/* ********************************************************************************************************* * uC/OS-II * The Real-Time Kernel * MESSAGE QUEUE MANAGEMENT * * (c) Copyright 1992-2009, Micrium, Weston, FL * All Rights Reserved * * File : OS_Q.C * By : Jean J. Labrosse * Version : V2.91 * * LICENSING TERMS: * --------------- * uC/OS-II is provided in source form for FREE evaluation, for educational use or for peaceful research. * If you plan on using uC/OS-II in a commercial product you need to contact Micriµm to properly license * its use in your product. We provide ALL the source code for your convenience and to help you experience * uC/OS-II. The fact that the source is provided does NOT mean that you can use it without paying a * licensing fee. ********************************************************************************************************* */ #ifndef OS_MASTER_FILE #include #endif #if (OS_Q_EN > 0u) && (OS_MAX_QS > 0u) /* ********************************************************************************************************* * ACCEPT MESSAGE FROM QUEUE * * Description: This function checks the queue to see if a message is available. Unlike OSQPend(), * OSQAccept() does not suspend the calling task if a message is not available. * * Arguments : pevent is a pointer to the event control block * * perr is a pointer to where an error message will be deposited. Possible error * messages are: * * OS_ERR_NONE The call was successful and your task received a * message. * OS_ERR_EVENT_TYPE You didn't pass a pointer to a queue * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * OS_ERR_Q_EMPTY The queue did not contain any messages * * Returns : != (void *)0 is the message in the queue if one is available. The message is removed * from the so the next time OSQAccept() is called, the queue will contain * one less entry. * == (void *)0 if you received a NULL pointer message * if the queue is empty or, * if 'pevent' is a NULL pointer or, * if you passed an invalid event type * * Note(s) : As of V2.60, you can now pass NULL pointers through queues. Because of this, the argument * 'perr' has been added to the API to tell you about the outcome of the call. ********************************************************************************************************* */ #if OS_Q_ACCEPT_EN > 0u void *OSQAccept (OS_EVENT *pevent, INT8U *perr) { void *pmsg; OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #ifdef OS_SAFETY_CRITICAL if (perr == (INT8U *)0) { OS_SAFETY_CRITICAL_EXCEPTION(); } #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ *perr = OS_ERR_PEVENT_NULL; return ((void *)0); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) {/* Validate event block type */ *perr = OS_ERR_EVENT_TYPE; return ((void *)0); } OS_ENTER_CRITICAL(); pq = (OS_Q *)pevent->OSEventPtr; /* Point at queue control block */ if (pq->OSQEntries > 0u) { /* See if any messages in the queue */ pmsg = *pq->OSQOut++; /* Yes, extract oldest message from the queue */ pq->OSQEntries--; /* Update the number of entries in the queue */ if (pq->OSQOut == pq->OSQEnd) { /* Wrap OUT pointer if we are at the end of the queue */ pq->OSQOut = pq->OSQStart; } *perr = OS_ERR_NONE; } else { *perr = OS_ERR_Q_EMPTY; pmsg = (void *)0; /* Queue is empty */ } OS_EXIT_CRITICAL(); return (pmsg); /* Return message received (or NULL) */ } #endif /*$PAGE*/ /* ********************************************************************************************************* * CREATE A MESSAGE QUEUE * * Description: This function creates a message queue if free event control blocks are available. * * Arguments : start is a pointer to the base address of the message queue storage area. The * storage area MUST be declared as an array of pointers to 'void' as follows * * void *MessageStorage[size] * * size is the number of elements in the storage area * * Returns : != (OS_EVENT *)0 is a pointer to the event control clock (OS_EVENT) associated with the * created queue * == (OS_EVENT *)0 if no event control blocks were available or an error was detected ********************************************************************************************************* */ OS_EVENT *OSQCreate (void **start, INT16U size) { OS_EVENT *pevent; OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #ifdef OS_SAFETY_CRITICAL_IEC61508 if (OSSafetyCriticalStartFlag == OS_TRUE) { OS_SAFETY_CRITICAL_EXCEPTION(); } #endif if (OSIntNesting > 0u) { /* See if called from ISR ... */ return ((OS_EVENT *)0); /* ... can't CREATE from an ISR */ } OS_ENTER_CRITICAL(); pevent = OSEventFreeList; /* Get next free event control block */ if (OSEventFreeList != (OS_EVENT *)0) { /* See if pool of free ECB pool was empty */ OSEventFreeList = (OS_EVENT *)OSEventFreeList->OSEventPtr; } OS_EXIT_CRITICAL(); if (pevent != (OS_EVENT *)0) { /* See if we have an event control block */ OS_ENTER_CRITICAL(); pq = OSQFreeList; /* Get a free queue control block */ if (pq != (OS_Q *)0) { /* Were we able to get a queue control block ? */ OSQFreeList = OSQFreeList->OSQPtr; /* Yes, Adjust free list pointer to next free*/ OS_EXIT_CRITICAL(); pq->OSQStart = start; /* Initialize the queue */ pq->OSQEnd = &start[size]; pq->OSQIn = start; pq->OSQOut = start; pq->OSQSize = size; pq->OSQEntries = 0u; pevent->OSEventType = OS_EVENT_TYPE_Q; pevent->OSEventCnt = 0u; pevent->OSEventPtr = pq; #if OS_EVENT_NAME_EN > 0u pevent->OSEventName = (INT8U *)(void *)"?"; #endif OS_EventWaitListInit(pevent); /* Initalize the wait list */ } else { pevent->OSEventPtr = (void *)OSEventFreeList; /* No, Return event control block on error */ OSEventFreeList = pevent; OS_EXIT_CRITICAL(); pevent = (OS_EVENT *)0; } } return (pevent); } /*$PAGE*/ /* ********************************************************************************************************* * DELETE A MESSAGE QUEUE * * Description: This function deletes a message queue and readies all tasks pending on the queue. * * Arguments : pevent is a pointer to the event control block associated with the desired * queue. * * opt determines delete options as follows: * opt == OS_DEL_NO_PEND Delete the queue ONLY if no task pending * opt == OS_DEL_ALWAYS Deletes the queue even if tasks are waiting. * In this case, all the tasks pending will be readied. * * perr is a pointer to an error code that can contain one of the following values: * OS_ERR_NONE The call was successful and the queue was deleted * OS_ERR_DEL_ISR If you tried to delete the queue from an ISR * OS_ERR_INVALID_OPT An invalid option was specified * OS_ERR_TASK_WAITING One or more tasks were waiting on the queue * OS_ERR_EVENT_TYPE If you didn't pass a pointer to a queue * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer. * * Returns : pevent upon error * (OS_EVENT *)0 if the queue was successfully deleted. * * Note(s) : 1) This function must be used with care. Tasks that would normally expect the presence of * the queue MUST check the return code of OSQPend(). * 2) OSQAccept() callers will not know that the intended queue has been deleted unless * they check 'pevent' to see that it's a NULL pointer. * 3) This call can potentially disable interrupts for a long time. The interrupt disable * time is directly proportional to the number of tasks waiting on the queue. * 4) Because ALL tasks pending on the queue will be readied, you MUST be careful in * applications where the queue is used for mutual exclusion because the resource(s) * will no longer be guarded by the queue. * 5) If the storage for the message queue was allocated dynamically (i.e. using a malloc() * type call) then your application MUST release the memory storage by call the counterpart * call of the dynamic allocation scheme used. If the queue storage was created statically * then, the storage can be reused. ********************************************************************************************************* */ #if OS_Q_DEL_EN > 0u OS_EVENT *OSQDel (OS_EVENT *pevent, INT8U opt, INT8U *perr) { BOOLEAN tasks_waiting; OS_EVENT *pevent_return; OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #ifdef OS_SAFETY_CRITICAL if (perr == (INT8U *)0) { OS_SAFETY_CRITICAL_EXCEPTION(); } #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ *perr = OS_ERR_PEVENT_NULL; return (pevent); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ *perr = OS_ERR_EVENT_TYPE; return (pevent); } if (OSIntNesting > 0u) { /* See if