright, mask work right, or any other intellectual property rights in
* or to any products. NXP Semiconductors reserves the right to make changes
* in the software without notification. NXP Semiconductors also makes no
* representation or warranty that such application will be suitable for the
* specified use without further testing or modification.
*
* @par
* Permission to use, copy, modify, and distribute this software and its
* documentation is hereby granted, under NXP Semiconductors' and its
* licensor's relevant copyrights in the software, without fee, provided that it
* is used in conjunction with NXP Semiconductors microcontrollers. This
* copyright, permission, and disclaimer notice must appear in all copies of
* this code.
*/
#include "FreeRTOS.h"
#include "task.h"
#include "portable.h"
#include "chip.h"
/*****************************************************************************
* Private types/enumerations/variables
****************************************************************************/
/*****************************************************************************
* Public types/enumerations/variables
****************************************************************************/
/*****************************************************************************
* Private functions
****************************************************************************/
/*****************************************************************************
* Public functions
****************************************************************************/
/* Delay for the specified number of milliSeconds */
void FreeRTOSDelay(uint32_t ms)
{
portTickType xDelayTime;
xDelayTime = xTaskGetTickCount();
vTaskDelayUntil(&xDelayTime, ms);
}
/* FreeRTOS malloc fail hook */
void vApplicationMallocFailedHook(void)
{
DEBUGSTR("DIE:ERROR:FreeRTOS: Malloc Failure!\r\n");
taskDISABLE_INTERRUPTS();
for (;; ) {}
}
/* FreeRTOS application idle hook */
void vApplicationIdleHook(void)
{
/* Best to sleep here until next systick */
__WFI();
}
/* FreeRTOS stack overflow hook */
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
{
(void) pxTask;
(void) pcTaskName;
DEBUGOUT("DIE:ERROR:FreeRTOS: Stack overflow in task %s\r\n", pcTaskName);
/* Run time stack overflow checking is performed if
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
function is called if a stack overflow is detected. */
taskDISABLE_INTERRUPTS();
for (;; ) {}
}
/* FreeRTOS application tick hook */
void vApplicationTickHook(void)
{}

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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"
/* Remove the whole file is co-routines are not being used. */
#if ( configUSE_CO_ROUTINES != 0 )
/*
* Some kernel aware debuggers require data to be viewed to be global, rather
* than file scope.
*/
#ifdef portREMOVE_STATIC_QUALIFIER
#define static
#endif
/* Lists for ready and blocked co-routines. --------------------*/
static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
static List_t * pxDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used. */
static List_t * pxOverflowDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
/* Other file private variables. --------------------------------*/
CRCB_t * pxCurrentCoRoutine = NULL;
static UBaseType_t uxTopCoRoutineReadyPriority = 0;
static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
/* The initial state of the co-routine when it is created. */
#define corINITIAL_STATE ( 0 )
/*
* Place the co-routine represented by pxCRCB into the appropriate ready queue
* for the priority. It is inserted at the end of the list.
*
* This macro accesses the co-routine ready lists and therefore must not be
* used from within an ISR.
*/
#define prvAddCoRoutineToReadyQueue( pxCRCB ) \
{ \
if( ( pxCRCB )->uxPriority > uxTopCoRoutineReadyPriority ) \
{ \
uxTopCoRoutineReadyPriority = ( pxCRCB )->uxPriority; \
} \
vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ ( pxCRCB )->uxPriority ] ), &( ( pxCRCB )->xGenericListItem ) ); \
}
/*
* Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first co-routine.
*/
static void prvInitialiseCoRoutineLists( void );
/*
* Co-routines that are readied by an interrupt cannot be placed directly into
* the ready lists (there is no mutual exclusion). Instead they are placed in
* in the pending ready list in order that they can later be moved to the ready
* list by the co-routine scheduler.
*/
static void prvCheckPendingReadyList( void );
/*
* Macro that looks at the list of co-routines that are currently delayed to
* see if any require waking.
*
* Co-routines are stored in the queue in the order of their wake time -
* meaning once one co-routine has been found whose timer has not expired
* we need not look any further down the list.
*/
static void prvCheckDelayedList( void );
/*-----------------------------------------------------------*/
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
UBaseType_t uxPriority,
UBaseType_t uxIndex )
{
BaseType_t xReturn;
CRCB_t * pxCoRoutine;
/* Allocate the memory that will store the co-routine control block. */
pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
if( pxCoRoutine )
{
/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
* be created and the co-routine data structures need initialising. */
if( pxCurrentCoRoutine == NULL )
{
pxCurrentCoRoutine = pxCoRoutine;
prvInitialiseCoRoutineLists();
}
/* Check the priority is within limits. */
if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
{
uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
}
/* Fill out the co-routine control block from the function parameters. */
pxCoRoutine->uxState = corINITIAL_STATE;
pxCoRoutine->uxPriority = uxPriority;
pxCoRoutine->uxIndex = uxIndex;
pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
/* Initialise all the other co-routine control block parameters. */
vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
/* Set the co-routine control block as a link back from the ListItem_t.
* This is so we can get back to the containing CRCB from a generic item
* in a list. */
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
/* Event lists are always in priority order. */
listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
/* Now the co-routine has been initialised it can be added to the ready
* list at the correct priority. */
prvAddCoRoutineToReadyQueue( pxCoRoutine );
xReturn = pdPASS;
}
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
return xReturn;
}
/*-----------------------------------------------------------*/
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
List_t * pxEventList )
{
TickType_t xTimeToWake;
/* Calculate the time to wake - this may overflow but this is
* not a problem. */
xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
/* We must remove ourselves from the ready list before adding
* ourselves to the blocked list as the same list item is used for
* both lists. */
( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
/* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
if( xTimeToWake < xCoRoutineTickCount )
{
/* Wake time has overflowed. Place this item in the
* overflow list. */
vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
}
else
{
/* The wake time has not overflowed, so we can use the
* current block list. */
vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
}
if( pxEventList )
{
/* Also add the co-routine to an event list. If this is done then the
* function must be called with interrupts disabled. */
vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
}
}
/*-----------------------------------------------------------*/
static void prvCheckPendingReadyList( void )
{
/* Are there any co-routines waiting to get moved to the ready list? These
* are co-routines that have been readied by an ISR. The ISR cannot access
* the ready lists itself. */
while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
{
CRCB_t * pxUnblockedCRCB;
/* The pending ready list can be accessed by an ISR. */
portDISABLE_INTERRUPTS();
{
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) );
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
}
portENABLE_INTERRUPTS();
( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
}
}
/*-----------------------------------------------------------*/
static void prvCheckDelayedList( void )
{
CRCB_t * pxCRCB;
xPassedTicks = xTaskGetTickCount() - xLastTickCount;
while( xPassedTicks )
{
xCoRoutineTickCount++;
xPassedTicks--;
/* If the tick count has overflowed we need to swap the ready lists. */
if( xCoRoutineTickCount == 0 )
{
List_t * pxTemp;
/* Tick count has overflowed so we need to swap the delay lists. If there are
* any items in pxDelayedCoRoutineList here then there is an error! */
pxTemp = pxDelayedCoRoutineList;
pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
pxOverflowDelayedCoRoutineList = pxTemp;
}
/* See if this tick has made a timeout expire. */
while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
{
pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
{
/* Timeout not yet expired. */
break;
}
portDISABLE_INTERRUPTS();
{
/* The event could have occurred just before this critical
* section. If this is the case then the generic list item will
* have been moved to the pending ready list and the following
* line is still valid. Also the pvContainer parameter will have
* been set to NULL so the following lines are also valid. */
( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
/* Is the co-routine waiting on an event also? */
if( pxCRCB->xEventListItem.pxContainer )
{
( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
}
}
portENABLE_INTERRUPTS();
prvAddCoRoutineToReadyQueue( pxCRCB );
}
}
xLastTickCount = xCoRoutineTickCount;
}
/*-----------------------------------------------------------*/
void vCoRoutineSchedule( void )
{
/* Only run a co-routine after prvInitialiseCoRoutineLists() has been
* called. prvInitialiseCoRoutineLists() is called automatically when a
* co-routine is created. */
if( pxDelayedCoRoutineList != NULL )
{
/* See if any co-routines readied by events need moving to the ready lists. */
prvCheckPendingReadyList();
/* See if any delayed co-routines have timed out. */
prvCheckDelayedList();
/* Find the highest priority queue that contains ready co-routines. */
while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
{
if( uxTopCoRoutineReadyPriority == 0 )
{
/* No more co-routines to check. */
return;
}
--uxTopCoRoutineReadyPriority;
}
/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
* of the same priority get an equal share of the processor time. */
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
/* Call the co-routine. */
( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
}
}
/*-----------------------------------------------------------*/
static void prvInitialiseCoRoutineLists( void )
{
UBaseType_t uxPriority;
for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
{
vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
}
vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
/* Start with pxDelayedCoRoutineList using list1 and the
* pxOverflowDelayedCoRoutineList using list2. */
pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
}
/*-----------------------------------------------------------*/
BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList )
{
CRCB_t * pxUnblockedCRCB;
BaseType_t xReturn;
/* This function is called from within an interrupt. It can only access
* event lists and the pending ready list. This function assumes that a
* check has already been made to ensure pxEventList is not empty. */
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
{
xReturn = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
#endif /* configUSE_CO_ROUTINES == 0 */

778
source/shoh/freertos/src/event_groups.c Normal file
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@@ -0,0 +1,778 @@
/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/* Standard includes. */
#include <stdlib.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "event_groups.h"
/* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified
* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
* for the header files above, but not in this file, in order to generate the
* correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021 See comment above. */
/* The following bit fields convey control information in a task's event list
* item value. It is important they don't clash with the
* taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
#if configUSE_16_BIT_TICKS == 1
#define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100U
#define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200U
#define eventWAIT_FOR_ALL_BITS 0x0400U
#define eventEVENT_BITS_CONTROL_BYTES 0xff00U
#else
#define eventCLEAR_EVENTS_ON_EXIT_BIT 0x01000000UL
#define eventUNBLOCKED_DUE_TO_BIT_SET 0x02000000UL
#define eventWAIT_FOR_ALL_BITS 0x04000000UL
#define eventEVENT_BITS_CONTROL_BYTES 0xff000000UL
#endif
typedef struct EventGroupDef_t
{
EventBits_t uxEventBits;
List_t xTasksWaitingForBits; /*< List of tasks waiting for a bit to be set. */
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxEventGroupNumber;
#endif
#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */
#endif
} EventGroup_t;
/*-----------------------------------------------------------*/
/*
* Test the bits set in uxCurrentEventBits to see if the wait condition is met.
* The wait condition is defined by xWaitForAllBits. If xWaitForAllBits is
* pdTRUE then the wait condition is met if all the bits set in uxBitsToWaitFor
* are also set in uxCurrentEventBits. If xWaitForAllBits is pdFALSE then the
* wait condition is met if any of the bits set in uxBitsToWait for are also set
* in uxCurrentEventBits.
*/
static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer )
{
EventGroup_t * pxEventBits;
/* A StaticEventGroup_t object must be provided. */
configASSERT( pxEventGroupBuffer );
#if ( configASSERT_DEFINED == 1 )
{
/* Sanity check that the size of the structure used to declare a
* variable of type StaticEventGroup_t equals the size of the real
* event group structure. */
volatile size_t xSize = sizeof( StaticEventGroup_t );
configASSERT( xSize == sizeof( EventGroup_t ) );
} /*lint !e529 xSize is referenced if configASSERT() is defined. */
#endif /* configASSERT_DEFINED */
/* The user has provided a statically allocated event group - use it. */
pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */
if( pxEventBits != NULL )
{
pxEventBits->uxEventBits = 0;
vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
{
/* Both static and dynamic allocation can be used, so note that
* this event group was created statically in case the event group
* is later deleted. */
pxEventBits->ucStaticallyAllocated = pdTRUE;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
traceEVENT_GROUP_CREATE( pxEventBits );
}
else
{
/* xEventGroupCreateStatic should only ever be called with
* pxEventGroupBuffer pointing to a pre-allocated (compile time
* allocated) StaticEventGroup_t variable. */
traceEVENT_GROUP_CREATE_FAILED();
}
return pxEventBits;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreate( void )
{
EventGroup_t * pxEventBits;
/* Allocate the event group. Justification for MISRA deviation as
* follows: pvPortMalloc() always ensures returned memory blocks are
* aligned per the requirements of the MCU stack. In this case
* pvPortMalloc() must return a pointer that is guaranteed to meet the
* alignment requirements of the EventGroup_t structure - which (if you
* follow it through) is the alignment requirements of the TickType_t type
* (EventBits_t being of TickType_t itself). Therefore, whenever the
* stack alignment requirements are greater than or equal to the
* TickType_t alignment requirements the cast is safe. In other cases,
* where the natural word size of the architecture is less than
* sizeof( TickType_t ), the TickType_t variables will be accessed in two
* or more reads operations, and the alignment requirements is only that
* of each individual read. */
pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); /*lint !e9087 !e9079 see comment above. */
if( pxEventBits != NULL )
{
pxEventBits->uxEventBits = 0;
vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
/* Both static and dynamic allocation can be used, so note this
* event group was allocated statically in case the event group is
* later deleted. */
pxEventBits->ucStaticallyAllocated = pdFALSE;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
traceEVENT_GROUP_CREATE( pxEventBits );
}
else
{
traceEVENT_GROUP_CREATE_FAILED(); /*lint !e9063 Else branch only exists to allow tracing and does not generate code if trace macros are not defined. */
}
return pxEventBits;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait )
{
EventBits_t uxOriginalBitValue, uxReturn;
EventGroup_t * pxEventBits = xEventGroup;
BaseType_t xAlreadyYielded;
BaseType_t xTimeoutOccurred = pdFALSE;
configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
configASSERT( uxBitsToWaitFor != 0 );
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
{
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
}
#endif
vTaskSuspendAll();
{
uxOriginalBitValue = pxEventBits->uxEventBits;
( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet );
if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor )
{
/* All the rendezvous bits are now set - no need to block. */
uxReturn = ( uxOriginalBitValue | uxBitsToSet );
/* Rendezvous always clear the bits. They will have been cleared
* already unless this is the only task in the rendezvous. */
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
xTicksToWait = 0;
}
else
{
if( xTicksToWait != ( TickType_t ) 0 )
{
traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor );
/* Store the bits that the calling task is waiting for in the
* task's event list item so the kernel knows when a match is
* found. Then enter the blocked state. */
vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait );
/* This assignment is obsolete as uxReturn will get set after
* the task unblocks, but some compilers mistakenly generate a
* warning about uxReturn being returned without being set if the
* assignment is omitted. */
uxReturn = 0;
}
else
{
/* The rendezvous bits were not set, but no block time was
* specified - just return the current event bit value. */
uxReturn = pxEventBits->uxEventBits;
xTimeoutOccurred = pdTRUE;
}
}
}
xAlreadyYielded = xTaskResumeAll();
if( xTicksToWait != ( TickType_t ) 0 )
{
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The task blocked to wait for its required bits to be set - at this
* point either the required bits were set or the block time expired. If
* the required bits were set they will have been stored in the task's
* event list item, and they should now be retrieved then cleared. */
uxReturn = uxTaskResetEventItemValue();
if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
{
/* The task timed out, just return the current event bit value. */
taskENTER_CRITICAL();
{
uxReturn = pxEventBits->uxEventBits;
/* Although the task got here because it timed out before the
* bits it was waiting for were set, it is possible that since it
* unblocked another task has set the bits. If this is the case
* then it needs to clear the bits before exiting. */
if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor )
{
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
xTimeoutOccurred = pdTRUE;
}
else
{
/* The task unblocked because the bits were set. */
}
/* Control bits might be set as the task had blocked should not be
* returned. */
uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
}
traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred );
/* Prevent compiler warnings when trace macros are not used. */
( void ) xTimeoutOccurred;
return uxReturn;
}
/*-----------------------------------------------------------*/
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait )
{
EventGroup_t * pxEventBits = xEventGroup;
EventBits_t uxReturn, uxControlBits = 0;
BaseType_t xWaitConditionMet, xAlreadyYielded;
BaseType_t xTimeoutOccurred = pdFALSE;
/* Check the user is not attempting to wait on the bits used by the kernel
* itself, and that at least one bit is being requested. */
configASSERT( xEventGroup );
configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
configASSERT( uxBitsToWaitFor != 0 );
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
{
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
}
#endif
vTaskSuspendAll();
{
const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;
/* Check to see if the wait condition is already met or not. */
xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits );
if( xWaitConditionMet != pdFALSE )
{
/* The wait condition has already been met so there is no need to
* block. */
uxReturn = uxCurrentEventBits;
xTicksToWait = ( TickType_t ) 0;
/* Clear the wait bits if requested to do so. */
if( xClearOnExit != pdFALSE )
{
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else if( xTicksToWait == ( TickType_t ) 0 )
{
/* The wait condition has not been met, but no block time was
* specified, so just return the current value. */
uxReturn = uxCurrentEventBits;
xTimeoutOccurred = pdTRUE;
}
else
{
/* The task is going to block to wait for its required bits to be
* set. uxControlBits are used to remember the specified behaviour of
* this call to xEventGroupWaitBits() - for use when the event bits
* unblock the task. */
if( xClearOnExit != pdFALSE )
{
uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xWaitForAllBits != pdFALSE )
{
uxControlBits |= eventWAIT_FOR_ALL_BITS;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Store the bits that the calling task is waiting for in the
* task's event list item so the kernel knows when a match is
* found. Then enter the blocked state. */
vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait );
/* This is obsolete as it will get set after the task unblocks, but
* some compilers mistakenly generate a warning about the variable
* being returned without being set if it is not done. */
uxReturn = 0;
traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
}
}
xAlreadyYielded = xTaskResumeAll();
if( xTicksToWait != ( TickType_t ) 0 )
{
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The task blocked to wait for its required bits to be set - at this
* point either the required bits were set or the block time expired. If
* the required bits were set they will have been stored in the task's
* event list item, and they should now be retrieved then cleared. */
uxReturn = uxTaskResetEventItemValue();
if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
{
taskENTER_CRITICAL();
{
/* The task timed out, just return the current event bit value. */
uxReturn = pxEventBits->uxEventBits;
/* It is possible that the event bits were updated between this
* task leaving the Blocked state and running again. */
if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE )
{
if( xClearOnExit != pdFALSE )
{
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
xTimeoutOccurred = pdTRUE;
}
taskEXIT_CRITICAL();
}
else
{
/* The task unblocked because the bits were set. */
}
/* The task blocked so control bits may have been set. */
uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
}
traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred );
/* Prevent compiler warnings when trace macros are not used. */
( void ) xTimeoutOccurred;
return uxReturn;
}
/*-----------------------------------------------------------*/
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear )
{
EventGroup_t * pxEventBits = xEventGroup;
EventBits_t uxReturn;
/* Check the user is not attempting to clear the bits used by the kernel
* itself. */
configASSERT( xEventGroup );
configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
taskENTER_CRITICAL();
{
traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );
/* The value returned is the event group value prior to the bits being
* cleared. */
uxReturn = pxEventBits->uxEventBits;
/* Clear the bits. */
pxEventBits->uxEventBits &= ~uxBitsToClear;
}
taskEXIT_CRITICAL();
return uxReturn;
}
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear )
{
BaseType_t xReturn;
traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear );
xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */
return xReturn;
}
#endif /* if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup )
{
UBaseType_t uxSavedInterruptStatus;
EventGroup_t const * const pxEventBits = xEventGroup;
EventBits_t uxReturn;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
uxReturn = pxEventBits->uxEventBits;
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return uxReturn;
} /*lint !e818 EventGroupHandle_t is a typedef used in other functions to so can't be pointer to const. */
/*-----------------------------------------------------------*/
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet )
{
ListItem_t * pxListItem;
ListItem_t * pxNext;
ListItem_t const * pxListEnd;
List_t const * pxList;
EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits;
EventGroup_t * pxEventBits = xEventGroup;
BaseType_t xMatchFound = pdFALSE;
/* Check the user is not attempting to set the bits used by the kernel
* itself. */
configASSERT( xEventGroup );
configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
pxList = &( pxEventBits->xTasksWaitingForBits );
pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
vTaskSuspendAll();
{
traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
pxListItem = listGET_HEAD_ENTRY( pxList );
/* Set the bits. */
pxEventBits->uxEventBits |= uxBitsToSet;
/* See if the new bit value should unblock any tasks. */
while( pxListItem != pxListEnd )
{
pxNext = listGET_NEXT( pxListItem );
uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem );
xMatchFound = pdFALSE;
/* Split the bits waited for from the control bits. */
uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES;
uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES;
if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 )
{
/* Just looking for single bit being set. */
if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 )
{
xMatchFound = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor )
{
/* All bits are set. */
xMatchFound = pdTRUE;
}
else
{
/* Need all bits to be set, but not all the bits were set. */
}
if( xMatchFound != pdFALSE )
{
/* The bits match. Should the bits be cleared on exit? */
if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 )
{
uxBitsToClear |= uxBitsWaitedFor;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Store the actual event flag value in the task's event list
* item before removing the task from the event list. The
* eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows
* that is was unblocked due to its required bits matching, rather
* than because it timed out. */
vTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET );
}
/* Move onto the next list item. Note pxListItem->pxNext is not
* used here as the list item may have been removed from the event list
* and inserted into the ready/pending reading list. */
pxListItem = pxNext;
}
/* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT
* bit was set in the control word. */
pxEventBits->uxEventBits &= ~uxBitsToClear;
}
( void ) xTaskResumeAll();
return pxEventBits->uxEventBits;
}
/*-----------------------------------------------------------*/
void vEventGroupDelete( EventGroupHandle_t xEventGroup )
{
EventGroup_t * pxEventBits = xEventGroup;
const List_t * pxTasksWaitingForBits;
configASSERT( pxEventBits );
pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
vTaskSuspendAll();
{
traceEVENT_GROUP_DELETE( xEventGroup );
while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 )
{
/* Unblock the task, returning 0 as the event list is being deleted
* and cannot therefore have any bits set. */
configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
}
}
( void ) xTaskResumeAll();
#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
{
/* The event group can only have been allocated dynamically - free
* it again. */
vPortFree( pxEventBits );
}
#elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
{
/* The event group could have been allocated statically or
* dynamically, so check before attempting to free the memory. */
if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
{
vPortFree( pxEventBits );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
}
/*-----------------------------------------------------------*/
/* For internal use only - execute a 'set bits' command that was pended from
* an interrupt. */
void vEventGroupSetBitsCallback( void * pvEventGroup,
const uint32_t ulBitsToSet )
{
( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */
}
/*-----------------------------------------------------------*/
/* For internal use only - execute a 'clear bits' command that was pended from
* an interrupt. */
void vEventGroupClearBitsCallback( void * pvEventGroup,
const uint32_t ulBitsToClear )
{
( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */
}
/*-----------------------------------------------------------*/
static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xWaitForAllBits )
{
BaseType_t xWaitConditionMet = pdFALSE;
if( xWaitForAllBits == pdFALSE )
{
/* Task only has to wait for one bit within uxBitsToWaitFor to be
* set. Is one already set? */
if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 )
{
xWaitConditionMet = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* Task has to wait for all the bits in uxBitsToWaitFor to be set.
* Are they set already? */
if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor )
{
xWaitConditionMet = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
return xWaitConditionMet;
}
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
BaseType_t * pxHigherPriorityTaskWoken )
{
BaseType_t xReturn;
traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet );
xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */
return xReturn;
}
#endif /* if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxEventGroupGetNumber( void * xEventGroup )
{
UBaseType_t xReturn;
EventGroup_t const * pxEventBits = ( EventGroup_t * ) xEventGroup; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */
if( xEventGroup == NULL )
{
xReturn = 0;
}
else
{
xReturn = pxEventBits->uxEventGroupNumber;
}
return xReturn;
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vEventGroupSetNumber( void * xEventGroup,
UBaseType_t uxEventGroupNumber )
{
( ( EventGroup_t * ) xEventGroup )->uxEventGroupNumber = uxEventGroupNumber; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/

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source/shoh/freertos/src/heap_3.c Normal file
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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Implementation of pvPortMalloc() and vPortFree() that relies on the
* compilers own malloc() and free() implementations.
*
* This file can only be used if the linker is configured to to generate
* a heap memory area.
*
* See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the
* memory management pages of https://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#include "FreeRTOS.h"
#include "task.h"
#include "portable.h"
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
#endif
/*-----------------------------------------------------------*/
void * pvPortMalloc( size_t xWantedSize )
{
void * pvReturn;
vTaskSuspendAll();
{
pvReturn = malloc( xWantedSize );
traceMALLOC( pvReturn, xWantedSize );
}
( void ) xTaskResumeAll();
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
vApplicationMallocFailedHook();
}
}
#endif
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void * pv )
{
if( pv != NULL )
{
vTaskSuspendAll();
{
free( pv );
traceFREE( pv, 0 );
}
( void ) xTaskResumeAll();
}
}

226
source/shoh/freertos/src/list.c Normal file
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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#include <stdlib.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#include "FreeRTOS.h"
#include "list.h"
/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be
* defined for the header files above, but not in this file, in order to
* generate the correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
/*-----------------------------------------------------------
* PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/
void vListInitialise( List_t * const pxList )
{
/* The list structure contains a list item which is used to mark the
* end of the list. To initialise the list the list end is inserted
* as the only list entry. */
pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
/* The list end value is the highest possible value in the list to
* ensure it remains at the end of the list. */
pxList->xListEnd.xItemValue = portMAX_DELAY;
/* The list end next and previous pointers point to itself so we know
* when the list is empty. */
pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
/* Initialize the remaining fields of xListEnd when it is a proper ListItem_t */
#if ( configUSE_MINI_LIST_ITEM == 0 )
{
pxList->xListEnd.pvOwner = NULL;
pxList->xListEnd.pxContainer = NULL;
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
}
#endif
pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
/* Write known values into the list if
* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
}
/*-----------------------------------------------------------*/
void vListInitialiseItem( ListItem_t * const pxItem )
{
/* Make sure the list item is not recorded as being on a list. */
pxItem->pxContainer = NULL;
/* Write known values into the list item if
* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
}
/*-----------------------------------------------------------*/
void vListInsertEnd( List_t * const pxList,
ListItem_t * const pxNewListItem )
{
ListItem_t * const pxIndex = pxList->pxIndex;
/* Only effective when configASSERT() is also defined, these tests may catch
* the list data structures being overwritten in memory. They will not catch
* data errors caused by incorrect configuration or use of FreeRTOS. */
listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
/* Insert a new list item into pxList, but rather than sort the list,
* makes the new list item the last item to be removed by a call to
* listGET_OWNER_OF_NEXT_ENTRY(). */
pxNewListItem->pxNext = pxIndex;
pxNewListItem->pxPrevious = pxIndex->pxPrevious;
/* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();
pxIndex->pxPrevious->pxNext = pxNewListItem;
pxIndex->pxPrevious = pxNewListItem;
/* Remember which list the item is in. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems )++;
}
/*-----------------------------------------------------------*/
void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem )
{
ListItem_t * pxIterator;
const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
/* Only effective when configASSERT() is also defined, these tests may catch
* the list data structures being overwritten in memory. They will not catch
* data errors caused by incorrect configuration or use of FreeRTOS. */
listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
/* Insert the new list item into the list, sorted in xItemValue order.
*
* If the list already contains a list item with the same item value then the
* new list item should be placed after it. This ensures that TCBs which are
* stored in ready lists (all of which have the same xItemValue value) get a
* share of the CPU. However, if the xItemValue is the same as the back marker
* the iteration loop below will not end. Therefore the value is checked
* first, and the algorithm slightly modified if necessary. */
if( xValueOfInsertion == portMAX_DELAY )
{
pxIterator = pxList->xListEnd.pxPrevious;
}
else
{
/* *** NOTE ***********************************************************
* If you find your application is crashing here then likely causes are
* listed below. In addition see https://www.FreeRTOS.org/FAQHelp.html for
* more tips, and ensure configASSERT() is defined!
* https://www.FreeRTOS.org/a00110.html#configASSERT
*
* 1) Stack overflow -
* see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
* 2) Incorrect interrupt priority assignment, especially on Cortex-M
* parts where numerically high priority values denote low actual
* interrupt priorities, which can seem counter intuitive. See
* https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition
* of configMAX_SYSCALL_INTERRUPT_PRIORITY on
* https://www.FreeRTOS.org/a00110.html
* 3) Calling an API function from within a critical section or when
* the scheduler is suspended, or calling an API function that does
* not end in "FromISR" from an interrupt.
* 4) Using a queue or semaphore before it has been initialised or
* before the scheduler has been started (are interrupts firing
* before vTaskStartScheduler() has been called?).
* 5) If the FreeRTOS port supports interrupt nesting then ensure that
* the priority of the tick interrupt is at or below
* configMAX_SYSCALL_INTERRUPT_PRIORITY.
**********************************************************************/
for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */
{
/* There is nothing to do here, just iterating to the wanted
* insertion position. */
}
}
pxNewListItem->pxNext = pxIterator->pxNext;
pxNewListItem->pxNext->pxPrevious = pxNewListItem;
pxNewListItem->pxPrevious = pxIterator;
pxIterator->pxNext = pxNewListItem;
/* Remember which list the item is in. This allows fast removal of the
* item later. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems )++;
}
/*-----------------------------------------------------------*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
{
/* The list item knows which list it is in. Obtain the list from the list
* item. */
List_t * const pxList = pxItemToRemove->pxContainer;
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
/* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();
/* Make sure the index is left pointing to a valid item. */
if( pxList->pxIndex == pxItemToRemove )
{
pxList->pxIndex = pxItemToRemove->pxPrevious;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxItemToRemove->pxContainer = NULL;
( pxList->uxNumberOfItems )--;
return pxList->uxNumberOfItems;
}
/*-----------------------------------------------------------*/

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source/shoh/freertos/src/port.c Normal file
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/*
* FreeRTOS Kernel V10.5.1
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM CM0 port.
*----------------------------------------------------------*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
/* The systick is a 24-bit counter. */
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
/* A fiddle factor to estimate the number of SysTick counts that would have
* occurred while the SysTick counter is stopped during tickless idle
* calculations. */
#ifndef portMISSED_COUNTS_FACTOR
#define portMISSED_COUNTS_FACTOR ( 94UL )
#endif
/* Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register. */
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/* Let the user override the pre-loading of the initial LR with the address of
* prvTaskExitError() in case it messes up unwinding of the stack in the
* debugger. */
#ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else
#define portTASK_RETURN_ADDRESS prvTaskExitError
#endif
/*
* Setup the timer to generate the tick interrupts. The implementation in this
* file is weak to allow application writers to change the timer used to
* generate the tick interrupt.
*/
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
*/
void xPortPendSVHandler( void ) __attribute__( ( naked ) );
void xPortSysTickHandler( void );
void vPortSVCHandler( void );
/*
* Start first task is a separate function so it can be tested in isolation.
*/
static void vPortStartFirstTask( void ) __attribute__( ( naked ) );
/*
* Used to catch tasks that attempt to return from their implementing function.
*/
static void prvTaskExitError( void );
/*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting
* variable. */
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
/*-----------------------------------------------------------*/
/*
* The number of SysTick increments that make up one tick period.
*/
#if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulTimerCountsForOneTick = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* The maximum number of tick periods that can be suppressed is limited by the
* 24 bit resolution of the SysTick timer.
*/
#if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{
/* Simulate the stack frame as it would be created by a context switch
* interrupt. */
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 8; /* R11..R4. */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
static void prvTaskExitError( void )
{
volatile uint32_t ulDummy = 0UL;
/* A function that implements a task must not exit or attempt to return to
* its caller as there is nothing to return to. If a task wants to exit it
* should instead call vTaskDelete( NULL ).
*
* Artificially force an assert() to be triggered if configASSERT() is
* defined, then stop here so application writers can catch the error. */
configASSERT( uxCriticalNesting == ~0UL );
portDISABLE_INTERRUPTS();
while( ulDummy == 0 )
{
/* This file calls prvTaskExitError() after the scheduler has been
* started to remove a compiler warning about the function being defined
* but never called. ulDummy is used purely to quieten other warnings
* about code appearing after this function is called - making ulDummy
* volatile makes the compiler think the function could return and
* therefore not output an 'unreachable code' warning for code that appears
* after it. */
}
}
/*-----------------------------------------------------------*/
void vPortSVCHandler( void )
{
/* This function is no longer used, but retained for backward
* compatibility. */
}
/*-----------------------------------------------------------*/
void vPortStartFirstTask( void )
{
/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
* table offset register that can be used to locate the initial stack value.
* Not all M0 parts have the application vector table at address 0. */
__asm volatile (
" .syntax unified \n"
" ldr r2, pxCurrentTCBConst2 \n"/* Obtain location of pxCurrentTCB. */
" ldr r3, [r2] \n"
" ldr r0, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. */
" adds r0, #32 \n"/* Discard everything up to r0. */
" msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" movs r0, #2 \n"/* Switch to the psp stack. */
" msr CONTROL, r0 \n"
" isb \n"
" pop {r0-r5} \n"/* Pop the registers that are saved automatically. */
" mov lr, r5 \n"/* lr is now in r5. */
" pop {r3} \n"/* Return address is now in r3. */
" pop {r2} \n"/* Pop and discard XPSR. */
" cpsie i \n"/* The first task has its context and interrupts can be enabled. */
" bx r3 \n"/* Finally, jump to the user defined task code. */
" \n"
" .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB "
);
}
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
BaseType_t xPortStartScheduler( void )
{
/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
/* Start the first task. */
vPortStartFirstTask();
/* Should never get here as the tasks will now be executing! Call the task
* exit error function to prevent compiler warnings about a static function
* not being called in the case that the application writer overrides this
* functionality by defining configTASK_RETURN_ADDRESS. Call
* vTaskSwitchContext() so link time optimisation does not remove the
* symbol. */
vTaskSwitchContext();
prvTaskExitError();
/* Should not get here! */
return 0;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* Not implemented in ports where there is nothing to return to.
* Artificially force an assert. */
configASSERT( uxCriticalNesting == 1000UL );
}
/*-----------------------------------------------------------*/
void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
* within the specified behaviour for the architecture. */
__asm volatile ( "dsb" ::: "memory" );
__asm volatile ( "isb" );
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
__asm volatile ( "dsb" ::: "memory" );
__asm volatile ( "isb" );
}
/*-----------------------------------------------------------*/
void vPortExitCritical( void )
{
configASSERT( uxCriticalNesting );
uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{
portENABLE_INTERRUPTS();
}
}
/*-----------------------------------------------------------*/
uint32_t ulSetInterruptMaskFromISR( void )
{
__asm volatile (
" mrs r0, PRIMASK \n"
" cpsid i \n"
" bx lr "
::: "memory"
);
}
/*-----------------------------------------------------------*/
void vClearInterruptMaskFromISR( __attribute__( ( unused ) ) uint32_t ulMask )
{
__asm volatile (
" msr PRIMASK, r0 \n"
" bx lr "
::: "memory"
);
}
/*-----------------------------------------------------------*/
void xPortPendSVHandler( void )
{
/* This is a naked function. */
__asm volatile
(
" .syntax unified \n"
" mrs r0, psp \n"
" \n"
" ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */
" ldr r2, [r3] \n"
" \n"
" subs r0, r0, #32 \n"/* Make space for the remaining low registers. */
" str r0, [r2] \n"/* Save the new top of stack. */
" stmia r0!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */
" mov r4, r8 \n"/* Store the high registers. */
" mov r5, r9 \n"
" mov r6, r10 \n"
" mov r7, r11 \n"
" stmia r0!, {r4-r7} \n"
" \n"
" push {r3, r14} \n"
" cpsid i \n"
" bl vTaskSwitchContext \n"
" cpsie i \n"
" pop {r2, r3} \n"/* lr goes in r3. r2 now holds tcb pointer. */
" \n"
" ldr r1, [r2] \n"
" ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. */
" adds r0, r0, #16 \n"/* Move to the high registers. */
" ldmia r0!, {r4-r7} \n"/* Pop the high registers. */
" mov r8, r4 \n"
" mov r9, r5 \n"
" mov r10, r6 \n"
" mov r11, r7 \n"
" \n"
" msr psp, r0 \n"/* Remember the new top of stack for the task. */
" \n"
" subs r0, r0, #32 \n"/* Go back for the low registers that are not automatically restored. */
" ldmia r0!, {r4-r7} \n"/* Pop low registers. */
" \n"
" bx r3 \n"
" \n"
" .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB "
);
}
/*-----------------------------------------------------------*/
void xPortSysTickHandler( void )
{
uint32_t ulPreviousMask;
ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE )
{
/* Pend a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
}
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 )
{
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */
portNVIC_SYSTICK_CTRL_REG = 0UL;
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
}
/*-----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
{
xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" );
__asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler
* to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{
/* Re-enable interrupts - see comments above the cpsid instruction
* above. */
__asm volatile ( "cpsie i" ::: "memory" );
}
else
{
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Clear the SysTick count flag and set the count value back to
* zero. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation contains
* its own wait for interrupt or wait for event instruction, and so wfi
* should not be executed again. However, the original expected idle
* time variable must remain unmodified, so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
if( xModifiableIdleTime > 0 )
{
__asm volatile ( "dsb" ::: "memory" );
__asm volatile ( "wfi" );
__asm volatile ( "isb" );
}
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" );
__asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will increase
* any slippage between the time maintained by the RTOS and calendar
* time. */
__asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" );
__asm volatile ( "isb" );
/* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* the time the SysTick is stopped for is accounted for as best it can
* be, but using the tickless mode will inevitably result in some tiny
* drift of the time maintained by the kernel with respect to calendar
* time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine whether the SysTick has already counted to zero. */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
uint32_t ulCalculatedLoadValue;
/* The tick interrupt ended the sleep (or is now pending), and
* a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* with whatever remains of the new tick period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something
* that took too long or because the SysTick current-value register
* is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is stepped
* forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
}
else
{
/* Something other than the tick interrupt ended the sleep. */
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part
* ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor
* was waiting? */
ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
/* The reload value is set to whatever fraction of a single tick
* period remains. */
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
}
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods );
/* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" );
}
}
#endif /* configUSE_TICKLESS_IDLE */

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_EVENTGROUPS_HPP
#define FREERTOS_EVENTGROUPS_HPP
#include <bitset>
#include "FreeRTOS.h"
#include "event_groups.h"
namespace FreeRTOS {
/**
* @class EventGroupBase EventGroupBase.hpp <FreeRTOS/EventGroups.hpp>
*
* @brief Base class that provides the standard event group interface to
* FreeRTOS::EventGroup and FreeRTOS::StaticEventGroup.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::EventGroup or FreeRTOS::StaticEventGroup.
*/
class EventGroupBase {
public:
friend class EventGroup;
friend class StaticEventGroup;
EventGroupBase(const EventGroupBase&) = delete;
EventGroupBase& operator=(const EventGroupBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
// NOLINTNEXTLINE
using EventBits = std::bitset<((configUSE_16_BIT_TICKS == 1) ? 8 : 24)>;
/**
* EventGroups.hpp
*
* @brief Function that checks if the underlying event group handle is not
* NULL. This should be used to ensure an event group has been created
* correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupWaitBits( const
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const
* BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t
* xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xEventGroupWaitBits.html>
*
* Read bits within an RTOS event group, optionally entering the Blocked state
* (with a timeout) to wait for a bit or group of bits to become set.
*
* @warning This function cannot be called from an interrupt.
*
* @param bitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. bitsToWaitFor must not be set to 0.
* @param clearOnExit If clearOnExit is set to true then any bits set in the
* value passed as the bitsToWaitFor parameter will be cleared in the event
* group before wait() returns if wait() returns for any reason other than a
* timeout. The timeout value is set by the ticksToWait parameter. If
* clearOnExit is set to false then the bits set in the event group are not
* altered when the call to wait() returns.
* @param waitForAllBits waitForAllBits is used to create either a logical AND
* test (where all bits must be set) or a logical OR test (where one or more
* bits must be set) as follows: If waitForAllBits is set to true then wait()
* will return when either all the bits set in the value passed as the
* bitsToWaitFor parameter are set in the event group or the specified block
* time expires. If waitForAllBits is set to false then wait() will return
* when any of the bits set in the value passed as the bitsToWaitFor parameter
* are set in the event group or the specified block time expires.
* @param ticksToWait The maximum amount of time (specified in 'ticks') to
* wait for one/all (depending on the waitForAllBits value) of the bits
* specified by bitsToWaitFor to become set.
* @return EventBits The value of the event group at the time either the event
* bits being waited for became set, or the block time expired. The current
* value of the event bits in an event group will be different to the returned
* value if a higher priority task or interrupt changed the value of an event
* bit between the calling task leaving the Blocked state and exiting the
* wait() function. Test the return value to know which bits were set. If
* wait() returned because its timeout expired then not all the bits being
* waited for will be set. If wait() returned because the bits it was waiting
* for were set then the returned value is the event group value before any
* bits were automatically cleared because the clearOnExit parameter was set
* to true.
*
* <b>Example Usage</b>
* @include EventGroups/wait.cpp
*/
inline EventBits wait(const EventBits& bitsToWaitFor = 0,
const bool clearOnExit = false,
const bool waitForAllBits = false,
const TickType_t ticksToWait = portMAX_DELAY) const {
return EventBits(xEventGroupWaitBits(
handle, bitsToWaitFor.to_ulong(), (clearOnExit ? pdTRUE : pdFALSE),
(waitForAllBits ? pdTRUE : pdFALSE), ticksToWait));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupSetBits(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )</tt>
*
* @see <https://www.freertos.org/xEventGroupSetBits.html>
*
* Set bits (flags) within an RTOS event group. This function cannot be called
* from an interrupt. setFromISR() is a version that can be called from an
* interrupt.
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* @param bitsToSet A bitwise value that indicates the bit or bits to set in
* the event group.
* @return EventBits The value of the event group at the time the call to
* set() returns. There are two reasons why the returned value might have the
* bits specified by the uxBitsToSet parameter cleared:
* 1. If setting a bit results in a task that was waiting for the bit leaving
* the blocked state then it is possible the bit will have been cleared
* automatically (see the clearOnExit parameter of wait()).
* 2. Any unblocked (or otherwise Ready state) task that has a priority above
* that of the task that called set() will execute and may change the event
* group value before the call to set() returns.
*
* <b>Example Usage</b>
* @include EventGroups/set.cpp
*/
inline EventBits set(const EventBits& bitsToSet) const {
return EventBits(xEventGroupSetBits(handle, bitsToSet.to_ulong()));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>BaseType_t xEventGroupSetBitsFromISR(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xEventGroupSetBitsFromISR.html>
*
* Set bits (flags) within an RTOS event group. A version of set() that can be
* called from an interrupt service routine (ISR).
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* Setting bits in an event group is not a deterministic operation because
* there are an unknown number of tasks that may be waiting for the bit or
* bits being set. FreeRTOS does not allow non-deterministic operations to be
* performed in interrupts or from critical sections. Therefore
* xEventGroupSetBitFromISR() sends a message to the RTOS daemon task to have
* the set operation performed in the context of the daemon task - where a
* scheduler lock is used in place of a critical section.
*
* @note As mentioned in the paragraph above, setting bits from an ISR will
* defer the set operation to the RTOS daemon task (also known as the timer
* service task). The RTOS daemon task is scheduled according to its priority,
* just like any other RTOS task. Therefore, if it is essential the set
* operation completes immediately (before a task created by the application
* executes) then the priority of the RTOS daemon task must be higher than the
* priority of any application task that uses the event group. The priority of
* the RTOS daemon task is set by the configTIMER_TASK_PRIORITY definition in
* FreeRTOSConfig.h.
*
* @param higherPriorityTaskWoken As mentioned above, calling this function
* will result in a message being sent to the RTOS daemon task. If the
* priority of the daemon task is higher than the priority of the currently
* running task (the task the interrupt interrupted) then
* higherPriorityTaskWoken will be set to true by setFromISR(), indicating
* that a context switch should be requested before the interrupt exits. For
* that reason higherPriorityTaskWoken must be initialised to false. See the
* example code below.
* @param bitsToSet A bitwise value that indicates the bit or bits to set in
* the event group.
* @retval true If the message was sent to the RTOS daemon task.
* @retval false Otherwise or if the timer service queue was full
*
* <b>Example Usage</b>
* @include EventGroups/setFromISR.cpp
*/
inline bool setFromISR(bool& higherPriorityTaskWoken,
const EventBits& bitsToSet) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xEventGroupSetBitsFromISR(handle, bitsToSet.to_ulong(),
&taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>BaseType_t xEventGroupSetBitsFromISR(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xEventGroupSetBitsFromISR.html>
*
* @overload
*/
inline bool setFromISR(const EventBits& bitsToSet) const {
return (xEventGroupSetBitsFromISR(handle, bitsToSet.to_ulong(), NULL) ==
pdPASS);
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupClearBits(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )</tt>
*
* @see <https://www.freertos.org/xEventGroupClearBits.html>
*
* Clear bits (flags) within an RTOS event group. This function cannot be
* called from an interrupt. See clearFromISR() for a version that can be
* called from an interrupt.