called from ISR ... */ *perr = OS_ERR_DEL_ISR; /* ... can't DELETE from an ISR */ return (pevent); } OS_ENTER_CRITICAL(); if (pevent->OSEventGrp != 0u) { /* See if any tasks waiting on queue */ tasks_waiting = OS_TRUE; /* Yes */ } else { tasks_waiting = OS_FALSE; /* No */ } switch (opt) { case OS_DEL_NO_PEND: /* Delete queue only if no task waiting */ if (tasks_waiting == OS_FALSE) { #if OS_EVENT_NAME_EN > 0u pevent->OSEventName = (INT8U *)(void *)"?"; #endif pq = (OS_Q *)pevent->OSEventPtr; /* Return OS_Q to free list */ pq->OSQPtr = OSQFreeList; OSQFreeList = pq; pevent->OSEventType = OS_EVENT_TYPE_UNUSED; pevent->OSEventPtr = OSEventFreeList; /* Return Event Control Block to free list */ pevent->OSEventCnt = 0u; OSEventFreeList = pevent; /* Get next free event control block */ OS_EXIT_CRITICAL(); *perr = OS_ERR_NONE; pevent_return = (OS_EVENT *)0; /* Queue has been deleted */ } else { OS_EXIT_CRITICAL(); *perr = OS_ERR_TASK_WAITING; pevent_return = pevent; } break; case OS_DEL_ALWAYS: /* Always delete the queue */ while (pevent->OSEventGrp != 0u) { /* Ready ALL tasks waiting for queue */ (void)OS_EventTaskRdy(pevent, (void *)0, OS_STAT_Q, OS_STAT_PEND_OK); } #if OS_EVENT_NAME_EN > 0u pevent->OSEventName = (INT8U *)(void *)"?"; #endif pq = (OS_Q *)pevent->OSEventPtr; /* Return OS_Q to free list */ pq->OSQPtr = OSQFreeList; OSQFreeList = pq; pevent->OSEventType = OS_EVENT_TYPE_UNUSED; pevent->OSEventPtr = OSEventFreeList; /* Return Event Control Block to free list */ pevent->OSEventCnt = 0u; OSEventFreeList = pevent; /* Get next free event control block */ OS_EXIT_CRITICAL(); if (tasks_waiting == OS_TRUE) { /* Reschedule only if task(s) were waiting */ OS_Sched(); /* Find highest priority task ready to run */ } *perr = OS_ERR_NONE; pevent_return = (OS_EVENT *)0; /* Queue has been deleted */ break; default: OS_EXIT_CRITICAL(); *perr = OS_ERR_INVALID_OPT; pevent_return = pevent; break; } return (pevent_return); } #endif /*$PAGE*/ /* ********************************************************************************************************* * FLUSH QUEUE * * Description : This function is used to flush the contents of the message queue. * * Arguments : none * * Returns : OS_ERR_NONE upon success * OS_ERR_EVENT_TYPE If you didn't pass a pointer to a queue * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * * WARNING : You should use this function with great care because, when to flush the queue, you LOOSE * the references to what the queue entries are pointing to and thus, you could cause * 'memory leaks'. In other words, the data you are pointing to that's being referenced * by the queue entries should, most likely, need to be de-allocated (i.e. freed). ********************************************************************************************************* */ #if OS_Q_FLUSH_EN > 0u INT8U OSQFlush (OS_EVENT *pevent) { OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ return (OS_ERR_PEVENT_NULL); } if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ return (OS_ERR_EVENT_TYPE); } #endif OS_ENTER_CRITICAL(); pq = (OS_Q *)pevent->OSEventPtr; /* Point to queue storage structure */ pq->OSQIn = pq->OSQStart; pq->OSQOut = pq->OSQStart; pq->OSQEntries = 0u; OS_EXIT_CRITICAL(); return (OS_ERR_NONE); } #endif /*$PAGE*/ /* ********************************************************************************************************* * PEND ON A QUEUE FOR A MESSAGE * * Description: This function waits for a message to be sent to a queue * * Arguments : pevent is a pointer to the event control block associated with the desired queue * * timeout is an optional timeout period (in clock ticks). If non-zero, your task will * wait for a message to arrive at the queue up to the amount of time * specified by this argument. If you specify 0, however, your task will wait * forever at the specified queue or, until a message arrives. * * perr is a pointer to where an error message will be deposited. Possible error * messages are: * * OS_ERR_NONE The call was successful and your task received a * message. * OS_ERR_TIMEOUT A message was not received within the specified 'timeout'. * OS_ERR_PEND_ABORT The wait on the queue was aborted. * OS_ERR_EVENT_TYPE