*
* @param bitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group.
* @return EventBits The value of the event group before the specified bits
* were cleared.
*
* <b>Example Usage</b>
* @include EventGroups/clear.cpp
*/
inline EventBits clear(const EventBits& bitsToClear) const {
return EventBits(xEventGroupClearBits(handle, bitsToClear.to_ulong()));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>BaseType_t xEventGroupClearBitsFromISR(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )</tt>
*
* @see <https://www.freertos.org/xEventGroupClearBitsFromISR.html>
*
* A version of clear() that can be called from an interrupt. The clear
* operation is deferred to the RTOS daemon task which is also known as the
* timer service task. The priority of the daemon task is set by the
* configTIMER_TASK_PRIORITY setting in FreeRTOSConfig.h.
*
* @param bitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group.
* @return true If the operation was successfully deferred to the RTOS daemon
* task.
* @return false If the timer command queue is full.
*
* <b>Example Usage</b>
* @include EventGroups/clearFromISR.cpp
*/
inline bool clearFromISR(const EventBits& bitsToClear) const {
return (xEventGroupClearBitsFromISR(handle, bitsToClear.to_ulong()) ==
pdPASS);
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupGetBits(
* EventGroupHandle_t xEventGroup )</tt>
*
* @see <https://www.freertos.org/xEventGroupGetBits.html>
*
* Returns the current value of the event bits (event flags) in an RTOS event
* group. This function cannot be used from an interrupt. See getFromISR() for
* a version that can be used in an interrupt.
*
* @return EventBits The value of the event bits in the event group at the
* time get() was called.
*/
inline EventBits get() const { return EventBits(xEventGroupGetBits(handle)); }
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupGetBitsFromISR(
* EventGroupHandle_t xEventGroup )</tt>
*
* @see <https://www.freertos.org/xEventGroupGetBitsFromISR.html>
*
* A version of get() that can be called from an interrupt.
*
* @return EventBits The value of the event bits in the event group at the
* time getFromISR() was called.
*/
inline EventBits getFromISR() const {
return EventBits(xEventGroupGetBitsFromISR(handle));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupSync(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const
* EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xEventGroupSync.html>
*
* Atomically set bits (flags) within an RTOS event group, then wait for a
* combination of bits to be set within the same event group. This
* functionality is typically used to synchronize multiple tasks (often called
* a task rendezvous), where each task has to wait for the other tasks to
* reach a synchronization point before proceeding.
*
* This function cannot be used from an interrupt.
*
* The function will return before its block time expires if the bits
* specified by the bitsToWait parameter are set, or become set within that
* time. In this case all the bits specified by bitsToWait will be
* automatically cleared before the function returns.
*
* @param bitsToSet The bit or bits to set in the event group before
* determining if (and possibly waiting for), all the bits specified by the
* bitsToWait parameter are set.
* @param bitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group.
* @param ticksToWait The maximum amount of time (specified in 'ticks') to
* wait for all the bits specified by the uxBitsToWaitFor parameter value to
* become set.
* @return EventBits
*
* <b>Example Usage</b>
* @include EventGroups/sync.cpp
*/
inline EventBits sync(const EventBits& bitsToSet = 0,
const EventBits& bitsToWaitFor = 0,
const TickType_t ticksToWait = portMAX_DELAY) const {
return EventBits(xEventGroupSync(handle, bitsToSet.to_ulong(),
bitsToWaitFor.to_ulong(), ticksToWait));
}
private:
/**
* EventGroups.hpp
*
* @brief Construct a new EventGroupBase object.
*
* @note Default constructor is deliberately private as this class is not
* intended to be instantiated or derived from by the user. Use
* FreeRTOS::EventGroup or FreeRTOS::StaticEventGroup.
*/
EventGroupBase() = default;
/**
* EventGroup.hpp
*
* @brief Destroy the EventGroupBase object by calling <tt>void
* vEventGroupDelete( EventGroupHandle_t xEventGroup )</tt>
*
* @see <https://www.freertos.org/vEventGroupDelete.html>
*
* Delete an event group.
*
* Tasks that are blocked on the event group being deleted will be unblocked,
* and report an event group value of 0.
*/
~EventGroupBase() { vEventGroupDelete(this->handle); };
EventGroupBase(EventGroupBase&&) noexcept = default;
EventGroupBase& operator=(EventGroupBase&&) noexcept = default;
/**
* @brief Handle used to refer to the event group when using the FreeRTOS
* interface.
*/
EventGroupHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class EventGroup EventGroups.hpp <FreeRTOS/EventGroups.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS event group.
*
* Each event group requires a [very] small amount of RAM that is used to hold
* the event group's state. If an event group is created using this class then
* the required RAM is automatically allocated from the FreeRTOS heap. If an
* event group is created using FreeRTOS::StaticEventGroup then the RAM is
* provided by the application writer, which requires an additional parameter,
* but allows the RAM to be statically allocated at compile time. See the Static
* Vs Dynamic allocation page for more information.
*/
class EventGroup : public EventGroupBase {
public:
/**
* EventGroup.hpp
*
* @brief Construct a new EventGroup object by calling <tt>EventGroupHandle_t
* xEventGroupCreate( void )</tt>
*
* @see <https://www.freertos.org/xEventGroupCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* queue was created successfully in case the memory required to create the
* queue could not be allocated.
*
* <b>Example Usage</b>
* @include EventGroups/eventGroup.cpp
*/
EventGroup() { this->handle = xEventGroupCreate(); }
~EventGroup() = default;
EventGroup(const EventGroup&) = delete;
EventGroup& operator=(const EventGroup&) = delete;
EventGroup(EventGroup&&) noexcept = default;
EventGroup& operator=(EventGroup&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticEventGroup EventGroups.hpp <FreeRTOS/EventGroups.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS event group.
*
* Each event group requires a [very] small amount of RAM that is used to hold
* the event group's state. If an event group is created using
* FreeRTOS::EventGroup then the required RAM is automatically allocated from
* the FreeRTOS heap. If an event group is created using this class then the RAM
* is provided by the application writer, which requires an additional
* parameter, but allows the RAM to be statically allocated at compile time. See
* the Static Vs Dynamic allocation page for more information.
*/
class StaticEventGroup : public EventGroupBase {
public:
/**
* EventGroups.hpp
*
* @brief Construct a new StaticEventGroup object by calling
* <tt>EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t
* *pxEventGroupBuffer )</tt>
*
* @see <https://www.freertos.org/xEventGroupCreateStatic.html>
*
* @warning This class contains the storage buffer for the event group, so the
* user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include EventGroups/staticEventGroup.cpp
*/
StaticEventGroup() {
this->handle = xEventGroupCreateStatic(&staticEventGroup);
}
~StaticEventGroup() = default;
StaticEventGroup(const StaticEventGroup&) = delete;
StaticEventGroup& operator=(const StaticEventGroup&) = delete;
StaticEventGroup(StaticEventGroup&&) noexcept = default;
StaticEventGroup& operator=(StaticEventGroup&&) noexcept = default;
private:
StaticEventGroup_t staticEventGroup;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_EVENTGROUPS_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_KERNEL_HPP
#define FREERTOS_KERNEL_HPP
#include "FreeRTOS.h"
#include "task.h"
namespace FreeRTOS {
/**
* @brief Kernel namespace that provides an interface to kernel functions.
*
*/
namespace Kernel {
enum class SchedulerState : BaseType_t {
Suspended = taskSCHEDULER_SUSPENDED,
NotStarted = taskSCHEDULER_NOT_STARTED,
Running = taskSCHEDULER_RUNNING,
};
/**
* @brief If versionNumber ends with + it represents the version in development
* after the numbered release.
*/
inline constexpr char versionNumber[] = tskKERNEL_VERSION_NUMBER;
inline constexpr BaseType_t versionMajor = tskKERNEL_VERSION_MAJOR;
inline constexpr BaseType_t versionMinor = tskKERNEL_VERSION_MINOR;
inline constexpr BaseType_t versionBuild = tskKERNEL_VERSION_BUILD;
#if (INCLUDE_xTaskGetSchedulerState == 1)
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetSchedulerState()</tt>
*
* @see <https://www.freertos.org/a00021.html#xTaskGetSchedulerState>
*
* @retval SchedulerState Returns the scheduler state as Running, NotStarted, or
* Suspended.
*/
inline SchedulerState getSchedulerState() {
return static_cast<SchedulerState>(xTaskGetSchedulerState());
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/**
* Kernel.hpp
*
* @brief Function that calls <tt>uxTaskGetNumberOfTasks()</tt>
*
* @see <https://www.freertos.org/a00021.html#usTaskGetNumberOfTasks>
*
* @retval UBaseType_t The number of tasks that the real time kernel is
* currently managing. This includes all ready, blocked and suspended tasks. A
* task that has been deleted but not yet freed by the idle task will also be
* included in the count.
*/
inline UBaseType_t getNumberOfTasks() { return uxTaskGetNumberOfTasks(); }
#if (INCLUDE_xTaskGetIdleTaskHandle == 1 && configGENERATE_RUN_TIME_STATS == 1)
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetIdleRunTimeCounter()</tt>
*
* @see <https://www.freertos.org/a00021.html#vTaskGetIdleRunTimeCounter>
*
* @retval TickType_t The run-time counter for the Idle task.
*
* This function can be used to determine how much CPU time the idle task
* receives. See the Run Time Stats page for a full description of the
* run-time-stats feature.
*
* configGENERATE_RUN_TIME_STATS and INCLUDE_xTaskGetIdleTaskHandle must both be
* defined as 1 for this function to be available. The application must also
* then provide definitions for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
* portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter and
* return the timer's current count value respectively. It is recommended to
* make the timer at least 10 times the frequency of the tick count.
*/
inline TickType_t getIdleRunTimeCounter() {
return xTaskGetIdleRunTimeCounter();
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle && configGENERATE_RUN_TIME_STATS*/
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetTickCount()</tt>
*
* @see <https://www.freertos.org/a00021.html#xTaskGetTickCount>
*
* @retval TickType_t The count of ticks since
* FreeRTOS::Kernel::startScheduler() was called.
*/
inline TickType_t getTickCount() { return xTaskGetTickCount(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetTickCountFromISR()</tt>
*
* @see <https://www.freertos.org/a00021.html#xTaskGetTickCountFromISR>
*
* @retval TickType_t The count of ticks since
* FreeRTOS::Kernel::startScheduler() was called.
*
* This is a version of FreeRTOS::Kernel::getTickCount() that is safe to be
* called from an ISR - provided that TickType_t is the natural word size of the
* microcontroller being used or interrupt nesting is either not supported or
* not being used.
*/
inline TickType_t getTickCountFromISR() { return xTaskGetTickCountFromISR(); }
/**
*Kernel.hpp
*
* @brief Function that calls <tt>taskYIELD()</tt>
*
* @see <https://www.freertos.org/a00020.html#taskYIELD>
*
* FreeRTOS::Kernel::yield() is used to request a context switch to another
*task. However, if there are no other tasks at a higher or equal priority to
*the task that calls FreeRTOS::Kernel::yield() then the RTOS scheduler will
*simply select the task that called FreeRTOS::Kernel::yield() to run again.
*/
inline void yield() { taskYIELD(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskENTER_CRITICAL()</tt>
*
* @see <https://www.freertos.org/taskENTER_CRITICAL_taskEXIT_CRITICAL.html>
*
* Function to mark the start of a critical code region. Preemptive context
* switches cannot occur when in a critical region.
*
* @note This may alter the stack (depending on the portable implementation) so
* must be used with care!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCritical.cpp
*/
inline void enterCritical() { taskENTER_CRITICAL(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskENTER_CRITICAL_FROM_ISR()</tt>
*
* @see
* <https://www.freertos.org/taskENTER_CRITICAL_FROM_ISR_taskEXIT_CRITICAL_FROM_ISR.html>
*
* @retval uint32_t the interrupt mask state as it was before the macro was
* called. The value returned by FreeRTOS::Kernel::enterCriticalFromISR() must
* be used as the interruptStatus parameter in the matching call to
* FreeRTOS::Kernel::exitCriticalFromISR().
*
* Function to mark the start of a critical code region. Preemptive context
* switches cannot occur when in a critical region.
*
* @note This may alter the stack (depending on the portable implementation) so
* must be used with care!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCriticalFromISR.cpp
*/
inline uint32_t enterCriticalFromISR() { return taskENTER_CRITICAL_FROM_ISR(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskEXIT_CRITICAL()</tt>
*
* @see <https://www.freertos.org/taskENTER_CRITICAL_taskEXIT_CRITICAL.html>
*
* Function to mark the end of a critical code region. Preemptive context
* switches cannot occur when in a critical region.
*
* @note This may alter the stack (depending on the portable implementation) so
* must be used with care!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCritical.cpp
*/
inline void exitCritical() { taskEXIT_CRITICAL(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskEXIT_CRITICAL_FROM_ISR()</tt>
*
* @see
* <https://www.freertos.org/taskENTER_CRITICAL_FROM_ISR_taskEXIT_CRITICAL_FROM_ISR.html>
*
* @param interruptStatus The value used as the interruptStatus parameter must
* be the value returned from the matching call to
* FreeRTOS::Kernel::enterCriticalFromISR().
*
* Function to mark the end of a critical code region. Preemptive context
* switches cannot occur when in a critical region.
*
* @note This may alter the stack (depending on the portable implementation) so
* must be used with care!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCriticalFromISR.cpp
*/
inline void exitCriticalFromISR(const uint32_t interruptStatus) {
taskEXIT_CRITICAL_FROM_ISR(interruptStatus);
}
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskDISABLE_INTERRUPTS()</tt>
*
* @see <https://www.freertos.org/a00020.html#taskDISABLE_INTERRUPTS>
*
* Function to disable all maskable interrupts.
*/
inline void disableInterrupts() { taskDISABLE_INTERRUPTS(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskENABLE_INTERRUPTS()</tt>
*
* @see <https://www.freertos.org/a00020.html#taskENABLE_INTERRUPTS>
*
* Function to enable microcontroller interrupts.
*/
inline void enableInterrupts() { taskENABLE_INTERRUPTS(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskStartScheduler()</tt>
*
* @see <https://www.freertos.org/a00132.html>
*
* Starts the real time kernel tick processing. After calling the kernel has
* control over which tasks are executed and when.
*
* <b>Example Usage</b>
* @include Kernel/startScheduler.cpp
*/
inline void startScheduler() { vTaskStartScheduler(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskEndScheduler()</tt>
*
* @see <https://www.freertos.org/a00133.html>
*
* @note At the time of writing only the x86 real mode port, which runs on a PC
* in place of DOS, implements this function.
*
* Stops the real time kernel tick. All created tasks will be automatically
* deleted and multitasking (either preemptive or cooperative) will stop.
* Execution then resumes from the point where
* FreeRTOS::Kernel::startScheduler() was called, as if
* FreeRTOS::Kernel::startScheduler() had just returned.
*
* See the demo application file main. c in the demo/PC directory for an example
* that uses FreeRTOS::Kernel::endScheduler().
*
* FreeRTOS::Kernel::endScheduler() requires an exit function to be defined
* within the portable layer (see vPortEndScheduler () in port. c for the PC
* port). This performs hardware specific operations such as stopping the
* kernel tick.
*
* FreeRTOS::Kernel::endScheduler() will cause all of the resources allocated by
* the kernel to be freed - but will not free resources allocated by application
* tasks.
*
* <b>Example Usage</b>
* @include Kernel/endScheduler.cpp
*/
inline void endScheduler() { vTaskEndScheduler(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskSuspendAll()</tt>
*
* @see <https://www.freertos.org/a00134.html>
*
* Suspends the scheduler without disabling interrupts. Context switches will
* not occur while the scheduler is suspended.
*
* After calling FreeRTOS::Kernel::suspendAll() the calling task will continue
* to execute without risk of being swapped out until a call to
* FreeRTOS::Kernel::resumeAll() has been made.
*
* API functions that have the potential to cause a context switch (for example,
* FreeRTOS::Task::delayUntil(), FreeRTOS::Queue::send(), etc.) must not be
* called while the scheduler is suspended.
*
* <b>Example Usage</b>
* @include Kernel/suspendAll.cpp
*/
inline void suspendAll() { vTaskSuspendAll(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskResumeAll()</tt>
*
* @see <https://www.freertos.org/a00135.html>
*
* Resumes scheduler activity after it was suspended by a call to
* FreeRTOS::Kernel::suspendAll().
*
* FreeRTOS::Kernel::resumeAll() only resumes the scheduler. It does not
* unsuspend tasks that were previously suspended by a call to
* FreeRTOS::Task::suspend().
*
* @retval true If resuming the scheduler caused a context switch.
* @retval false Otherwise.
*
* <b>Example Usage</b>
* @include Kernel/resumeAll.cpp
*/
inline bool resumeAll() { return (xTaskResumeAll() == pdTRUE); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskStepTick( const TickType_t xTicksToJump
* )</tt>
*
* @see <https://www.freertos.org/vTaskStepTick.html>
*
* Only available when configUSE_TICKLESS_IDLE is set to 1. If tickless mode is
* being used, or a low power mode is implemented, then the tick interrupt will
* not execute during idle periods. When this is the case, the tick count value
* maintained by the scheduler needs to be kept up to date with the actual
* execution time by being skipped forward by a time equal to the idle period.
*
* @param ticksToJump The number of RTOS ticks that have passed since the tick
* interrupt was stopped.
*/
inline void stepTick(const TickType_t ticksToJump) {
vTaskStepTick(ticksToJump);
}
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskCatchUpTicks( TickType_t xTicksToCatchUp
* )</tt>
*
* @see <https://www.freertos.org/vTaskStepTick.html>
*
* This function corrects the tick count value after the application code has
* held interrupts disabled for an extended period resulting in tick interrupts
* having been missed.
*
* This function is similar to FreeRTOS::Kernel::stepTick(), however, unlike
* FreeRTOS::Kernel::stepTick(), FreeRTOS::Kernel::catchUpTicks() may move the
* tick count forward past a time at which a task should be removed from the
* blocked state. That means tasks may have to be removed from the blocked
* state as the tick count is moved.
*
* @param ticksToCatchUp The number of tick interrupts that have been missed due
* to interrupts being disabled. Its value is not computed automatically, so
* must be computed by the application writer.
*
* @retval true If moving the tick count forward resulted in a task leaving the
* blocked state and a context switch being performed.
* @retval false Otherwise.
*/
inline bool catchUpTicks(const TickType_t ticksToCatchUp) {
return (xTaskCatchUpTicks(ticksToCatchUp) == pdTRUE);
}
} // namespace Kernel
} // namespace FreeRTOS
#endif // FREERTOS_KERNEL_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_MESSAGEBUFFER_HPP
#define FREERTOS_MESSAGEBUFFER_HPP
#include "FreeRTOS.h"
#include "message_buffer.h"
namespace FreeRTOS {
/**
* @class MessageBufferBase MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
*
* @brief Base class that provides the standard message buffer interface to
* FreeRTOS::MessageBuffer and FreeRTOS::StaticMessageBuffer.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::MessageBuffer or FreeRTOS::StaticMessageBuffer.
*
* @warning Uniquely among FreeRTOS objects, the stream buffer implementation
* (so also the message buffer implementation, as message buffers are built on
* top of stream buffers) assumes there is only one task or interrupt that will
* write to the buffer (the writer), and only one task or interrupt that will
* read from the buffer (the reader). It is safe for the writer and reader to
* be different tasks or interrupts, but, unlike other FreeRTOS objects, it is
* not safe to have multiple different writers or multiple different readers. If
* there are to be multiple different writers then the application writer must
* place each call to a writing API function (such as send()) inside a critical
* section and set the send block time to 0. Likewise, if there are to be
* multiple different readers then the application writer must place each call
* to a reading API function (such as read()) inside a critical section and set
* the receive block time to 0.
*/
class MessageBufferBase {
public:
friend class MessageBuffer;
template <size_t>
friend class StaticMessageBuffer;
MessageBufferBase(const MessageBufferBase&) = delete;
MessageBufferBase& operator=(const MessageBufferBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* MessageBuffer.hpp
*
* @brief Function that checks if the underlying message buffer handle is not
* NULL. This should be used to ensure a message buffer has been created
* correctly.
*
* @retval true If the handle is not NULL.
* @retval false If the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSend(
* MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
* xDataLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSend.html>
*
* Sends a discrete message to the message buffer. The message can be any
* length that fits within the buffer's free space, and is copied into the
* buffer.
*
* Use send() to write to a message buffer from a task. Use sendFromISR() to
* write to a message buffer from an interrupt service routine (ISR).
*
* @param data A pointer to the message that is to be copied into the message
* buffer.
* @param length The length of the message. That is, the number of bytes to
* copy from data into the message buffer. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architecture setting length to 20
* will reduce the free space in the message buffer by 24 bytes (20 bytes of
* message data and 4 bytes to hold the message length).
* @param ticksToWait The maximum amount of time the calling task should
* remain in the Blocked state to wait for enough space to become available in
* the message buffer, should the message buffer have insufficient space when
* send() is called. The calling task will never block if ticksToWait is
* zero. The block time is specified in tick periods, so the absolute time it
* represents is dependent on the tick frequency. The macro pdMS_TO_TICKS()
* can be used to convert a time specified in milliseconds into a time
* specified in ticks. Setting ticksToWait to portMAX_DELAY will cause the
* task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
* @return size_t The number of bytes written to the message buffer. If the
* call to send() times out before there was enough space to write the message
* into the message buffer then zero is returned. If the call did not time
* out then length is returned.
*
* <b>Example Usage</b>
* @include MessageBuffer/send.cpp
*/
inline size_t send(const void* data, const size_t length,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xMessageBufferSend(handle, data, length, ticksToWait);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSendFromISR(
* MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSendFromISR.html>
*
* Interrupt safe version of the API function that sends a discrete message to
* the message buffer. The message can be any length that fits within the
* buffer's free space, and is copied into the buffer.
*
* Use send() to write to a message buffer from a task. Use sendFromISR() to
* write to a message buffer from an interrupt service routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for data. Calling sendFromISR() can make
* data available, and so cause a task that was waiting for data to leave the
* Blocked state. If calling sendFromISR() causes a task to leave the Blocked
* state, and the unblocked task has a priority higher than the currently
* executing task (the task that was interrupted), then, internally,
* sendFromISR() will set higherPriorityTaskWoken to true. If sendFromISR()
* sets this value to true, then normally a context switch should be performed
* before the interrupt is exited. This will ensure that the interrupt returns
* directly to the highest priority Ready state task. higherPriorityTaskWoken
* should be set to false before it is passed into the function. See the code
* example below for an example.
* @param data A pointer to the message that is to be copied into the message
* buffer.
* @param length The length of the message. That is, the number of bytes to
* copy from data into the message buffer. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architecture setting length to 20
* will reduce the free space in the message buffer by 24 bytes (20 bytes of
* message data and 4 bytes to hold the message length).
* @return size_t The number of bytes actually written to the message buffer.
* If the message buffer didn't have enough free space for the message to be
* stored then 0 is returned, otherwise length is returned.
*
* <b>Example Usage</b>
* @include MessageBuffer/sendFromISR.cpp
*/
inline size_t sendFromISR(bool& higherPriorityTaskWoken, const void* data,
const size_t length) const {
BaseType_t taskWoken = pdFALSE;
size_t result = xMessageBufferSendFromISR(handle, data, length, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSendFromISR(
* MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSendFromISR.html>
*
* @overload
*/
inline size_t sendFromISR(const void* data, const size_t length) const {
return xMessageBufferSendFromISR(handle, data, length, NULL);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferReceive(
* MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
* xBufferLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReceive.html>
*
* Use receive() to read from a message buffer from a task.
* UsereceiveFromISR() to read from a message buffer from an interrupt service
* routine (ISR).
*
* @param buffer A pointer to the buffer into which the received message is to
* be copied.
* @param bufferLength The length of the buffer pointed to by the buffer
* parameter. This sets the maximum length of the message that can be
* received. If bufferLength is too small to hold the next message then the
* message will be left in the message buffer and 0 will be returned.
* @param ticksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for a message, should the message buffer be empty.
* receive() will return immediately if ticksToWait is zero and the message
* buffer is empty. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting ticksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
* @return size_t The length, in bytes, of the message read from the message
* buffer, if any. If receive() times out before a message became available
* then zero is returned. If the length of the message is greater than
* bufferLength then the message will be left in the message buffer and zero
* is returned.
*
* <b>Example Usage</b>
* @include MessageBuffer/receive.cpp
*/
inline size_t receive(void* buffer, const size_t bufferLength,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xMessageBufferReceive(handle, buffer, bufferLength, ticksToWait);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferReceiveFromISR(
* MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReceiveFromISR.html>
*
* Use receive() to read from a message buffer from a task.
* UsereceiveFromISR() to read from a message buffer from an interrupt service
* routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for space to become available. Calling
* receiveFromISR() can make space available, and so cause a task that is
* waiting for space to leave the Blocked state. If calling receiveFromISR()
* causes a task to leave the Blocked state, and the unblocked task has a
* priority higher than the currently executing task (the task that was
* interrupted), then, internally, receiveFromISR() will set
* higherPriorityTaskWoken to true. If receiveFromISR() sets this value to
* true, then normally a context switch should be performed before the
* interrupt is exited. That will ensure the interrupt returns directly to the
* highest priority Ready state task. higherPriorityTaskWoken should be set
* to false before it is passed into the function. See the code example below
* for an example.
* @param buffer A pointer to the buffer into which the received message is to
* be copied.
* @param bufferLength The length of the buffer pointed to by the buffer
* parameter. This sets the maximum length of the message that can be
* received. If bufferLength is too small to hold the next message then the
* message will be left in the message buffer and 0 will be returned.
* @return size_t The length, in bytes, of the message read from the message
* buffer, if any.
*
* <b>Example Usage</b>
* @include MessageBuffer/receiveFromISR.cpp
*/
inline size_t receiveFromISR(bool& higherPriorityTaskWoken, void* buffer,
const size_t bufferLength) const {
BaseType_t taskWoken = pdFALSE;
size_t result =
xMessageBufferReceiveFromISR(handle, buffer, bufferLength, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferReceiveFromISR(
* MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReceiveFromISR.html>
*
* @overload
*/
inline size_t receiveFromISR(void* buffer, const size_t bufferLength) const {
return xMessageBufferReceiveFromISR(handle, buffer, bufferLength, NULL);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSpacesAvailable(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSpacesAvailable.html>
*
* Queries a message buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the message buffer before
* it is full. The returned value is 4 bytes larger than the maximum message
* size that can be sent to the message buffer.
*
* @return size_t The number of bytes that can be written to the message
* buffer before the message buffer would be full. When a message is written
* to the message buffer an additional sizeof( size_t ) bytes are also written
* to store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so if spacesAvailable() returns 10, then the size of
* the largest message that can be written to the message buffer is 6 bytes.
*/
inline size_t spacesAvailable() const {
return xMessageBufferSpacesAvailable(handle);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xMessageBufferReset(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReset.html>
*
* Resets a message buffer to its initial, empty, state. Any data that was in
* the message buffer is discarded. A message buffer can only be reset if
* there are no tasks blocked waiting to either send to or receive from the
* message buffer.
*
* @retval true If the message buffer is reset.
* @retval false If there was a task blocked waiting to send to or read from
* the message buffer then the message buffer will not be reset.
*/
inline bool reset() const { return (xMessageBufferReset(handle) == pdPASS); }
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xMessageBufferIsEmpty(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferIsEmpty.html>
*
* Queries a message buffer to see if it is empty. A message buffer is empty
* if it does not contain any messages.
*
* @retval true If the message buffer is empty.
* @retval false Otherwise.
*/
inline bool isEmpty() const {
return (xMessageBufferIsEmpty(handle) == pdTRUE);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xMessageBufferIsFull(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferIsFull.html>
*
* Queries a message buffer to see if it is full. A message buffer is full if
* it cannot accept any more messages, of any size, until space is made
* available by a message being removed from the message buffer.
*
* @retval true If the message buffer is full.
* @retval false Otherwise.
*/
inline bool isFull() const {
return (xMessageBufferIsFull(handle) == pdTRUE);
}
private:
MessageBufferBase() = default;
/**
* MessageBuffer.hpp
*
* @brief Destroy the MessageBufferBase object by calling <tt>void
* vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/vMessageBufferDelete.html>
*
* Delete a queue - freeing all the memory allocated for storing of items
* placed on the queue.
*/
~MessageBufferBase() { vMessageBufferDelete(this->handle); }
MessageBufferBase(MessageBufferBase&&) noexcept = default;
MessageBufferBase& operator=(MessageBufferBase&&) noexcept = default;
MessageBufferHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class MessageBuffer MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS message
* buffer.
*
* A message buffer using dynamically allocated memory from the FreeRTOS heap.
* See FreeRTOS::StaticMessageBuffer for a version that uses statically
* allocated memory (memory that is allocated at compile time).
*/
class MessageBuffer : public MessageBufferBase {
public:
/**
* MessageBuffer.hpp
*
* @brief Construct a new MessageBuffer object by calling
* <tt>MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes
* )</tt>
*
* @see <https://www.freertos.org/xMessageBufferCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* message buffer was created successfully in case the memory required to
* create the message buffer could not be allocated.
*
* @param size The total number of bytes (not messages) the message buffer
* will be able to hold at any one time. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architectures a 10 byte message will
* take up 14 bytes of message buffer space.
*
* <b>Example Usage</b>
* @include MessageBuffer/messageBuffer.cpp
*/
explicit MessageBuffer(size_t size) {
this->handle = xMessageBufferCreate(size);
}
~MessageBuffer() = default;
MessageBuffer(const MessageBuffer&) = delete;
MessageBuffer& operator=(const MessageBuffer&) = delete;
MessageBuffer(MessageBuffer&&) noexcept = default;
MessageBuffer& operator=(MessageBuffer&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticMessageBuffer MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS message
* buffer.
*
* If a message buffer is created using this class then the RAM is provided by
* the application writer as part of the object instance and allows the RAM to
* be statically allocated at compile time.
*
* @tparam N The size, in bytes, of the storage for the message buffer.
*/
template <size_t N>
class StaticMessageBuffer : public MessageBufferBase {
public:
/**
* MessageBuffer.hpp
*
* @brief Construct a new StaticMessageBuffer object by calling
* <tt>MessageBufferHandle_t xMessageBufferCreateStatic( size_t
* xBufferSizeBytes, uint8_t *pucMessageBufferStorageArea,
* StaticMessageBuffer_t *pxStaticMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferCreateStatic.html>
*
* @warning This class contains the storage buffer for the message buffer, so
* the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include MessageBuffer/staticMessageBuffer.cpp
*/
StaticMessageBuffer() : MessageBufferBase() {
this->handle = xMessageBufferCreateStatic(sizeof(storage), storage,
&staticMessageBuffer);
}
~StaticMessageBuffer() = default;
StaticMessageBuffer(const StaticMessageBuffer&) = delete;
StaticMessageBuffer& operator=(const StaticMessageBuffer&) = delete;
StaticMessageBuffer(StaticMessageBuffer&&) noexcept = default;
StaticMessageBuffer& operator=(StaticMessageBuffer&&) noexcept = default;
private:
StaticMessageBuffer_t staticMessageBuffer;
uint8_t storage[N] = {0};
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_MESSAGEBUFFER_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_MUTEX_HPP
#define FREERTOS_MUTEX_HPP
#include "FreeRTOS.h"
#include "semphr.h"
namespace FreeRTOS {
/**
* @class MutexBase Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Base class that provides the standard mutex interface to
* FreeRTOS::Mutex, FreeRTOS::StaticMutex, FreeRTOS::RecursiveMutex, and
* FreeRTOS::StaticRecursiveMutex.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::Mutex, FreeRTOS::StaticMutex, FreeRTOS::RecursiveMutex, and
* FreeRTOS::StaticRecursiveMutex.
*/
class MutexBase {
public:
friend class Mutex;
friend class StaticMutex;
friend class RecursiveMutexBase;
friend class RecursiveMutex;
friend class StaticRecursiveMutex;
MutexBase(const MutexBase&) = delete;
MutexBase& operator=(const MutexBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Mutex.hpp
*
* @brief Function that checks if the underlying semaphore handle is not NULL.
* This should be used to ensure a semaphore has been created correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTake( SemaphoreHandle_t
* xSemaphore, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00122.html>
*
* @param ticksToWait The time in ticks to wait for the mutex to become
* available. The macro portTICK_PERIOD_MS can be used to convert this to a
* real time. A block time of zero can be used to poll the mutex.
* @retval true If the mutex was locked.
* @retval false If ticksToWait expired without the mutex becoming available.
*
* <b>Example Usage</b>
* @include Mutex/lock.cpp
*/
inline bool lock(const TickType_t ticksToWait = portMAX_DELAY) const {
return (xSemaphoreTake(handle, ticksToWait) == pdTRUE);
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR ( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* @param higherPriorityTaskWoken It is possible (although unlikely, and
* dependent on the semaphore type) that a mutex will have one or more tasks
* blocked on it waiting to give the mutex. Calling lockFromISR() will make a
* task that was blocked waiting to give the mutex leave the Blocked state. If
* calling the API function causes a task to leave the Blocked state, and the
* unblocked task has a priority equal to or higher than the currently
* executing task (the task that was interrupted), then, internally, the API
* function will set higherPriorityTaskWoken to true.
* @return true If the mutex was successfully locked.
* @return false If the mutex was not successfully locked because it was not
* available.
*/
inline bool lockFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xSemaphoreTakeFromISR(handle, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR ( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* @overload
*/
inline bool lockFromISR() const {
return (xSemaphoreTakeFromISR(handle, NULL) == pdTRUE);
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreGive( SemaphoreHandle_t xSemaphore
* )</tt>
*
* @see <https://www.freertos.org/a00123.html>
*
* @warning This must not be used from an ISR.
*
* @return true If the mutex was unlocked.
* @return false If an error occurred. Mutexes (semaphores) are implemented
* using queues. An error can occur if there is no space on the queue to post
* a message indicating that the mutex was not first locked correctly.
*
* <b>Example Usage</b>
* @include Mutex/unlock.cpp
*/
inline bool unlock() const { return (xSemaphoreGive(handle) == pdTRUE); }
private:
MutexBase() = default;
/**
* Mutex.hpp
*
* @brief Destroy the MutexBase object by calling <tt>void vSemaphoreDelete(
* SemaphoreHandle_t xSemaphore )</tt>
*
* @see <https://www.freertos.org/a00113.html#vSemaphoreDelete>
*
* @note Do not delete a mutex that has tasks blocked on it (tasks that are in
* the Blocked state waiting for the mutex to become available).
*/
~MutexBase() { vSemaphoreDelete(this->handle); }
MutexBase(MutexBase&&) noexcept = default;
MutexBase& operator=(MutexBase&&) noexcept = default;
/**
* @brief Handle used to refer to the semaphore when using the FreeRTOS
* interface.
*/
SemaphoreHandle_t handle = NULL;
};
/**
* @class RecursiveMutexBase Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Base class that provides the recursive mutex interface to
* FreeRTOS::RecursiveMutex and FreeRTOS::StaticRecursiveMutex. This class
* exists to override the lock() and unlock() functions which require different
* underlying functions from what is used in FreeRTOS::MutexBase.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::RecursiveMutex or FreeRTOS::StaticRecursiveMutex.
*/
class RecursiveMutexBase : public MutexBase {
public:
friend class RecursiveMutex;
friend class StaticRecursiveMutex;
RecursiveMutexBase(const RecursiveMutexBase&) = delete;
RecursiveMutexBase& operator=(const RecursiveMutexBase&) = delete;
static void* operator new(size_t, void*);
static void* operator new[](size_t, void*);
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeRecursive( SemaphoreHandle_t
* xMutex, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeRecursive.html>
*
* @param ticksToWait The time in ticks to wait for the mutex to become
* available. The macro portTICK_PERIOD_MS can be used to convert this to a
* real time. A block time of zero can be used to poll the mutex. If the task
* already owns the mutex then take() will return immediately no matter what
* the value of ticksToWait.
* @retval true If the mutex was locked.
* @retval false If ticksToWait expired without the mutex becoming available.
*
* <b>Example Usage</b>
* @include Mutex/recursiveLock.cpp
*/
inline bool lock(const TickType_t ticksToWait = portMAX_DELAY) const {
return (xSemaphoreTakeRecursive(handle, ticksToWait) == pdTRUE);
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreGiveRecursive( SemaphoreHandle_t
* xSemaphore )</tt>
*
* @see <https://www.freertos.org/xSemaphoreGiveRecursive.html>
*
* A mutex used recursively can be locked repeatedly by the owner. The mutex
* doesn't become available again until the owner has called unlock() for each
* successful lock request. For example, if a task successfully locks the
* same mutex 5 times then the mutex will not be available to any other task
* until it has also unlocked the mutex back exactly five times.
*
* @return true If the mutex was unlocked.
* @return false Otherwise.
*
* <b>Example Usage</b>
* @include Mutex/recursiveLock.cpp
*/
inline bool unlock() const {
return (xSemaphoreGiveRecursive(handle) == pdTRUE);
}
private:
RecursiveMutexBase() = default;
~RecursiveMutexBase() = default;
RecursiveMutexBase(RecursiveMutexBase&&) noexcept = default;
RecursiveMutexBase& operator=(RecursiveMutexBase&&) noexcept = default;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class Mutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS mutex.
*
* Each mutex require a small amount of RAM that is used to hold the mutex's
* state. If a mutex is created using FreeRTOS::Mutex then the required RAM is
* automatically allocated from the FreeRTOS heap. If a mutex is created using
* FreeRTOS::StaticMutex then the RAM is provided by the application writer and
* allows the RAM to be statically allocated at compile time. See the Static Vs
* Dynamic allocation page for more information.
*
* Mutexes and binary semaphores are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* The priority of a task that locks a mutex will be temporarily raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to lock
* the same mutex. This means the mutex must always be unlocked back otherwise
* the higher priority task will never be able to lock the mutex, and the lower
* priority task will never 'disinherit' the priority.
*/
class Mutex : public MutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new Mutex object by calling <tt>SemaphoreHandle_t
* xSemaphoreCreateMutex( void )</tt>
*
* @see <https://www.freertos.org/CreateMutex.html>
*
* @warning The user should call isValid() on this object to verify that the
* mutex was created successfully in case the memory required to create the
* queue could not be allocated.
*
* <b>Example Usage</b>
* @include Mutex/mutex.cpp
*/
Mutex() { this->handle = xSemaphoreCreateMutex(); }
~Mutex() = default;
Mutex(const Mutex&) = delete;
Mutex& operator=(const Mutex&) = delete;
Mutex(Mutex&&) noexcept = default;
Mutex& operator=(Mutex&&) noexcept = default;
};
/**
* @class RecursiveMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS recursive
* mutex.
*
* Each recursive mutex require a small amount of RAM that is used to hold the
* recursive mutex's state. If a mutex is created using FreeRTOS::RecursiveMutex
* then the required RAM is automatically allocated from the FreeRTOS heap. If a
* recursive mutex is created using FreeRTOS::StaticRecursiveMutex then the RAM
* is provided by the application writer, which requires an additional
* parameter, but allows the RAM to be statically allocated at compile time. See
* the Static Vs Dynamic allocation page for more information.
*
* Contrary to non-recursive mutexes, a task can lock a recursive mutex multiple
* times, and the recursive mutex will only be returned after the holding task
* has unlocked the mutex the same number of times it locked the mutex.
*
* Like non-recursive mutexes, recursive mutexes implement a priority
* inheritance algorithm. The priority of a task that locks a mutex will be
* temporarily raised if another task of higher priority attempts to obtain the
* same mutex. The task that owns the mutex 'inherits' the priority of the task
* attempting to lock the same mutex. This means the mutex must always be
* unlocked otherwise the higher priority task will never be able to obtain the
* mutex, and the lower priority task will never 'disinherit' the priority.
*/
class RecursiveMutex : public RecursiveMutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new RecursiveMutex object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateRecursiveMutex.html>
*
* @warning The user should call isValid() on this object to verify that the
* recursive mutex was created successfully in case the memory required to
* create the queue could not be allocated.
*
* <b>Example Usage</b>
* @include Mutex/recursiveMutex.cpp
*/
RecursiveMutex() { this->handle = xSemaphoreCreateRecursiveMutex(); }
~RecursiveMutex() = default;
RecursiveMutex(const RecursiveMutex&) = delete;
RecursiveMutex& operator=(const RecursiveMutex&) = delete;
RecursiveMutex(RecursiveMutex&&) noexcept = default;
RecursiveMutex& operator=(RecursiveMutex&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS mutex.
*
* Each mutex require a small amount of RAM that is used to hold the mutex's
* state. If a mutex is created using FreeRTOS::Mutex then the required RAM is
* automatically allocated from the FreeRTOS heap. If a mutex is created using
* FreeRTOS::StaticMutex then the RAM is provided by the application writer and
* allows the RAM to be statically allocated at compile time. See the Static Vs
* Dynamic allocation page for more information.
*
* Mutexes and binary semaphores are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* The priority of a task that locks a mutex will be temporarily raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to lock
* the same mutex. This means the mutex must always be unlocked back otherwise
* the higher priority task will never be able to lock the mutex, and the lower
* priority task will never 'disinherit' the priority.
*/
class StaticMutex : public MutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new StaticMutex object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t
* *pxMutexBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateMutexStatic.html>
*
* @warning This class contains the storage buffer for the mutex, so the user
* should create this object as a global object or with the static storage
* specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Mutex/staticMutex.cpp
*/
StaticMutex() { this->handle = xSemaphoreCreateMutexStatic(&staticMutex); }
~StaticMutex() = default;
StaticMutex(const StaticMutex&) = delete;
StaticMutex& operator=(const StaticMutex&) = delete;
StaticMutex(StaticMutex&&) noexcept = default;
StaticMutex& operator=(StaticMutex&&) noexcept = default;
private:
StaticSemaphore_t staticMutex;
};
/**
* @class StaticRecursiveMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS recursive
* mutex.
*
* Each recursive mutex require a small amount of RAM that is used to hold the
* recursive mutex's state. If a mutex is created using FreeRTOS::RecursiveMutex
* then the required RAM is automatically allocated from the FreeRTOS heap. If a
* recursive mutex is created using FreeRTOS::StaticRecursiveMutex then the RAM
* is provided by the application writer, which requires an additional
* parameter, but allows the RAM to be statically allocated at compile time. See
* the Static Vs Dynamic allocation page for more information.
*
* Contrary to non-recursive mutexes, a task can lock a recursive mutex multiple
* times, and the recursive mutex will only be returned after the holding task
* has unlocked the mutex the same number of times it locked the mutex.
*
* Like non-recursive mutexes, recursive mutexes implement a priority
* inheritance algorithm. The priority of a task that locks a mutex will be
* temporarily raised if another task of higher priority attempts to obtain the
* same mutex. The task that owns the mutex 'inherits' the priority of the task
* attempting to lock the same mutex. This means the mutex must always be
* unlocked otherwise the higher priority task will never be able to obtain the
* mutex, and the lower priority task will never 'disinherit' the priority.
*/
class StaticRecursiveMutex : public RecursiveMutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new StaticRecursiveMutex object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic(
* StaticSemaphore_t *pxMutexBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateRecursiveMutexStatic.html>
*
* @warning This class contains the storage buffer for the recursive mutex, so
* the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Mutex/staticRecursiveMutex.cpp
*/
StaticRecursiveMutex() {
this->handle = xSemaphoreCreateRecursiveMutexStatic(&staticRecursiveMutex);
}
~StaticRecursiveMutex() = default;
StaticRecursiveMutex(const StaticRecursiveMutex&) = delete;
StaticRecursiveMutex& operator=(const StaticRecursiveMutex&) = delete;
StaticRecursiveMutex(StaticRecursiveMutex&&) noexcept = default;
StaticRecursiveMutex& operator=(StaticRecursiveMutex&&) noexcept = default;
private:
StaticSemaphore_t staticRecursiveMutex;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_MUTEX_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_QUEUE_HPP
#define FREERTOS_QUEUE_HPP
#include <optional>
#include "FreeRTOS.h"
#include "queue.h"
namespace FreeRTOS {
/**
* @class QueueBase Queue.hpp <FreeRTOS/Queue.hpp>
*
* @brief Base class that provides the standard queue interface to
* FreeRTOS::Queue and FreeRTOS::StaticQueue.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::Queue or FreeRTOS::StaticQueue.
*
* @tparam T Type to be stored in the queue.
*/
template <class T>
class QueueBase {
public:
template <class>
friend class Queue;
template <class, UBaseType_t>
friend class StaticQueue;
QueueBase(const QueueBase&) = delete;
QueueBase& operator=(const QueueBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Queue.hpp
*
* @brief Function that checks if the underlying queue handle is not NULL.
* This should be used to ensure a queue has been created correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToBack( xQueue, pvItemToQueue,
* xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00117.html>
*
* 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 FreeRTOS::Queue::sendToBackFromISR() for an alternative which
* may be used in an ISR.
*
* @param item A reference to the item that is to be placed on the queue.
* @param ticksToWait 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.
* @retval true if the item was successfully posted.
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToBack.cpp
*/
inline bool sendToBack(const T& item,
const TickType_t ticksToWait = portMAX_DELAY) const {
return (xQueueSendToBack(handle, &item, ticksToWait) == pdTRUE);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToBackFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToBackFromISR.html>
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @param item A reference to the item that is to be placed on the queue.
* @retval true if the item was successfully posted
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToBackFromISR.cpp
*/
inline bool sendToBackFromISR(bool& higherPriorityTaskWoken,
const T& item) const {
BaseType_t taskWoken = pdFALSE;
bool result =
(xQueueSendToBackFromISR(handle, &item, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToBackFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToBackFromISR.html>
*
* @overload
*/
inline bool sendToBackFromISR(const T& item) const {
return (xQueueSendToBackFromISR(handle, &item, NULL) == pdPASS);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToFront( xQueue, pvItemToQueue,
* xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xQueueSendToFront.html>
*
* @param item A reference to the item that is to be placed on the queue.
* @param ticksToWait 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.
* @retval true if the item was successfully posted.
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToFront.cpp
*/
inline bool sendToFront(const T& item,
const TickType_t ticksToWait = portMAX_DELAY) const {
return (xQueueSendToFront(handle, &item, ticksToWait) == pdTRUE);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToFrontFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToFrontFromISR.html>
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @param item A reference to the item that is to be placed on the queue.
* @retval true if the item was successfully posted
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToFrontFromISR.cpp
*/
inline bool sendToFrontFromISR(bool& higherPriorityTaskWoken,
const T& item) const {
BaseType_t taskWoken = pdFALSE;
bool result =
(xQueueSendToFrontFromISR(handle, &item, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToFrontFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToFrontFromISR.html>
*
* @overload
*/
inline bool sendToFrontFromISR(const T& item) const {
return (xQueueSendToFrontFromISR(handle, &item, NULL) == pdPASS);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReceive( QueueHandle_t
* xQueue, void *pvBuffer, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00118.html>
*
* Receive an item from a queue. This function must not be used in an
* interrupt service routine. See receiveFromISR() for an alternative that
* can.
*
* @param ticksToWait 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.
* Setting ticksToWait to 0 will cause the function to return immediately if
* 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 std::optional<T> Object from the queue. User should check that the
* value is present.
*
* <b>Example Usage</b>
* @include Queue/receive.cpp
*/
inline std::optional<T> receive(
const TickType_t ticksToWait = portMAX_DELAY) const {
T buffer;
return (xQueueReceive(handle, &buffer, ticksToWait) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReceiveFromISR(
* QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxHigherPriorityTaskWoken
* )</tt>
*
* @see <https://www.freertos.org/a00120.html>
*
* Receive an item from a queue. It is safe to use this function from within
* an interrupt service routine.
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @return std::optional<T> Object from the queue. User should check that the
* value is present.
*
* <b>Example Usage</b>
* @include Queue/receiveFromISR.cpp
*/
inline std::optional<T> receiveFromISR(bool& higherPriorityTaskWoken) const {
T buffer;
BaseType_t taskWoken = pdFALSE;
bool result = (xQueueReceiveFromISR(handle, &buffer, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result ? std::optional<T>(buffer) : std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReceiveFromISR(
* QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxHigherPriorityTaskWoken
* )</tt>
*
* @see <https://www.freertos.org/a00120.html>
*
* @overload
*/
inline std::optional<T> receiveFromISR() const {
T buffer;
return (xQueueReceiveFromISR(handle, &buffer, NULL) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>UBaseType_t uxQueueMessagesWaiting(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#ucQueueMessagesWaiting>
*
* Return the number of messages stored in a queue.
*
* @retval UBaseType_t The number of messages available in the queue.
*/
inline UBaseType_t messagesWaiting() const {
return uxQueueMessagesWaiting(handle);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>UBaseType_t uxQueueMessagesWaitingFromISR(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#ucQueueMessagesWaitingFromISR>
*
* A version of messagesWaiting() that can be called from an ISR. Return the
* number of messages stored in a queue.
*
* @retval UBaseType_t The number of messages available in the queue.
*/
inline UBaseType_t messagesWaitingFromISR() const {
return uxQueueMessagesWaitingFromISR(handle);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>UBaseType_t uxQueueSpacesAvailable(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#uxQueueSpacesAvailable>
*
* Return the number of free spaces in a queue.
*
* @retval UBaseType_t The number of free spaces available in the queue.
*/
inline UBaseType_t spacesAvailable() const {
return uxQueueSpacesAvailable(handle);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReset( QueueHandle_t xQueue
* )</tt>
*
* @see <https://www.freertos.org/a00018.html#xQueueReset>
*
* Resets a queue to its original empty state.
*/
inline void reset() const { xQueueReset(handle); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueOverwrite( QueueHandle_t
* xQueue, const void * pvItemToQueue )</tt>
*
* @see <https://www.freertos.org/xQueueOverwrite.html>
*
* 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
* overwriteFromISR() for an alternative which may be used in an ISR.
*
* @param item A reference to the item that is to be placed on the queue.
*
* <b>Example Usage</b>
* @include Queue/overwrite.cpp
*/
inline void overwrite(const T& item) const { xQueueOverwrite(handle, &item); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueOverwriteFromISR(
* QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueOverwriteFromISR.html>
*
* A version of overwrite() 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 higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @param item A reference to the item that is to be placed on the queue.
*
* <b>Example Usage</b>
* @include Queue/overwriteFromISR.cpp
*/
inline void overwriteFromISR(bool& higherPriorityTaskWoken,
const T& item) const {
BaseType_t taskWoken = pdFALSE;
xQueueOverwriteFromISR(handle, &item, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueOverwriteFromISR(
* QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueOverwriteFromISR.html>
*
* @overload
*/
inline void overwriteFromISR(const T& item) const {
xQueueOverwriteFromISR(handle, &item, NULL);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueuePeek( QueueHandle_t xQueue,
* void * const pvBuffer, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xQueuePeek.html>
*
* Receive an item from a queue without removing the item from the queue.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to receive().
*
* This function must not be used in an interrupt service routine. See
* peekFromISR() for an alternative that can be called from an interrupt
* service routine.
*
* @param ticksToWait 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.
* Setting ticksToWait to 0 will cause the function to return immediately if
* 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 std::optional<T> Object from the queue. User should check that the
* value is present.
*
* <b>Example Usage</b>
* @include Queue/peek.cpp
*/
inline std::optional<T> peek(
const TickType_t ticksToWait = portMAX_DELAY) const {
T buffer;
return (xQueuePeek(handle, &buffer, ticksToWait) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueuePeekFromISR( QueueHandle_t
* xQueue, void *pvBuffer )</tt>
*
* @see <https://www.freertos.org/xQueuePeekFromISR.html>
*
* A version of peek() that can be called from an interrupt service routine
* (ISR).
*
* Receive an item from a queue without removing the item from the queue.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to receive().
*
* @return std::optional<T> Object from the queue. User should check that the
* value is present.
*/
inline std::optional<T> peekFromISR() const {
T buffer;
return (xQueuePeekFromISR(handle, &buffer) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>void vQueueAddToRegistry( QueueHandle_t
* xQueue, char *pcQueueName )</tt>
*
* @see <https://www.freertos.org/vQueueAddToRegistry.html>
*
* The registry is provided as a means for kernel aware debuggers to locate
* queues, semaphores and mutexes. Call addToRegistry() 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.
*
* If addToRegistry() is called more than once for the same queue, the
* registry will store the name parameter from the most recent call to
* addToRegistry().
*
* @param name 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.
*/
inline void addToRegistry(const char* name) const {
vQueueAddToRegistry(handle, name);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>void vQueueUnregisterQueue( QueueHandle_t
* xQueue )</tt>
*
* @see <https://www.freertos.org/vQueueUnregisterQueue.html>
*
* The registry is provided as a means for kernel aware debuggers to locate
* queues, semaphores and mutexes. Call addToRegistry() add a queue,
* semaphore or mutex handle to the registry if you want the handle to be
* available to a kernel aware debugger, and unregister() 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.
*/
inline void unregister() const { vQueueUnregisterQueue(handle); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>const char *pcQueueGetName( QueueHandle_t
* xQueue )</tt>
*
* @see <https://www.freertos.org/pcQueueGetName.html>
*
* The queue registry is provided as a means for kernel aware debuggers to
* locate queues, semaphores and mutexes. Call getName() to look up and return
* the name of a queue in the queue registry from the queue's handle.
*
* @return If the queue referenced by the queue is in the queue registry, then
* the text name of the queue is returned, otherwise NULL is returned.
*/
inline const char* getName() const { return pcQueueGetName(handle); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueIsQueueFullFromISR( const
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#xQueueIsQueueFullFromISR>
*
* Queries a queue to determine if the queue is empty. This function should
* only be used in an ISR.
*
* @return true if the queue is full.
* @return false if the queue is not full.
*/
inline bool isFullFromISR() const {
return (xQueueIsQueueFullFromISR(handle) == pdTRUE);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueIsQueueEmptyFromISR( const
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#xQueueIsQueueEmptyFromISR>
*
* Queries a queue to determine if the queue is empty. This function should
* only be used in an ISR.
*
* @retval true if the queue is empty.
* @retval false if the queue is not empty.
*/
inline bool isEmptyFromISR() const {
return (xQueueIsQueueEmptyFromISR(handle) == pdTRUE);
}
private:
/**
* Queue.hpp
*
* @brief Construct a new QueueBase object.
*
* @note Default constructor is deliberately private as this class is not
* intended to be instantiated or derived from by the user. Use
* FreeRTOS::Queue or FreeRTOS::StaticQueue.
*/
QueueBase() = default;
/**
* Queue.hpp
*
* @brief Destroy the QueueBase object by calling <tt>void vQueueDelete(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#vQueueDelete>
*
* Delete a queue - freeing all the memory allocated for storing of items
* placed on the queue.
*/
~QueueBase() { vQueueDelete(this->handle); }
QueueBase(QueueBase&&) noexcept = default;
QueueBase& operator=(QueueBase&&) noexcept = default;
/**
* @brief Handle used to refer to the queue when using the FreeRTOS interface.
*/
QueueHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class Queue Queue.hpp <FreeRTOS/Queue.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS queue.
*
* Each queue requires RAM that is used to hold the queue state, and to hold the
* items that are contained in the queue (the queue storage area). If a queue is
* created using this class then the required RAM is automatically allocated
* from the FreeRTOS heap.
*
* @tparam T Type to be stored in the queue.
*/
template <class T>
class Queue : public QueueBase<T> {
public:
/**
* Queue.hpp
*
* @brief Construct a new Queue object by calling <tt>QueueHandle_t
* xQueueCreate( UBaseType_t uxQueueLength, UBaseType_t uxItemSize )</tt>
*
* @see <https://www.freertos.org/a00116.html>
*
* @warning The user should call isValid() on this object to verify that the
* queue was created successfully in case the memory required to create the
* queue could not be allocated.
*
* @param length The maximum number of items the queue can hold at any one
* time.
*
* <b>Example Usage</b>
* @include Queue/queue.cpp
*/
explicit Queue(const UBaseType_t length) {
this->handle = xQueueCreate(length, sizeof(T));
}
~Queue() = default;
Queue(const Queue&) = delete;
Queue& operator=(const Queue&) = delete;
Queue(Queue&&) noexcept = default;
Queue& operator=(Queue&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticQueue Queue.hpp <FreeRTOS/Queue.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS queue.
*
* If a queue is created using this class then the RAM is provided by the
* application writer as part of the object instance and allows the RAM to be
* statically allocated at compile time.
*
* @tparam T Type to be stored in the queue.
* @tparam N The maximum number of items the queue can hold at any one time.
*/
template <class T, UBaseType_t N>
class StaticQueue : public QueueBase<T> {
public:
/**
* Queue.hpp
*
* @brief Construct a new StaticQueue object by calling
* <tt>QueueHandle_t xQueueCreateStatic( UBaseType_t uxQueueLength,
* UBaseType_t uxItemSize, uint8_t *pucQueueStorageBuffer, StaticQueue_t
* *pxQueueBuffer )</tt>
*
* @see <https://www.freertos.org/xQueueCreateStatic.html>
*
* @warning This class contains the storage buffer for the queue, so the user
* should create this object as a global object or with the static storage
* specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Queue/staticQueue.cpp
*/
StaticQueue() {
this->handle = xQueueCreateStatic(N, sizeof(T), storage, &staticQueue);
}
~StaticQueue() = default;
StaticQueue(const StaticQueue&) = delete;
StaticQueue& operator=(const StaticQueue&) = delete;
StaticQueue(StaticQueue&&) noexcept = default;
StaticQueue& operator=(StaticQueue&&) noexcept = default;
private:
StaticQueue_t staticQueue;
uint8_t storage[N * sizeof(T)];
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_QUEUE_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_SEMAPHORE_HPP
#define FREERTOS_SEMAPHORE_HPP
#include "FreeRTOS.h"
#include "semphr.h"
namespace FreeRTOS {
/**
* @class SemaphoreBase Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Base class that provides the standard semaphore interface to
* FreeRTOS::BinarySemaphore, FreeRTOS::StaticBinarySemaphore,
* FreeRTOS::CountingSemaphore, and FreeRTOS::StaticCountingSemaphore.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::BinarySemaphore, FreeRTOS::StaticBinarySemaphore,
* FreeRTOS::CountingSemaphore, or FreeRTOS::StaticCountingSemaphore.
*/
class SemaphoreBase {
public:
friend class BinarySemaphore;
friend class StaticBinarySemaphore;
friend class CountingSemaphore;
friend class StaticCountingSemaphore;
SemaphoreBase(const SemaphoreBase&) = delete;
SemaphoreBase& operator=(const SemaphoreBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Semaphore.hpp
*
* @brief Function that checks if the underlying semaphore handle is not NULL.
* This should be used to ensure a semaphore has been created correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>UBaseType_t uxSemaphoreGetCount(
* SemaphoreHandle_t xSemaphore )</tt>
*
* @see <https://www.freertos.org/uxSemaphoreGetCount.html>
*
* Returns the count of a semaphore.
*
* @return UBaseType_t If the semaphore is a counting semaphore then the
* semaphores current count value is returned. If the semaphore is a binary
* semaphore then 1 is returned if the semaphore is available, and 0 is
* returned if the semaphore is not available.
*/
inline UBaseType_t getCount() const { return uxSemaphoreGetCount(handle); }
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreTake( SemaphoreHandle_t
* xSemaphore, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00122.html>
*
* Function to obtain a semaphore.
*
* This macro must not be called from an ISR. takeFromISR() can be used to
* take a semaphore from within an interrupt if required, although this would
* not be a normal operation. Semaphores use queues as their underlying
* mechanism, so functions are to some extent interoperable.
*
* @param ticksToWait The time in ticks to wait for the semaphore to become
* available. The macro portTICK_PERIOD_MS can be used to convert this to a
* real time. A block time of zero can be used to poll the semaphore.
* @retval true If the semaphore was obtained.
* @retval false If xTicksToWait expired without the semaphore becoming
* available.
*
* <b>Example Usage</b>
* @include Semaphore/take.cpp
*/
inline bool take(const TickType_t ticksToWait = portMAX_DELAY) const {
return (xSemaphoreTake(handle, ticksToWait) == pdTRUE);
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken)</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* A version of take() that can be called from an ISR. Unlike take(),
* takeFromISR() does not permit a block time to be specified.
*
* @param higherPriorityTaskWoken It is possible (although unlikely, and
* dependent on the semaphore type) that a semaphore will have one or more
* tasks blocked on it waiting to give the semaphore. Calling takeFromISR()
* will make a task that was blocked waiting to give the semaphore leave the
* Blocked state. If calling the API function causes a task to leave the
* Blocked state, and the unblocked task has a priority equal to or higher
* than the currently executing task (the task that was interrupted), then,
* internally, the API function will set higherPriorityTaskWoken to true. If
* takeFromISR() sets higherPriorityTaskWoken to true, then a context switch
* should be performed before the interrupt is exited. This will ensure that
* the interrupt returns directly to the highest priority Ready state task.
* The mechanism is identical to that used in the FreeRTOS::receiveFromISR()
* function, and readers are referred to the FreeRTOS::receiveFromISR()
* documentation for further explanation.
* @retval true If the semaphore was successfully taken.
* @retval false If the semaphore was not successfully taken because it was
* not available.
*/
inline bool takeFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xSemaphoreTakeFromISR(handle, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken)</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* @overload
*/
inline bool takeFromISR() const {
return (xSemaphoreTakeFromISR(handle, NULL) == pdTRUE);
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreGive( SemaphoreHandle_t xSemaphore
* )</tt>
*
* @see <https://www.freertos.org/a00123.html>
*
* Function to release a semaphore.
*
* This must not be used from an ISR. See giveFromISR() for an alternative
* which can be used from an ISR.
*
* @retval true If the semaphore was released.
* @retval false If an error occurred. Semaphores are implemented using
* queues. An error can occur if there is no space on the queue to post a
* message indicating that the semaphore was not first obtained correctly.
*
* <b>Example Usage</b>
* @include Semaphore/give.cpp
*/
inline bool give() const { return (xSemaphoreGive(handle) == pdTRUE); }
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreGiveFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/a00124.html>
*
* Function to release a semaphore.
*
* This macro can be used from an ISR.
*
* @param higherPriorityTaskWoken giveFromISR() will set
* higherPriorityTaskWoken to true if giving the semaphore caused a task to
* unblock, and the unblocked task has a priority higher than the currently
* running task. If giveFromISR() sets this value to true then a context
* switch should be requested before the interrupt is exited.
* @retval true If the semaphore was successfully given.
* @retval false Otherwise.
*
* <b>Example Usage</b>
* @include Semaphore/giveFromISR.cpp
*/
inline bool giveFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xSemaphoreGiveFromISR(handle, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreGiveFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/a00124.html>
*
* @overload
*/
inline bool giveFromISR() const {
return (xSemaphoreGiveFromISR(handle, NULL) == pdTRUE);
}
private:
SemaphoreBase() = default;
/**
* Semaphore.hpp
*
* @brief Destroy the SemaphoreBase object by calling <tt>void
* vSemaphoreDelete( SemaphoreHandle_t xSemaphore )</tt>
*
* @see <https://www.freertos.org/a00113.html#vSemaphoreDelete>
*
* @note Do not delete a semaphore that has tasks blocked on it (tasks that
* are in the Blocked state waiting for the semaphore to become available).
*/
~SemaphoreBase() { vSemaphoreDelete(this->handle); }
SemaphoreBase(SemaphoreBase&&) noexcept = default;
SemaphoreBase& operator=(SemaphoreBase&&) noexcept = default;
/**
* @brief Handle used to refer to the semaphore when using the FreeRTOS
* interface.
*/
SemaphoreHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class BinarySemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS binary
* semaphore.
*
* Each binary semaphore require a small amount of RAM that is used to hold the
* semaphore's state. If a binary semaphore is created using
* FreeRTOS::BinarySemaphore then the required RAM is automatically allocated
* from the FreeRTOS heap. If a binary semaphore is created using
* FreeRTOS::StaticBinarySemaphore then the RAM is provided by the application
* writer as part of the class and allows the RAM to be statically allocated at
* compile time. See the Static Vs Dynamic allocation page for more information.
*
* The semaphore is created in the 'empty' state, meaning the semaphore must
* first be given using the give() API function before it can subsequently be
* taken (obtained) using the take() function.
*
* Binary semaphores and mutexes are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* A binary semaphore need not be given back once obtained, so task
* synchronisation can be implemented by one task/interrupt continuously
* 'giving' the semaphore while another continuously 'takes' the semaphore. This
* is demonstrated by the sample code on the giveFromISR() documentation page.
* Note the same functionality can often be achieved in a more efficient way
* using a direct to task notification.
*
* The priority of a task that 'takes' a mutex can potentially be raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to 'take'
* the same mutex. This means the mutex must always be 'given' back - otherwise
* the higher priority task will never be able to obtain the mutex, and the
* lower priority task will never 'disinherit' the priority. An example of a
* mutex being used to implement mutual exclusion is provided on the take()
* documentation page.
*/
class BinarySemaphore : public SemaphoreBase {
public:
/**
* Semaphore.hpp
*
* @brief Construct a new BinarySemaphore object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateBinary( void )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateBinary.html>
*
* @warning The user should call isValid() on this object to verify that the
* binary semaphore was created successfully in case the memory required to
* create the queue could not be allocated.
*
* <b>Example Usage</b>
* @include Semaphore/binarySemaphore.cpp
*/
BinarySemaphore() { this->handle = xSemaphoreCreateBinary(); }
~BinarySemaphore() = default;
BinarySemaphore(const BinarySemaphore&) = delete;
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
BinarySemaphore(BinarySemaphore&&) noexcept = default;
BinarySemaphore& operator=(BinarySemaphore&&) noexcept = default;
};
/**
* @class CountingSemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS counting
* semaphore.
*
* Each counting semaphore require a small amount of RAM that is used to hold
* the semaphore's state. If a counting semaphore is created using
* FreeRTOS::CountingSemaphore then the required RAM is automatically allocated
* from the FreeRTOS heap. If a counting semaphore is created using
* FreeRTOS::StaticCountingSemaphore then the RAM is provided by the application
* writer as part of the class and allows the RAM to be statically allocated at
* compile time. See the Static Vs Dynamic allocation page for more information.
*
* Counting semaphores are typically used for two things:
* 1. <b>Counting Events:</b>
* In this usage scenario an event handler will 'give' a semaphore each time an
* event occurs (incrementing the semaphore count value), and a handler task
* will 'take' a semaphore each time it processes an event (decrementing the
* semaphore count value). The count value is therefore the difference between
* the number of events that have occurred and the number that have been
* processed. In this case it is desirable for the initial count value to be
* zero. Note the same functionality can often be achieved in a more efficient
* way using a direct to task notification.
*
* 2. <b>Resource Management:</b>
* In this usage scenario the count value indicates the number of resources
* available. To obtain control of a resource a task must first obtain a
* semaphore - decrementing the semaphore count value. When the count value
* reaches zero there are no free resources. When a task finishes with the
* resource it 'gives' the semaphore back - incrementing the semaphore count
* value. In this case it is desirable for the initial count value to be equal
* to the maximum count value, indicating that all resources are free.
*/
class CountingSemaphore : public SemaphoreBase {
public:
/**
* Semaphore.hpp
*
* @brief Construct a new CountingSemaphore by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount,
* UBaseType_t uxInitialCount)</tt>
*
* @warning The user should call isValid() on this object to verify that the
* binary semaphore was created successfully in case the memory required to
* create the queue could not be allocated.
*
* @param maxCount The maximum count value that can be reached. When the
* semaphore reaches this value it can no longer be 'given'.
* @param initialCount The count value assigned to the semaphore when
* it is created.
*/
explicit CountingSemaphore(const UBaseType_t maxCount,
const UBaseType_t initialCount = 0) {
this->handle = xSemaphoreCreateCounting(maxCount, initialCount);
}
~CountingSemaphore() = default;
CountingSemaphore(const CountingSemaphore&) = delete;
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
CountingSemaphore(CountingSemaphore&&) noexcept = default;
CountingSemaphore& operator=(CountingSemaphore&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticBinarySemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS binary
* semaphore.
*
* Each binary semaphore require a small amount of RAM that is used to hold the
* semaphore's state. If a binary semaphore is created using
* FreeRTOS::BinarySemaphore then the required RAM is automatically allocated
* from the FreeRTOS heap. If a binary semaphore is created using
* FreeRTOS::StaticBinarySemaphore then the RAM is provided by the application
* writer as part of the class and allows the RAM to be statically allocated at
* compile time. See the Static Vs Dynamic allocation page for more information.
*
* The semaphore is created in the 'empty' state, meaning the semaphore must
* first be given using the give() API function before it can subsequently be
* taken (obtained) using the take() function.
*
* Binary semaphores and mutexes are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* A binary semaphore need not be given back once obtained, so task
* synchronisation can be implemented by one task/interrupt continuously
* 'giving' the semaphore while another continuously 'takes' the semaphore. This
* is demonstrated by the sample code on the giveFromISR() documentation page.
* Note the same functionality can often be achieved in a more efficient way
* using a direct to task notification.
*
* The priority of a task that 'takes' a mutex can potentially be raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to 'take'
* the same mutex. This means the mutex must always be 'given' back - otherwise
* the higher priority task will never be able to obtain the mutex, and the
* lower priority task will never 'disinherit' the priority. An example of a
* mutex being used to implement mutual exclusion is provided on the take()
* documentation page.
*/
class StaticBinarySemaphore : public SemaphoreBase {
public:
/**
* Semaphore.hpp
*
* @brief Construct a new StaticBinarySemaphore object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t
* *pxSemaphoreBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateBinaryStatic.html>
*
* @warning This class contains the storage buffer for the binary semaphore,
* so the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Semaphore/staticBinarySemaphore.cpp
*/
StaticBinarySemaphore() {
this->handle = xSemaphoreCreateBinaryStatic(&staticBinarySemaphore);
}
~StaticBinarySemaphore() = default;
StaticBinarySemaphore(const StaticBinarySemaphore&) = delete;
StaticBinarySemaphore& operator=(const StaticBinarySemaphore&) = delete;
StaticBinarySemaphore(StaticBinarySemaphore&&) noexcept = default;
StaticBinarySemaphore& operator=(StaticBinarySemaphore&&) noexcept = default;
private:
StaticSemaphore_t staticBinarySemaphore;
};
class StaticCountingSemaphore : public SemaphoreBase {
public:
/**
* @brief Construct a new StaticCountingSemaphore object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t
* uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t
* *pxSemaphoreBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateCountingStatic.html>
*
* @warning This class contains the storage buffer for the counting semaphore,
* so the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* @param maxCount The maximum count value that can be reached. When the
* semaphore reaches this value it can no longer be 'given'.
* @param initialCount The count value assigned to the semaphore when it is
* created.
*
* <b>Example Usage</b>
* @include Semaphore/staticCountingSemaphore.cpp
*/
explicit StaticCountingSemaphore(const UBaseType_t maxCount,
const UBaseType_t initialCount = 0) {
this->handle = xSemaphoreCreateCountingStatic(maxCount, initialCount,
&staticCountingSemaphore);
}
~StaticCountingSemaphore() = default;
StaticCountingSemaphore(const StaticCountingSemaphore&) = delete;
StaticCountingSemaphore& operator=(const StaticCountingSemaphore&) = delete;
StaticCountingSemaphore(StaticCountingSemaphore&&) noexcept = default;
StaticCountingSemaphore& operator=(StaticCountingSemaphore&&) noexcept =
default;
private:
StaticSemaphore_t staticCountingSemaphore;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_SEMAPHORE_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_STREAMBUFFER_HPP
#define FREERTOS_STREAMBUFFER_HPP
#include "FreeRTOS.h"
#include "stream_buffer.h"
namespace FreeRTOS {
/**
* @class StreamBufferBase StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
*
* @brief Base class that provides the standard stream buffer interface to
* FreeRTOS::StreamBuffer and FreeRTOS::StaticStreamBuffer.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::StreamBuffer or FreeRTOS::StaticStreamBuffer.
*
* @warning Uniquely among FreeRTOS objects, the stream buffer implementation
* (so also the message buffer implementation, as message buffers are built on
* top of stream buffers) assumes there is only one task or interrupt that will
* write to the buffer (the writer), and only one task or interrupt that will
* read from the buffer (the reader). It is safe for the writer and reader to
* be different tasks or interrupts, but, unlike other FreeRTOS objects, it is
* not safe to have multiple different writers or multiple different readers. If
* there are to be multiple different writers then the application writer must
* place each call to a writing API function (such as send()) inside a critical
* section and set the send block time to 0. Likewise, if there are to be
* multiple different readers then the application writer must place each call
* to a reading API function (such as read()) inside a critical section and set
* the receive block time to 0.
*/
class StreamBufferBase {
public:
friend class StreamBuffer;
template <size_t>
friend class StaticStreamBuffer;
StreamBufferBase(const StreamBufferBase&) = delete;
StreamBufferBase& operator=(const StreamBufferBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* StreamBuffer.hpp
*
* @brief Function that checks if the underlying stream buffer handle is not
* NULL. This should be used to ensure a stream buffer has been created
* correctly.
*
* @retval true If the handle is not NULL.
* @retval false If the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSend(
* StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
* xDataLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSend.html>
*
* Sends bytes to a stream buffer. The bytes are copied into the stream
* buffer.
*
* Use send() to write to a stream buffer from a task. Use sendFromISR() to
* write to a stream buffer from an interrupt service routine (ISR).
*
* @param data A pointer to the buffer that holds the bytes to be copied into
* the stream buffer.
* @param length The maximum number of bytes to copy from data into the stream
* buffer.
* @param ticksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for enough space to become available in the stream
* buffer, should the stream buffer contain too little space to hold the
* another length bytes. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting ticksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. If a task times out
* before it can write all length into the buffer it will still write as many
* bytes as possible. A task does not use any CPU time when it is in the
* blocked state.
* @return size_t The number of bytes written to the stream buffer. If a task
* times out before it can write all length into the buffer it will still
* write as many bytes as possible.
*
* <b>Example Usage</b>
* @include StreamBuffer/send.cpp
*/
inline size_t send(const void* data, const size_t length,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xStreamBufferSend(handle, data, length, ticksToWait);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSendFromISR(
* StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSendFromISR.html>
*
* Interrupt safe version of the API function that sends a stream of bytes to
* the stream buffer.
*
* Use send() to write to a stream buffer from a task. Use sendFromISR() to
* write to a stream buffer from an interrupt service routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a stream buffer will
* have a task blocked on it waiting for data. Calling sendFromISR() can make
* data available, and so cause a task that was waiting for data to leave the
* Blocked state. If calling sendFromISR() causes a task to leave the Blocked
* state, and the unblocked task has a priority higher than the currently
* executing task (the task that was interrupted), then, internally,
* sendFromISR() will set higherPriorityTaskWoken to true. If sendFromISR()
* sets this value to true, then normally a context switch should be performed
* before the interrupt is exited. This will ensure that the interrupt
* returns directly to the highest priority Ready state task.
* higherPriorityTaskWoken should be set to false before it is passed into the
* function. See the example code below for an example.
* @param data A pointer to the buffer that holds the bytes to be copied into
* the stream buffer.
* @param length The maximum number of bytes to copy from data into the stream
* buffer.
* @return size_t The number of bytes written to the stream buffer. If a task
* times out before it can write all length into the buffer it will still
* write as many bytes as possible.
*
* <b>Example Usage</b>
* @include StreamBuffer/sendFromISR.cpp
*/
inline size_t sendFromISR(bool& higherPriorityTaskWoken, const void* data,
const size_t length) const {
BaseType_t taskWoken = pdFALSE;
size_t result = xStreamBufferSendFromISR(handle, data, length, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSendFromISR(
* StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSendFromISR.html>
*
* @overload
*/
inline size_t sendFromISR(const void* data, const size_t length) const {
return xStreamBufferSendFromISR(handle, data, length, NULL);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferReceive(
* StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
* xBufferLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReceive.html>
*
* Receives bytes from a stream buffer.
*
* Use receive() to read from a stream buffer from a task. Use
* receiveFromISR() to read from a stream buffer from an interrupt service
* routine (ISR).
*
* @param buffer A pointer to the buffer into which the received bytes will be
* copied.
* @param bufferLength The length of the buffer pointed to by the data
* parameter. This sets the maximum number of bytes to receive in one call.
* receive() will return as many bytes as possible up to a maximum set by
* length.
* @param ticksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for data to become available if the stream buffer is
* empty. receive() will return immediately if ticksToWait is zero. The block
* time is specified in tick periods, so the absolute time it represents is
* dependent on the tick frequency. The macro pdMS_TO_TICKS() can be used to
* convert a time specified in milliseconds into a time specified in ticks.
* Setting ticksToWait to portMAX_DELAY will cause the task to wait
* indefinitely (without timing out), provided INCLUDE_vTaskSuspend is set to
* 1 in FreeRTOSConfig.h. A task does not use any CPU time when it is in the
* Blocked state.
* @return size_t The number of bytes read from the stream buffer. This will
* be the number of bytes available up to a maximum of length.
*
* <b>Example Usage</b>
* @include StreamBuffer/receive.cpp
*/
inline size_t receive(void* buffer, const size_t bufferLength,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xStreamBufferReceive(handle, buffer, bufferLength, ticksToWait);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferReceiveFromISR(
* StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReceiveFromISR.html>
*
* An interrupt safe version of the API function that receives bytes from a
* stream buffer.
*
* Use receive() to read from a stream buffer from a task. Use
* receiveFromISR() to read from a stream buffer from an interrupt service
* routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a stream buffer will
* have a task blocked on it waiting for space to become available. Calling
* receiveFromISR() can make space available, and so cause a task that is
* waiting for space to leave the Blocked state. If calling receiveFromISR()
* causes a task to leave the Blocked state, and the unblocked task has a
* priority higher than the currently executing task (the task that was
* interrupted), then, internally, receiveFromISR() will set
* higherPriorityTaskWoken to true. If receiveFromISR() sets this value to
* true, then normally a context switch should be performed before the
* interrupt is exited. That will ensure the interrupt returns directly to the
* highest priority Ready state task. higherPriorityTaskWoken should be set to
* false before it is passed into the function. See the code example below for
* an example.
* @param buffer A pointer to the buffer into which the received bytes will be
* copied.
* @param bufferLength The length of the buffer pointed to by the buffer
* parameter. This sets the maximum number of bytes to receive in one call.
* receive() will return as many bytes as possible up to a maximum set by
* length.
* @return size_t The number of bytes read from the stream buffer, if any.
*
* <b>Example Usage</b>
* @include StreamBuffer/receiveFromISR.cpp
*/
inline size_t receiveFromISR(bool& higherPriorityTaskWoken, void* buffer,
const size_t bufferLength) const {
BaseType_t taskWoken = pdFALSE;
size_t result =
xStreamBufferReceiveFromISR(handle, buffer, bufferLength, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferReceiveFromISR(
* StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReceiveFromISR.html>
*
* @overload
*/
inline size_t receiveFromISR(void* buffer, const size_t bufferLength) const {
return xStreamBufferReceiveFromISR(handle, buffer, bufferLength, NULL);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferBytesAvailable(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferBytesAvailable.html>
*
* Queries the stream buffer to see how much data it contains, which is equal
* to the number of bytes that can be read from the stream buffer before the
* stream buffer would be empty.
*
* @return size_t The number of bytes that can be read from the stream buffer
* before the stream buffer would be empty.
*/
inline size_t bytesAvailable() const {
return xStreamBufferBytesAvailable(handle);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSpacesAvailable(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSpacesAvailable.html>
*
* Queries a stream buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the stream buffer before it
* is full.
*
* @return size_t The number of bytes that can be written to the stream buffer
* before the stream buffer would be full.
*/
inline size_t spacesAvailable() const {
return xStreamBufferSpacesAvailable(handle);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferSetTriggerLevel(
* StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSetTriggerLevel.html>
*
* A stream buffer's trigger level is the number of bytes that must be in the
* stream buffer before a task that is blocked on the stream buffer to wait
* for data is moved out of the blocked state. For example, if a task is
* blocked on a read of an empty stream buffer that has a trigger level of 1
* then the task will be unblocked when a single byte is written to the buffer
* or the task's block time expires. As another example, if a task is blocked
* on a read of an empty stream buffer that has a trigger level of 10 then the
* task will not be unblocked until the stream buffer contains at least 10
* bytes or the task's block time expires. If a reading task's block time
* expires before the trigger level is reached then the task will still
* receive however many bytes are actually available. Setting a trigger level
* of 0 will result in a trigger level of 1 being used. It is not valid to
* specify a trigger level that is greater than the buffer size.
*
* @param triggerLevel The new trigger level for the stream buffer.
* @retval true If triggerLevel was less than or equal to the stream buffer's
* length then the trigger level was updated.
* @retval false Otherwise.
*/
inline bool setTriggerLevel(const size_t triggerLevel = 0) const {
return (xStreamBufferSetTriggerLevel(handle, triggerLevel) == pdTRUE);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferReset(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReset.html>
*
* Resets a stream buffer to its initial, empty, state. Any data that was in
* the stream buffer is discarded. A stream buffer can only be reset if there
* are no tasks blocked waiting to either send to or receive from the stream
* buffer.
*
* @return true If the stream buffer is reset.
* @return false If there was a task blocked waiting to send to or read from
* the stream buffer then the stream buffer was not reset.
*/
inline bool reset() const { return (xStreamBufferReset(handle) == pdPASS); }
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferIsEmpty(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferIsEmpty.html>
*
* Queries a stream buffer to see if it is empty. A stream buffer is empty if
* it does not contain any data.
*
* @return true If the stream buffer is empty.
* @return false Otherwise.
*/
inline bool isEmpty() const {
return (xStreamBufferIsEmpty(handle) == pdTRUE);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferIsFull(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferIsFull.html>
*
* Queries a stream buffer to see if it is full. A stream buffer is full if it
* does not have any free space, and therefore cannot accept any more data.
*
* @return true If the stream buffer is full.
* @return false Otherwise.
*/
inline bool isFull() const { return (xStreamBufferIsFull(handle) == pdTRUE); }
private:
StreamBufferBase() = default;
/**
* StreamBuffer.hpp
*
* @brief Destroy the StreamBufferBase object by calling
* <tt>void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/vStreamBufferDelete.html>
*
* Deletes a stream buffer and free the allocated memory.
*/
~StreamBufferBase() { vStreamBufferDelete(this->handle); }
StreamBufferBase(StreamBufferBase&&) noexcept = default;
StreamBufferBase& operator=(StreamBufferBase&&) noexcept = default;
StreamBufferHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class StreamBuffer StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS stream buffer.
*
* A stream buffer using dynamically allocated memory from the FreeRTOS heap.
* See FreeRTOS::StaticStreamBuffer for a version that uses statically allocated
* memory (memory that is allocated at compile time).
*/
class StreamBuffer : public StreamBufferBase {
public:
/**
* StreamBuffer.hpp
*
* @brief Construct a new StreamBuffer object by calling
* <tt>StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes,
* size_t xTriggerLevelBytes )</tt>
*
* @see <https://www.freertos.org/xStreamBufferCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* stream buffer was created successfully in case the memory required to
* create the message buffer could not be allocated.
*
* @param size The total number of bytes the stream buffer will be able to
* hold at any one time.
* @param triggerLevel The number of bytes that must be in the stream
* buffer before a task that is blocked on the stream buffer to wait for data
* is moved out of the blocked state. For example, if a task is blocked on a
* read of an empty stream buffer that has a trigger level of 1 then the task
* will be unblocked when a single byte is written to the buffer or the task's
* block time expires. As another example, if a task is blocked on a read of
* an empty stream buffer that has a trigger level of 10 then the task will
* not be unblocked until the stream buffer contains at least 10 bytes or the
* task's block time expires. If a reading task's block time expires before
* the trigger level is reached then the task will still receive however many
* bytes are actually available. Setting a trigger level of 0 will result in a
* trigger level of 1 being used. It is not valid to specify a trigger level
* that is greater than the buffer size.
*
* <b>Example Usage</b>
* @include StreamBuffer/streamBuffer.cpp
*/
explicit StreamBuffer(const size_t size, const size_t triggerLevel = 0) {
this->handle = xStreamBufferCreate(size, triggerLevel);
}
~StreamBuffer() = default;
StreamBuffer(const StreamBuffer&) = delete;
StreamBuffer& operator=(const StreamBuffer&) = delete;
StreamBuffer(StreamBuffer&&) noexcept = default;
StreamBuffer& operator=(StreamBuffer&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticStreamBuffer StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS stream buffer.
*
* If a stream buffer is created using this class then the RAM is provided by
* the application writer as part of the object instance and allows the RAM to
* be statically allocated at compile time.
*
* @tparam N The size, in bytes, of the storage buffer for the stream buffer.
*/
template <size_t N>
class StaticStreamBuffer : public StreamBufferBase {
public:
/**
* StreamBuffer.hpp
*
* @brief Construct a new StaticStreamBuffer object by calling
* <tt>StreamBufferHandle_t xStreamBufferCreateStatic( size_t
* xBufferSizeBytes, size_t xTriggerLevelBytes, uint8_t
* *pucStreamBufferStorageArea, StaticStreamBuffer_t *pxStaticStreamBuffer
* )</tt>
*
* @see <https://www.freertos.org/xStreamBufferCreateStatic.html>
*
* @param triggerLevel The number of bytes that must be in the stream
* buffer before a task that is blocked on the stream buffer to wait for data
* is moved out of the blocked state. For example, if a task is blocked on a
* read of an empty stream buffer that has a trigger level of 1 then the task
* will be unblocked when a single byte is written to the buffer or the task's
* block time expires. As another example, if a task is blocked on a read of
* an empty stream buffer that has a trigger level of 10 then the task will
* not be unblocked until the stream buffer contains at least 10 bytes or the
* task's block time expires. If a reading task's block time expires before
* the trigger level is reached then the task will still receive however many
* bytes are actually available. Setting a trigger level of 0 will result in a
* trigger level of 1 being used. It is not valid to specify a trigger level
* that is greater than the buffer size.
*
* <b>Example Usage</b>
* @include StreamBuffer/staticStreamBuffer.cpp
*/
explicit StaticStreamBuffer(const size_t triggerLevel = 0) {
this->handle = xStreamBufferCreateStatic(sizeof(storage), triggerLevel,
storage, &staticStreamBuffer);
}
~StaticStreamBuffer() = default;
StaticStreamBuffer(const StaticStreamBuffer&) = delete;
StaticStreamBuffer& operator=(const StaticStreamBuffer&) = delete;
StaticStreamBuffer(StaticStreamBuffer&&) noexcept = default;
StaticStreamBuffer& operator=(StaticStreamBuffer&&) noexcept = default;
private:
StaticStreamBuffer_t staticStreamBuffer;
uint8_t storage[N];
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_STREAMBUFFER_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_TIMER_HPP
#define FREERTOS_TIMER_HPP
#include "FreeRTOS.h"
#include "timers.h"
/**
* @brief C function that is used to interface this class with the FreeRTOS
* kernel.
*
* @note This function should not be called or referenced by the user.
*
* @param task Pointer to an instance of FreeRTOS::TimerBase.
*/
void callTimerFunction(TimerHandle_t timer);
namespace FreeRTOS {
/**
* @class TimerBase Timer.hpp <FreeRTOS/Timer.hpp>
*
* @brief Base class that provides the standard task interface to
* FreeRTOS::Timer and FreeRTOS::StaticTimer.
*
* @note This class is not intended to be instantiated or derived from by the
* user. Use FreeRTOS::Timer or FreeRTOS::StaticTimer as a base class for a user
* implemented task.
*/
class TimerBase {
public:
friend class Timer;
friend class StaticTimer;
TimerBase(const TimerBase&) = delete;
TimerBase& operator=(const TimerBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Timer.hpp
*
* @brief Function that acts as the entry point of the timer instance.
*
* @note This function is only public so that it can be accessed by the C
* interface function <tt>callTimerFunction()</tt> and should not be called or
* referenced by the user.
*/
virtual inline void timerEntry() final { timerFunction(); }
/**
* Timer.hpp
*
* @brief Function that checks the value of the timer handle. This function
* should be called to ensure the timer was created successfully.
*
* @return true If the timer was created successfully.
* @return false If the timer was not created successfully due to insufficient
* memory.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerIsTimerActive(
* TimerHandle_t xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerIsTimerActive.html>
*
* Queries a software timer to see if it is active or dormant.
*
* A timer will be dormant if:
* -# It has been created but not started, or
* -# It is an expired one-shot timer that has not been restarted.
*
* @note Timers are created in the dormant state. The start(), reset(),
* startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
* API functions can all be used to transition a timer into the active state.
*
* @return false If the timer is dormant.
* @return true Otherwise.
*
* <b>Example Usage</b>
* @include Timer/isActive.cpp
*/
inline bool isActive() const {
return (xTimerIsTimerActive(handle) != pdFALSE);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStart( TimerHandle_t
* xTimer, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStart.html>
*
* start() starts a timer. If the timer had already been started and was
* already in the active state, then start() has equivalent functionality to
* the reset() API function.
*
* Starting a timer ensures the timer is in the active state. If the timer is
* not stopped, deleted, or reset in the mean time, timerFunction() will get
* called 'n 'ticks after start() was called, where 'n' is the timers defined
* period.
*
* It is valid to call start() before the RTOS scheduler has been started, but
* when this is done the timer will not actually start until the RTOS
* scheduler is started, and the timers expiry time will be relative to when
* the RTOS scheduler is started, not relative to when start() was called.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the start command to be
* successfully sent to the timer command queue, should the queue already be
* full when start() was called. blockTime is ignored if start() is called
* before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when start() is actually
* called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the start command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/timer.cpp
*/
inline bool start(const TickType_t blockTime = 0) const {
return (xTimerStart(handle, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStartFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStartFromISR.html>
*
* A version of start() that can be called from an interrupt service routine.
*
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling startFromISR() writes a message to the timer command
* queue, so has the potential to transition the timer service/daemon task out
* of the Blocked state. If calling startFromISR() causes the timer
* service/daemon task to leave the Blocked state, and the timer service/
* daemon task has a priority equal to or greater than the currently executing
* task (the task that was interrupted), then higherPriorityTaskWoken will get
* set to true internally within the startFromISR() function. If
* startFromISR() sets this value to true, then a context switch should be
* performed before the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when startFromISR() is
* actually called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the start command could not be sent to the timer command
* queue.
*
* <b>Example Usage</b>
* @include Timer/startFromISR.cpp
*/
inline bool startFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xTimerStartFromISR(handle, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStartFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStartFromISR.html>
*
* @overload
*/
inline bool startFromISR() const {
return (xTimerStartFromISR(handle, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStop( TimerHandle_t xTimer,
* TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStop.html>
*
* stop() stops a timer that was previously started using either of the
* start(), reset(), startFromISR(), resetFromISR(), changePeriod() and
* changePeriodFromISR() API functions.
*
* Stopping a timer ensures the timer is not in the active state.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the stop command to be
* successfully sent to the timer command queue, should the queue already be
* full when stop() was called. blockTime is ignored if stop() is called
* before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the stop command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/timer.cpp
*/
inline bool stop(const TickType_t blockTime = 0) const {
return (xTimerStop(handle, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStopFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStopFromISR.html>
*
* A version of stop() that can be called from an interrupt service routine.
*
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling stopFromISR() writes a message to the timer command
* queue, so has the potential to transition the timer service/daemon task out
* of the Blocked state. If calling stopFromISR() causes the timer
* service/daemon task to leave the Blocked state, and the timer service/
* daemon task has a priority equal to or greater than the currently executing
* task (the task that was interrupted), then higherPriorityTaskWoken will get
* set to true internally within the stopFromISR() function. If stopFromISR()
* sets this value to true, then a context switch should be performed before
* the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the start command could not be sent to the timer command
* queue.
*
* <b>Example Usage</b>
* @include Timer/stopFromISR.cpp
*/
inline bool stopFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xTimerStopFromISR(handle, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStopFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStopFromISR.html>
*
* @overload
*/
inline bool stopFromISR() const {
return (xTimerStopFromISR(handle, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerChangePeriod( TimerHandle_t
* xTimer, TickType_t xNewPeriod, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriod.html>
*
* changePeriod() changes the period of a timer.
*
* changePeriod() can be called to change the period of an active or dormant
* state timer. Changing the period of a dormant timers will also start the
* timer.
*
* @param newPeriod The new period for timer. Timer periods are specified in
* tick periods, so the constant portTICK_PERIOD_MS can be used to convert a
* time that has been specified in milliseconds. For example, if the timer
* must expire after 100 ticks, then newPeriod should be set to 100.
* Alternatively, if the timer must expire after 500ms, then newPeriod can be
* set to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less
* than or equal to 1000.
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the change period command to be
* successfully sent to the timer command queue, should the queue already be
* full when changePeriod() was called. blockTime is ignored if changePeriod()
* is called before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the change period command could not be sent to the timer
* command queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/changePeriod.cpp
*/
inline bool changePeriod(const TickType_t newPeriod,
const TickType_t blockTime = 0) const {
return (xTimerChangePeriod(handle, newPeriod, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerChangePeriodFromISR(
* TimerHandle_t xTimer, TickType_t xNewPeriod, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see
* <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriodFromISR.html>
*
* A version of changePeriod() that can be called from an interrupt service
* routine.
*
* @param newPeriod The new period for timer. Timer periods are specified in
* tick periods, so the constant portTICK_PERIOD_MS can be used to convert a
* time that has been specified in milliseconds. For example, if the timer
* must expire after 100 ticks, then newPeriod should be set to 100.
* Alternatively, if the timer must expire after 500ms, then newPeriod can be
* set to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less
* than or equal to 1000.
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling changePeriodFromISR() writes a message to the timer
* command queue, so has the potential to transition the timer service/ daemon
* task out of the Blocked state. If calling changePeriodFromISR() causes the
* timer service/daemon task to leave the Blocked state, and the timer
* service/daemon task has a priority equal to or greater than the currently
* executing task (the task that was interrupted), then
* higherPriorityTaskWoken will get set to true internally within the
* changePeriodFromISR() function. If changePeriodFromISR() sets this value to
* true, then a context switch should be performed before the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the change period command could not be sent to the timer
* command queue.
*
* <b>Example Usage</b>
* @include Timer/changePeriodFromISR.cpp
*/
inline bool changePeriodFromISR(bool& higherPriorityTaskWoken,
const TickType_t newPeriod) const {
BaseType_t taskWoken = pdFALSE;
bool result =
(xTimerChangePeriodFromISR(handle, newPeriod, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerChangePeriodFromISR(
* TimerHandle_t xTimer, TickType_t xNewPeriod, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see
* <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriodFromISR.html>
*
* @overload
*/
inline bool changePeriodFromISR(const TickType_t newPeriod) const {
return (xTimerChangePeriodFromISR(handle, newPeriod, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerDelete( TimerHandle_t
* xTimer, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerDelete.html>
*
* deleteTimer() deletes a timer from the FreeRTOS timer task.
*
* @note This function is also called in the destructor of the timer using the
* deleteBlockTime specified when the object was created. This function
* should be used when the user wants to delete the timer from the FreeRTOS
* timer task without destroying the timer object or with a different block
* time than what was specified in the constructor.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the delete command to be
* successfully sent to the timer command queue, should the queue already be
* full when deleteTimer() was called. blockTime is ignored if deleteTimer()
* is called before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the delete command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/changePeriod.cpp
*/
inline bool deleteTimer(const TickType_t blockTime = 0) {
if (xTimerDelete(handle, blockTime) == pdPASS) {
handle = NULL;
return true;
}
return false;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt> BaseType_t xTimerReset( TimerHandle_t
* xTimer, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerReset.html>
*
* reset() re-starts a timer. If the timer had already been started and was
* already in the active state, then reset() will cause the timer to
* re-evaluate its expiry time so that it is relative to when reset() was
* called. If the timer was in the dormant state then reset() has equivalent
* functionality to the start() API function.
*
* Resetting a timer ensures the timer is in the active state. If the timer
* is not stopped, deleted, or reset in the mean time, the callback function
* associated with the timer will get called 'n' ticks after reset() was
* called, where 'n' is the timers defined period.
*
* It is valid to call reset() before the RTOS scheduler has been started, but
* when this is done the timer will not actually start until the RTOS
* scheduler is started, and the timers expiry time will be relative to when
* the RTOS scheduler is started, not relative to when reset() was called.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the reset command to be
* successfully sent to the timer command queue, should the queue already be
* full when reset() was called. blockTime is ignored if reset() is called
* before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when reset() is actually
* called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the reset command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/reset.cpp
*/
inline bool reset(const TickType_t blockTime = 0) const {
return (xTimerReset(handle, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerResetFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerResetFromISR.html>
*
* A version of reset() that can be called from an interrupt service routine.
*
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling resetFromISR() writes a message to the timer command
* queue, so has the potential to transition the timer service/daemon task out
* of the Blocked state. If calling resetFromISR() causes the timer
* service/daemon task to leave the Blocked state, and the timer
* service/daemon task has a priority equal to or greater than the currently
* executing task (the task that was interrupted), then
* higherPriorityTaskWoken will get set to true internally within the
* resetFromISR() function. If resetFromISR() sets this value to true, then a
* context switch should be performed before the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when resetFromISR() is
* actually called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the change period command could not be sent to the timer
* command queue.
*
* <b>Example Usage</b>
* @include Timer/resetFromISR.cpp
*/
inline bool resetFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xTimerResetFromISR(handle, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerResetFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerResetFromISR.html>
*
* @overload
*/
inline bool resetFromISR() const {
return (xTimerResetFromISR(handle, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>void vTimerSetReloadMode( TimerHandle_t
* xTimer, const UBaseType_t uxAutoReload )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-Timers-vTimerSetReloadMode.html>
*
* Updates the 'mode' of a software timer to be either an auto reload timer or
* a one-shot timer.
*
* An auto reload timer resets itself each time it expires, causing the timer
* to expire (and therefore execute its callback) periodically.
*
* A one shot timer does not automatically reset itself, so will only expire
* (and therefore execute its callback) once unless it is manually restarted.
*
* @param autoReload Set autoReload to true to set the timer into auto reload
* mode, or false to set the timer into one shot mode.
*/
inline void setReloadMode(const bool autoReload) const {
vTimerSetReloadMode(handle, (autoReload ? pdTRUE : pdFALSE));
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>const char * pcTimerGetName( TimerHandle_t
* xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-pcTimerGetName.html>
*
* Returns the human readable text name of a software timer.
*
* Text names are assigned to timers in the constructor.
*
* @return const char* A pointer to the text name of the timer as a standard
* NULL terminated C string.
*
* <b>Example Usage</b>
* @include Timer/getName.cpp
*/
inline const char* getName() const { return pcTimerGetName(handle); }
/**
* Timer.hpp
*
* @brief Function that calls <tt>TickType_t xTimerGetPeriod( TimerHandle_t
* xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerGetPeriod.html>
*
* Returns the period of a software timer. The period is specified in ticks.
*
* The period of a timer is initially set using the period parameter of the
* constructor. It can then be changed using the changePeriod() and
* changePeriodFromISR() API functions.
*
* @return TickType_t The period of the timer, in ticks.
*
* <b>Example Usage</b>
* @include Timer/getPeriod.cpp
*/
inline TickType_t getPeriod() const { return xTimerGetPeriod(handle); }
/**
* Timer.hpp
*
* @brief Function that calls <tt>TickType_t xTimerGetExpiryTime(
* TimerHandle_t xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerGetExpiryTime.html>
*
* Returns the time at which the software timer will expire, which is the time
* at which the timer's callback function will execute.
*
* If the value returned by getExpiryTime() is less than the current time then
* the timer will expire after the tick count has overflowed and wrapped back
* to 0. Overflows are handled in the RTOS implementation itself, so a timer's
* callback function will execute at the correct time whether it is before or
* after the tick count overflows.
*
* @return TickType_t If the timer is active, then the time at which the timer
* will next expire is returned (which may be after the current tick count has
* overflowed, see the notes above). If the timer is not active then the
* return value is undefined.
*
* <b>Example Usage</b>
* @include Timer/getExpiryTime.cpp
*/
inline TickType_t getExpiryTime() const {
return xTimerGetExpiryTime(handle);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>UBaseType_t uxTimerGetReloadMode(
* TimerHandle_t xTimer )</tt>
*
* @see <https://www.freertos.org/uxTimerGetReloadMode.html>
*
* Queries the 'mode' of the software timer.
*
* The mode can be either an auto-reloaded timer, which automatically resets
* itself each time it expires, or a one-shot timer, which will expire only
* once unless it is manually restarted.
*
* @return true If the timer is an auto-reload timer.
* @return false Otherwise.
*/
inline bool getReloadMode() const {
return (uxTimerGetReloadMode(handle) == pdTRUE);
}
/**
* Timer.hpp
*
* @brief Set the delete block time. This value is used when the destructor
* calls deleteTimer().
*
* @param deleteBlockTime Delete block time to be set in ticks.
*/
inline void setDeleteBlockTime(const TickType_t deleteBlockTime = 0) {
this->deleteBlockTime = deleteBlockTime;
}
/**
* Timer.hpp
*
* @brief Set the delete block time. This value is used when the destructor
* calls deleteTimer().
*
* @return TickType_t Delete block time in ticks.
*/
inline TickType_t getDeleteBlockTime() const { return deleteBlockTime; }
protected:
/**
* Timer.hpp
*
* @brief Abstraction function that acts as the entry point of the timer
* callback for the user.
*/
virtual void timerFunction() = 0;
private:
/**
* Timer.hpp
*
* @brief Construct a new TimerBase object. This default constructor is
* deliberately private as this class is not intended to be instantiated or
* derived from by the user. Use FreeRTOS::Timer or FreeRTOS::StaticTimer as
* a base class for creating a task.
*
* @param deleteBlockTime Set the delete block time. This value is used when
* the destructor calls deleteTimer().
*/
explicit TimerBase(const TickType_t deleteBlockTime = 0)
: deleteBlockTime(deleteBlockTime) {}
/**
* Timer.hpp
*
* @brief Destroy the TimerBase object.
*
* @note This destructor will check that the timer is still valid and has not
* already been deleted by deleteTimer() before calling the function. If the
* timer is still valid the destructor will call deleteTimer() and block for
* up to the amount of time specified by deleteBlockTime.
*/
~TimerBase() {
if (isValid()) {
deleteTimer(getDeleteBlockTime());
}
}
TimerBase(TimerBase&&) noexcept = default;
TimerBase& operator=(TimerBase&&) noexcept = default;
TimerHandle_t handle = NULL;
TickType_t deleteBlockTime;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* Timer Timer.hpp <FreeRTOS/Timer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS timer.
*
* Each software timer requires a small amount of RAM that is used to hold the
* timer's state. If a timer is created using this class then this RAM is
* automatically allocated from the FreeRTOS heap. If a software timer is
* created using FreeRTOS::StaticTimer() then the RAM is included in the object
* so it can be statically allocated at compile time. See the Static Vs Dynamic
* allocation page for more information.
*
* @note This class is not intended to be instantiated by the user. The user
* should create a class that derives from this class and implement
* timerFunction().
*/
class Timer : public TimerBase {
public:
Timer(const Timer&) = delete;
Timer& operator=(const Timer&) = delete;
protected:
/**
* Timer.hpp
*
* @brief Construct a new Timer object by calling <tt>TimerHandle_t
* xTimerCreate( const char * const pcTimerName, const TickType_t
* xTimerPeriod, const UBaseType_t uxAutoReload, void * const pvTimerID,
* TimerCallbackFunction_t pxCallbackFunction )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* timer was created successfully in case the memory required to create the
* timer could not be allocated.
*
* @note Timers are created in the dormant state. The start(), reset(),
* startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
* API functions can all be used to transition a timer into the active state.
*
* @note When calling <tt>xTimerCreate</tt> the constructor passes the
* <tt>this</tt> pointer as the pvTimerID argument. This pointer is used so
* that the interface function callTimerFunction() can invoke timerFunction()
* for this instance of the class.
*
* @param period The period of the timer. The period is specified in ticks,
* and the macro pdMS_TO_TICKS() can be used to convert a time specified in
* milliseconds to a time specified in ticks. For example, if the timer must
* expire after 100 ticks, then simply set period to 100. Alternatively, if
* the timer must expire after 500ms, then set period to pdMS_TO_TICKS( 500 ).
* pdMS_TO_TICKS() can only be used if configTICK_RATE_HZ is less than or
* equal to 1000. The timer period must be greater than 0.
* @param autoReload If autoReload is set to true, then the timer will expire
* repeatedly with a frequency set by the period parameter. If autoReload is
* set to false, then the timer will be a one-shot and enter the dormant state
* after it expires.
* @param name A human readable text name that is assigned to the timer. This
* is done purely to assist debugging. The RTOS kernel itself only ever
* references a timer by its handle, and never by its name.
* @param deleteBlockTime Specifies the time, in ticks, that the calling task
* should be held in the Blocked state to wait for the delete command to be
* successfully sent to the timer command queue, should the queue already be
* full when the destructor is called. deleteBlockTime is ignored if the
* destructor is called before the RTOS scheduler is started or if the timer
* has already been deleted by deleteTimer() before the destructor is called.
* This value can be updated by calling setDeleteBlockTime().
*
* <b>Example Usage</b>
* @include Timer/timer.cpp
*/
explicit Timer(const TickType_t period, const bool autoReload = false,
const char* name = "", const TickType_t deleteBlockTime = 0)
: TimerBase(deleteBlockTime) {
this->handle = xTimerCreate(name, period, (autoReload ? pdTRUE : pdFALSE),
this, callTimerFunction);
}
~Timer() = default;
Timer(Timer&&) noexcept = default;
Timer& operator=(Timer&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* Timer Timer.hpp <FreeRTOS/Timer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS timer.
*
* Each software timer requires a small amount of RAM that is used to hold the
* timer's state. If a timer is created using FreeRTOS::Timer() then this RAM is
* automatically allocated from the FreeRTOS heap. If a software timer is
* created this class then the RAM is included in the object so it can be
* statically allocated at compile time. See the Static Vs Dynamic allocation
* page for more information.
*
* @note This class is not intended to be instantiated by the user. The user
* should create a class that derives from this class and implement
* timerFunction().
*
* @warning This class contains the timer data structure, so any instance of
* this class or class derived from this class should be persistent (not
* declared on the stack of another function).
*/
class StaticTimer : public TimerBase {
public:
StaticTimer(const StaticTimer&) = delete;
StaticTimer& operator=(const StaticTimer&) = delete;
protected:
/**
* Timer.hpp
*
* @brief Construct a new StaticTimer object by calling <tt>TimerHandle_t
* xTimerCreateStatic( const char * const pcTimerName, const TickType_t
* xTimerPeriod, const UBaseType_t uxAutoReload, void * const pvTimerID,
* TimerCallbackFunction_t pxCallbackFunction StaticTimer_t *pxTimerBuffer
* )</tt>
*
* @see <https://www.freertos.org/xTimerCreateStatic.html>
*
* @note When calling <tt>xTimerCreateStatic</tt> the constructor passes the
* <tt>this</tt> pointer as the pvTimerID argument. This pointer is used so
* that the interface function callTimerFunction() can invoke timerFunction()
* for this instance of the class.
*
* @note Timers are created in the dormant state. The start(), reset(),
* startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
* API functions can all be used to transition a timer into the active state.
*
* @param period The period of the timer. The period is specified in ticks,
* and the macro pdMS_TO_TICKS() can be used to convert a time specified in
* milliseconds to a time specified in ticks. For example, if the timer must
* expire after 100 ticks, then simply set period to 100. Alternatively, if
* the timer must expire after 500ms, then set period to pdMS_TO_TICKS( 500 ).
* pdMS_TO_TICKS() can only be used if configTICK_RATE_HZ is less than or
* equal to 1000. The timer period must be greater than 0.
* @param autoReload If autoReload is set to true, then the timer will expire
* repeatedly with a frequency set by the period parameter. If autoReload is
* set to false, then the timer will be a one-shot and enter the dormant state
* after it expires.
* @param name A human readable text name that is assigned to the timer. This
* is done purely to assist debugging. The RTOS kernel itself only ever
* references a timer by its handle, and never by its name.
* @param deleteBlockTime Specifies the time, in ticks, that the calling task
* should be held in the Blocked state to wait for the delete command to be
* successfully sent to the timer command queue, should the queue already be
* full when the destructor is called. deleteBlockTime is ignored if the
* destructor is called before the RTOS scheduler is started or if the timer
* has already been deleted by deleteTimer() before the destructor is called.
* This value can be updated by calling setDeleteBlockTime().
*
* <b>Example Usage</b>
* @include Timer/staticTimer.cpp
*/
explicit StaticTimer(const TickType_t period, const bool autoReload = false,
const char* name = "",
const TickType_t deleteBlockTime = 0)
: TimerBase(deleteBlockTime) {
this->handle =
xTimerCreateStatic(name, period, (autoReload ? pdTRUE : pdFALSE), this,
callTimerFunction, &staticTimer);
}
~StaticTimer() = default;
StaticTimer(StaticTimer&&) noexcept = default;
StaticTimer& operator=(StaticTimer&&) noexcept = default;
private:
StaticTimer_t staticTimer;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
inline void callTimerFunction(TimerHandle_t timer) {
static_cast<FreeRTOS::TimerBase*>(pvTimerGetTimerID(timer))->timerEntry();
}
#endif // FREERTOS_TIMER_HPP

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source/shoh/src/aeabi_romdiv_patch.s Normal file
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//*****************************************************************************
// aeabi_romdiv_patch.s
// - Provides "patch" versions of the aeabi integer divide functions to
// replace the standard ones pulled in from the C library, which vector
// integer divides onto the rom division functions contained in
// specific NXP MCUs such as LPC8xx, LPC11Uxx and LPC12xx.
// - Note that this patching will only occur if "__USE_ROMDIVIDE" is
// defined for the project build for both the compiler and assembler.
//*****************************************************************************
//
// Copyright 2013-2017, 2019, 2020 NXP
// All rights reserved.
//
// NXP Confidential. This software is owned or controlled by NXP and may only be
// used strictly in accordance with the applicable license terms.
//
// By expressly accepting such terms or by downloading, installing, activating
// and/or otherwise using the software, you are agreeing that you have read, and
// that you agree to comply with and are bound by, such license terms.
//
// If you do not agree to be bound by the applicable license terms, then you may not
// retain, install, activate or otherwise use the software.
//*****************************************************************************
#if defined(__USE_ROMDIVIDE)
// Note that the romdivide "divmod" functions are not actually called from
// the below code, as these functions are actually just wrappers to the
// main romdivide "div" functions which push the quotient and remainder onto
// the stack, so as to be compatible with the way that C returns structures.
//
// This is not needed for the aeabi "divmod" functions, as the compiler
// automatically generates code that handles the return values being passed
// back in registers when it generates inline calls to __aeabi_idivmod and
// __aeabi_uidivmod routines.
.syntax unified
.text
// ========= __aeabi_idiv & __aeabi_idivmod =========
.align 2
.section .text.__aeabi_idiv
.global __aeabi_idiv
.set __aeabi_idivmod, __aeabi_idiv // make __aeabi_uidivmod an alias
.global __aeabi_idivmod
.global pDivRom_idiv // pointer to the romdivide 'idiv' functione
.func
.thumb_func
.type __aeabi_idiv, %function
__aeabi_idiv:
push {r4, lr}
ldr r3, =pDivRom_idiv
ldr r3, [r3, #0] // Load address of function
blx r3 // Call divide function
pop {r4, pc}
.endfunc
// ======== __aeabi_uidiv & __aeabi_uidivmod ========
.align 2
.section .text.__aeabi_uidiv
.global __aeabi_uidiv
.set __aeabi_uidivmod, __aeabi_uidiv // make __aeabi_uidivmod an alias
.global __aeabi_uidivmod
.global pDivRom_uidiv // pointer to the romdivide 'uidiv' function
.func
.thumb_func
.type __aeabi_uidiv, %function
__aeabi_uidiv:
push {r4, lr}
ldr r3, =pDivRom_uidiv
ldr r3, [r3, #0] // Load address of function
blx r3 // Call divide function
pop {r4, pc}
.endfunc
#endif // (__USE_ROMDIVIDE)

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source/shoh/src/cr_cpp_config.cpp Normal file
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//*****************************************************************************
// +--+
// | ++----+
// +-++ |
// | |
// +-+--+ |
// | +--+--+
// +----+ Copyright (c) 2009-2012 Code Red Technologies Ltd.
// +----+ Copyright 2013, 2019 NXP
//
// Minimal implementations of the new/delete operators and the verbose
// terminate handler for exceptions suitable for embedded use,
// plus optional "null" stubs for malloc/free (only used if symbol
// CPP_NO_HEAP is defined).
//
//
// Version : 120126
//
// Software License Agreement
//
// The software is owned by Code Red Technologies and/or its suppliers, and is
// protected under applicable copyright laws. All rights are reserved. Any
// use in violation of the foregoing restrictions may subject the user to criminal
// sanctions under applicable laws, as well as to civil liability for the breach
// of the terms and conditions of this license.
//
// THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// USE OF THIS SOFTWARE FOR COMMERCIAL DEVELOPMENT AND/OR EDUCATION IS SUBJECT
// TO A CURRENT END USER LICENSE AGREEMENT (COMMERCIAL OR EDUCATIONAL) WITH
// CODE RED TECHNOLOGIES LTD.
//
//*****************************************************************************
#include <stdlib.h>
void *operator new(size_t size)
{
return malloc(size);
}
void *operator new[](size_t size)
{
return malloc(size);
}
void operator delete(void *p)
{
free(p);
}
void operator delete[](void *p)
{
free(p);
}
extern "C" int __aeabi_atexit(void *object,
void (*destructor)(void *),
void *dso_handle)
{
return 0;
}
#ifdef CPP_NO_HEAP
extern "C" void *malloc(size_t) {
return (void *)0;
}
extern "C" void free(void *) {
}
#endif
#ifndef CPP_USE_CPPLIBRARY_TERMINATE_HANDLER
/******************************************************************
* __verbose_terminate_handler()
*
* This is the function that is called when an uncaught C++
* exception is encountered. The default version within the C++
* library prints the name of the uncaught exception, but to do so
* it must demangle its name - which causes a large amount of code
* to be pulled in. The below minimal implementation can reduce
* code size noticeably. Note that this function should not return.
******************************************************************/
namespace __gnu_cxx {
void __verbose_terminate_handler()
{
while(1);
}
}
#endif

348
source/shoh/src/cr_startup_lpc11u6x.cpp Normal file
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//*****************************************************************************
// LPC11U6x Microcontroller Startup code for use with LPCXpresso IDE
//
// Version : 150706
//*****************************************************************************
//
// Copyright(C) NXP Semiconductors, 2014-2015, 2020
// All rights reserved.
//
// NXP Confidential. This software is owned or controlled by NXP and may only be
// used strictly in accordance with the applicable license terms.
//
// By expressly accepting such terms or by downloading, installing, activating
// and/or otherwise using the software, you are agreeing that you have read, and
// that you agree to comply with and are bound by, such license terms.
//
// If you do not agree to be bound by the applicable license terms, then you may not
// retain, install, activate or otherwise use the software.
//*****************************************************************************
#if defined (__cplusplus)
#ifdef __REDLIB__
#error Redlib does not support C++
#else
//*****************************************************************************
//
// The entry point for the C++ library startup
//
//*****************************************************************************
extern "C" {
extern void __libc_init_array(void);
}
#endif
#endif
#define WEAK __attribute__ ((weak))
#define ALIAS(f) __attribute__ ((weak, alias (#f)))
//*****************************************************************************
#if defined (__cplusplus)
extern "C" {
#endif
//*****************************************************************************
#if defined (__USE_CMSIS) || defined (__USE_LPCOPEN)
// Declaration of external SystemInit function
extern void SystemInit(void);
#endif
// Patch the AEABI integer divide functions to use MCU's romdivide library
#ifdef __USE_ROMDIVIDE
// Location in memory that holds the address of the ROM Driver table
#define PTR_ROM_DRIVER_TABLE ((unsigned int *)(0x1FFF1FF8))
// Variables to store addresses of idiv and udiv functions within MCU ROM
unsigned int *pDivRom_idiv;
unsigned int *pDivRom_uidiv;
#endif
//*****************************************************************************
//
// Forward declaration of the default handlers. These are aliased.
// When the application defines a handler (with the same name), this will
// automatically take precedence over these weak definitions
//
//*****************************************************************************
void ResetISR(void);
WEAK void NMI_Handler(void);
WEAK void HardFault_Handler(void);
WEAK void SVC_Handler(void);
WEAK void PendSV_Handler(void);
WEAK void SysTick_Handler(void);
WEAK void IntDefaultHandler(void);
//*****************************************************************************
//
// Forward declaration of the specific IRQ handlers. These are aliased
// to the IntDefaultHandler, which is a 'forever' loop. When the application
// defines a handler (with the same name), this will automatically take
// precedence over these weak definitions
//
//*****************************************************************************
void PIN_INT0_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT1_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT2_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT3_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT4_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT5_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT6_IRQHandler (void) ALIAS(IntDefaultHandler);
void PIN_INT7_IRQHandler (void) ALIAS(IntDefaultHandler);
void GINT0_IRQHandler (void) ALIAS(IntDefaultHandler);
void GINT1_IRQHandler (void) ALIAS(IntDefaultHandler);
void I2C1_IRQHandler (void) ALIAS(IntDefaultHandler);
void USART1_4_IRQHandler (void) ALIAS(IntDefaultHandler);
void USART2_3_IRQHandler (void) ALIAS(IntDefaultHandler);
void SCT0_1_IRQHandler (void) ALIAS(IntDefaultHandler);
void SSP1_IRQHandler (void) ALIAS(IntDefaultHandler);
void I2C0_IRQHandler (void) ALIAS(IntDefaultHandler);
void TIMER16_0_IRQHandler (void) ALIAS(IntDefaultHandler);
void TIMER16_1_IRQHandler (void) ALIAS(IntDefaultHandler);
void TIMER32_0_IRQHandler (void) ALIAS(IntDefaultHandler);
void TIMER32_1_IRQHandler (void) ALIAS(IntDefaultHandler);
void SSP0_IRQHandler (void) ALIAS(IntDefaultHandler);
void USART0_IRQHandler (void) ALIAS(IntDefaultHandler);
void USB_IRQHandler (void) ALIAS(IntDefaultHandler);
void USB_FIQHandler (void) ALIAS(IntDefaultHandler);
void ADCA_IRQHandler (void) ALIAS(IntDefaultHandler);
void RTC_IRQHandler (void) ALIAS(IntDefaultHandler);
void BOD_WDT_IRQHandler (void) ALIAS(IntDefaultHandler);
void FMC_IRQHandler (void) ALIAS(IntDefaultHandler);
void DMA_IRQHandler (void) ALIAS(IntDefaultHandler);
void ADCB_IRQHandler (void) ALIAS(IntDefaultHandler);
void USBWakeup_IRQHandler (void) ALIAS(IntDefaultHandler);
//*****************************************************************************
// The entry point for the application.
// __main() is the entry point for redlib based applications
// main() is the entry point for newlib based applications
//*****************************************************************************
#if defined (__REDLIB__)
extern void __main(void);
#endif
extern int main(void);
//*****************************************************************************
//
// External declaration for the pointer to the stack top from the Linker Script
//
//*****************************************************************************
extern void _vStackTop(void);
//*****************************************************************************
//
// External declaration for LPC MCU vector table checksum from Linker Script
//
//*****************************************************************************
WEAK extern void __valid_user_code_checksum();
//*****************************************************************************
#if defined (__cplusplus)
} // extern "C"
#endif
//*****************************************************************************
//
// The vector table. Note that the proper constructs must be placed on this to
// ensure that it ends up at physical address 0x0000.0000.
//
//*****************************************************************************
extern void (* const g_pfnVectors[])(void);
__attribute__ ((used,section(".isr_vector")))
void (* const g_pfnVectors[])(void) = {
&_vStackTop, // The initial stack pointer
ResetISR, // The reset handler
NMI_Handler, // The NMI handler
HardFault_Handler, // The hard fault handler
0, // Reserved
0, // Reserved
0, // Reserved
__valid_user_code_checksum, // LPC MCU Checksum
0, // Reserved
0, // Reserved
0, // Reserved
SVC_Handler, // SVCall handler
0, // Reserved
0, // Reserved
PendSV_Handler, // The PendSV handler
SysTick_Handler, // The SysTick handler
// LPC11U6x specific handlers
PIN_INT0_IRQHandler, // 0 - GPIO pin interrupt 0
PIN_INT1_IRQHandler, // 1 - GPIO pin interrupt 1
PIN_INT2_IRQHandler, // 2 - GPIO pin interrupt 2
PIN_INT3_IRQHandler, // 3 - GPIO pin interrupt 3
PIN_INT4_IRQHandler, // 4 - GPIO pin interrupt 4
PIN_INT5_IRQHandler, // 5 - GPIO pin interrupt 5
PIN_INT6_IRQHandler, // 6 - GPIO pin interrupt 6
PIN_INT7_IRQHandler, // 7 - GPIO pin interrupt 7
GINT0_IRQHandler, // 8 - GPIO GROUP0 interrupt
GINT1_IRQHandler, // 9 - GPIO GROUP1 interrupt
I2C1_IRQHandler, // 10 - I2C1
USART1_4_IRQHandler, // 11 - combined USART1 & 4 interrupt
USART2_3_IRQHandler, // 12 - combined USART2 & 3 interrupt
SCT0_1_IRQHandler, // 13 - combined SCT0 and 1 interrupt
SSP1_IRQHandler, // 14 - SPI/SSP1 Interrupt
I2C0_IRQHandler, // 15 - I2C0
TIMER16_0_IRQHandler, // 16 - CT16B0 (16-bit Timer 0)
TIMER16_1_IRQHandler, // 17 - CT16B1 (16-bit Timer 1)
TIMER32_0_IRQHandler, // 18 - CT32B0 (32-bit Timer 0)
TIMER32_1_IRQHandler, // 19 - CT32B1 (32-bit Timer 1)
SSP0_IRQHandler, // 20 - SPI/SSP0 Interrupt
USART0_IRQHandler, // 21 - USART0
USB_IRQHandler, // 22 - USB IRQ
USB_FIQHandler, // 23 - USB FIQ
ADCA_IRQHandler, // 24 - ADC A(A/D Converter)
RTC_IRQHandler, // 25 - Real Time CLock interrpt
BOD_WDT_IRQHandler, // 25 - Combined Brownout/Watchdog interrupt
FMC_IRQHandler, // 27 - IP2111 Flash Memory Controller
DMA_IRQHandler, // 28 - DMA interrupt
ADCB_IRQHandler, // 24 - ADC B (A/D Converter)
USBWakeup_IRQHandler, // 30 - USB wake-up interrupt
0, // 31 - Reserved
};
//*****************************************************************************
// Functions to carry out the initialization of RW and BSS data sections. These
// are written as separate functions rather than being inlined within the
// ResetISR() function in order to cope with MCUs with multiple banks of
// memory.
//*****************************************************************************
__attribute__ ((section(".after_vectors")))
void data_init(unsigned int romstart, unsigned int start, unsigned int len) {
unsigned int *pulDest = (unsigned int*) start;
unsigned int *pulSrc = (unsigned int*) romstart;
unsigned int loop;
for (loop = 0; loop < len; loop = loop + 4)
*pulDest++ = *pulSrc++;
}
__attribute__ ((section(".after_vectors")))
void bss_init(unsigned int start, unsigned int len) {
unsigned int *pulDest = (unsigned int*) start;
unsigned int loop;
for (loop = 0; loop < len; loop = loop + 4)
*pulDest++ = 0;
}
//*****************************************************************************
// The following symbols are constructs generated by the linker, indicating
// the location of various points in the "Global Section Table". This table is
// created by the linker via the Code Red managed linker script mechanism. It
// contains the load address, execution address and length of each RW data
// section and the execution and length of each BSS (zero initialized) section.
//*****************************************************************************
extern unsigned int __data_section_table;
extern unsigned int __data_section_table_end;
extern unsigned int __bss_section_table;
extern unsigned int __bss_section_table_end;
//*****************************************************************************
// Reset entry point for your code.
// Sets up a simple runtime environment and initializes the C/C++
// library.
//*****************************************************************************
__attribute__ ((section(".after_vectors")))
void
ResetISR(void) {
// Optionally enable RAM banks that may be off by default at reset
#if !defined (DONT_ENABLE_DISABLED_RAMBANKS)
volatile unsigned int *SYSCON_SYSAHBCLKCTRL = (unsigned int *) 0x40048080;
// Ensure that RAM1(26) and USBSRAM(27) bits in SYSAHBCLKCTRL are set
*SYSCON_SYSAHBCLKCTRL |= (1 << 26) | (1 <<27);
#endif
//
// Copy the data sections from flash to SRAM.
//
unsigned int LoadAddr, ExeAddr, SectionLen;
unsigned int *SectionTableAddr;
// Load base address of Global Section Table
SectionTableAddr = &__data_section_table;
// Copy the data sections from flash to SRAM.
while (SectionTableAddr < &__data_section_table_end) {
LoadAddr = *SectionTableAddr++;
ExeAddr = *SectionTableAddr++;
SectionLen = *SectionTableAddr++;
data_init(LoadAddr, ExeAddr, SectionLen);
}
// At this point, SectionTableAddr = &__bss_section_table;
// Zero fill the bss segment
while (SectionTableAddr < &__bss_section_table_end) {
ExeAddr = *SectionTableAddr++;
SectionLen = *SectionTableAddr++;
bss_init(ExeAddr, SectionLen);
}
// Patch the AEABI integer divide functions to use MCU's romdivide library
#ifdef __USE_ROMDIVIDE
// Get address of Integer division routines function table in ROM
unsigned int *div_ptr = (unsigned int *)((unsigned int *)*(PTR_ROM_DRIVER_TABLE))[4];
// Get addresses of integer divide routines in ROM
// These address are then used by the code in aeabi_romdiv_patch.s
pDivRom_idiv = (unsigned int *)div_ptr[0];
pDivRom_uidiv = (unsigned int *)div_ptr[1];
#endif
#if defined (__USE_CMSIS) || defined (__USE_LPCOPEN)
SystemInit();
#endif
#if defined (__cplusplus)
//
// Call C++ library initialisation
//
__libc_init_array();
#endif
#if defined (__REDLIB__)
// Call the Redlib library, which in turn calls main()
__main() ;
#else
main();
#endif
//
// main() shouldn't return, but if it does, we'll just enter an infinite loop
//
while (1) {
;
}
}
//*****************************************************************************
// Default exception handlers. Override the ones here by defining your own
// handler routines in your application code.
//*****************************************************************************
__attribute__ ((section(".after_vectors")))
void NMI_Handler(void)
{ while(1) { }
}
__attribute__ ((section(".after_vectors")))
void HardFault_Handler(void)
{ while(1) { }
}
__attribute__ ((section(".after_vectors")))
void SVC_Handler(void)
{ while(1) { }
}
__attribute__ ((section(".after_vectors")))
void PendSV_Handler(void)
{ while(1) { }
}
__attribute__ ((section(".after_vectors")))
void SysTick_Handler(void)
{ while(1) { }
}
//*****************************************************************************
//
// Processor ends up here if an unexpected interrupt occurs or a specific
// handler is not present in the application code.
//
//*****************************************************************************
__attribute__ ((section(".after_vectors")))
void IntDefaultHandler(void)
{ while(1) { }
}

27
source/shoh/src/crp.c Normal file
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//*****************************************************************************
// crp.c
//
// Source file to create CRP word expected by LPCXpresso IDE linker
//*****************************************************************************
//
// Copyright(C) NXP Semiconductors, 2013, 2020
// All rights reserved.
//
// NXP Confidential. This software is owned or controlled by NXP and may only be
// used strictly in accordance with the applicable license terms.
//
// By expressly accepting such terms or by downloading, installing, activating
// and/or otherwise using the software, you are agreeing that you have read, and
// that you agree to comply with and are bound by, such license terms.
//
// If you do not agree to be bound by the applicable license terms, then you may not
// retain, install, activate or otherwise use the software.
//*****************************************************************************
#if defined (__CODE_RED)
#include <NXP/crp.h>
// Variable to store CRP value in. Will be placed automatically
// by the linker when "Enable Code Read Protect" selected.
// See crp.h header for more information
__CRP const unsigned int CRP_WORD = CRP_NO_CRP ;
#endif

44
source/shoh/src/main.cpp Normal file
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#include "chip.h"
#include "board.h"
#include "FreeRTOS.h"
#include "task.h"
#include <cr_section_macros.h>
#include "FreeRTOSCPP/Kernel.hpp"
#include "FreeRTOSCPP/Task.hpp"
class LedTask : public FreeRTOS::Task {
public:
LedTask(const UBaseType_t priority, const char* name)
: FreeRTOS::Task(priority, configMINIMAL_STACK_SIZE, name) {}
void taskFunction() final;
private:
int led;
};
// Task to be created.
void LedTask::taskFunction() {
bool LedState = false;
for (;;) {
Board_LED_Set(led, LedState);
LedState = (bool) !LedState;
led++;
if(led > 2){
led = 0;
}
vTaskDelay(configTICK_RATE_HZ / 2);
}
}
int main(void)
{
SystemCoreClockUpdate();
Board_Init();
// Create a task before starting the kernel.
LedTask task1((tskIDLE_PRIORITY + 1UL), "vTaskLed1");
// Start the real time kernel with preemption.
FreeRTOS::Kernel::startScheduler();
return 1;
}

86
source/shoh/src/mtb.c Normal file
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//*****************************************************************************
// +--+
// | ++----+
// +-++ |
// | |
// +-+--+ |
// | +--+--+
// +----+ Copyright (c) 2013 Code Red Technologies Ltd.
//
// mtb.c
//
// Optionally defines an array to be used as a buffer for Micro Trace
// Buffer (MTB) instruction trace on Cortex-M0+ parts
//
// Version : 130502
//
// Software License Agreement
//
// The software is owned by Code Red Technologies and/or its suppliers, and is
// protected under applicable copyright laws. All rights are reserved. Any
// use in violation of the foregoing restrictions may subject the user to criminal
// sanctions under applicable laws, as well as to civil liability for the breach
// of the terms and conditions of this license.
//
// THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// USE OF THIS SOFTWARE FOR COMMERCIAL DEVELOPMENT AND/OR EDUCATION IS SUBJECT
// TO A CURRENT END USER LICENSE AGREEMENT (COMMERCIAL OR EDUCATIONAL) WITH
// CODE RED TECHNOLOGIES LTD.
//
//*****************************************************************************
/*******************************************************************
* Symbols controlling behavior of this code...
*
* __MTB_DISABLE
* If this symbol is defined, then the buffer array for the MTB
* will not be created.
*
* __MTB_BUFFER_SIZE
* Symbol specifying the sizer of the buffer array for the MTB.
* This must be a power of 2 in size, and fit into the available
* RAM. The MTB buffer will also be aligned to its 'size'
* boundary and be placed at the start of a RAM bank (which
* should ensure minimal or zero padding due to alignment).
*
* __MTB_RAM_BANK
* Allows MTB Buffer to be placed into specific RAM bank. When
* this is not defined, the "default" (first if there are
* several) RAM bank is used.
*******************************************************************/
// Ignore with none Code Red tools
#if defined (__CODE_RED)
// Allow MTB to be removed by setting a define (via command line)
#if !defined (__MTB_DISABLE)
// Allow for MTB buffer size being set by define set via command line
// Otherwise provide small default buffer
#if !defined (__MTB_BUFFER_SIZE)
#define __MTB_BUFFER_SIZE 128
#endif
// Check that buffer size requested is >0 bytes in size
#if (__MTB_BUFFER_SIZE > 0)
// Pull in MTB related macros
#include <cr_mtb_buffer.h>
// Check if MYTB buffer is to be placed in specific RAM bank
#if defined(__MTB_RAM_BANK)
// Place MTB buffer into explicit bank of RAM
__CR_MTB_BUFFER_EXT(__MTB_BUFFER_SIZE,__MTB_RAM_BANK);
#else
// Place MTB buffer into 'default' bank of RAM
__CR_MTB_BUFFER(__MTB_BUFFER_SIZE);
#endif // defined(__MTB_RAM_BANK)
#endif // (__MTB_BUFFER_SIZE > 0)
#endif // !defined (__MTB_DISABLE)
#endif // defined (__CODE_RED)

57
source/shoh/src/sysinit.c Normal file
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/*
* @brief Common SystemInit function for LPC11u6x chips
*
* @note
* Copyright 2013-2014, 2019, 2020 NXP
* All rights reserved.
*
* @par
* NXP Confidential. This software is owned or controlled by NXP and may only be
* used strictly in accordance with the applicable license terms.
*
* By expressly accepting such terms or by downloading, installing, activating
* and/or otherwise using the software, you are agreeing that you have read, and
* that you agree to comply with and are bound by, such license terms.
*
* If you do not agree to be bound by the applicable license terms, then you may not
* retain, install, activate or otherwise use the software.
*/
#if defined(NO_BOARD_LIB)
#include "chip.h"
#else
#include "board.h"
#endif
/*****************************************************************************
* Private types/enumerations/variables
****************************************************************************/
/*****************************************************************************
* Public types/enumerations/variables
****************************************************************************/
#if defined(NO_BOARD_LIB)
const uint32_t OscRateIn = 12000000;
const uint32_t RTCOscRateIn = 32768;
#endif
/*****************************************************************************
* Private functions
****************************************************************************/
/*****************************************************************************
* Public functions
****************************************************************************/
/* Set up and initialize hardware prior to call to main */
void SystemInit(void)
{
#if defined(NO_BOARD_LIB)
/* Chip specific SystemInit */
Chip_SystemInit();
#else
/* Setup system clocking and muxing */
Board_SystemInit();
#endif
}