You didn't pass a pointer to a queue * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * OS_ERR_PEND_ISR If you called this function from an ISR and the result * would lead to a suspension. * OS_ERR_PEND_LOCKED If you called this function with the scheduler is locked * * Returns : != (void *)0 is a pointer to the message received * == (void *)0 if you received a NULL pointer message or, * if no message was received or, * if 'pevent' is a NULL pointer or, * if you didn't pass a pointer to a queue. * * Note(s) : As of V2.60, this function allows you to receive NULL pointer messages. ********************************************************************************************************* */ void *OSQPend (OS_EVENT *pevent, INT32U timeout, INT8U *perr) { void *pmsg; OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #ifdef OS_SAFETY_CRITICAL if (perr == (INT8U *)0) { OS_SAFETY_CRITICAL_EXCEPTION(); } #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ *perr = OS_ERR_PEVENT_NULL; return ((void *)0); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) {/* Validate event block type */ *perr = OS_ERR_EVENT_TYPE; return ((void *)0); } if (OSIntNesting > 0u) { /* See if called from ISR ... */ *perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */ return ((void *)0); } if (OSLockNesting > 0u) { /* See if called with scheduler locked ... */ *perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */ return ((void *)0); } OS_ENTER_CRITICAL(); pq = (OS_Q *)pevent->OSEventPtr; /* Point at queue control block */ if (pq->OSQEntries > 0u) { /* See if any messages in the queue */ pmsg = *pq->OSQOut++; /* Yes, extract oldest message from the queue */ pq->OSQEntries--; /* Update the number of entries in the queue */ if (pq->OSQOut == pq->OSQEnd) { /* Wrap OUT pointer if we are at the end of the queue */ pq->OSQOut = pq->OSQStart; } OS_EXIT_CRITICAL(); *perr = OS_ERR_NONE; return (pmsg); /* Return message received */ } OSTCBCur->OSTCBStat |= OS_STAT_Q; /* Task will have to pend for a message to be posted */ OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK; OSTCBCur->OSTCBDly = timeout; /* Load timeout into TCB */ OS_EventTaskWait(pevent); /* Suspend task until event or timeout occurs */ OS_EXIT_CRITICAL(); OS_Sched(); /* Find next highest priority task ready to run */ OS_ENTER_CRITICAL(); switch (OSTCBCur->OSTCBStatPend) { /* See if we timed-out or aborted */ case OS_STAT_PEND_OK: /* Extract message from TCB (Put there by QPost) */ pmsg = OSTCBCur->OSTCBMsg; *perr = OS_ERR_NONE; break; case OS_STAT_PEND_ABORT: pmsg = (void *)0; *perr = OS_ERR_PEND_ABORT; /* Indicate that we aborted */ break; case OS_STAT_PEND_TO: default: OS_EventTaskRemove(OSTCBCur, pevent); pmsg = (void *)0; *perr = OS_ERR_TIMEOUT; /* Indicate that we didn't get event within TO */ break; } OSTCBCur->OSTCBStat = OS_STAT_RDY; /* Set task status to ready */ OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK; /* Clear pend status */ OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0; /* Clear event pointers */ #if (OS_EVENT_MULTI_EN > 0u) OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0; #endif OSTCBCur->OSTCBMsg = (void *)0; /* Clear received message */ OS_EXIT_CRITICAL(); return (pmsg); /* Return received message */ } /*$PAGE*/ /* ********************************************************************************************************* * ABORT WAITING ON A MESSAGE QUEUE * * Description: This function aborts & readies any tasks currently waiting on a queue. This function * should be used to fault-abort the wait on the queue, rather than to normally signal * the queue via OSQPost(), OSQPostFront() or OSQPostOpt(). * * Arguments : pevent is a pointer to the event control block associated with the desired queue. * * opt determines the type of ABORT performed: * OS_PEND_OPT_NONE ABORT wait for a single task (HPT) waiting on the * queue * OS_PEND_OPT_BROADCAST ABORT wait for ALL tasks that are waiting on the * queue * * perr is a pointer to where an error message will be deposited. Possible error * messages are: * * OS_ERR_NONE No tasks were waiting on the queue. * OS_ERR_PEND_ABORT At least one task waiting on the queue was readied * and informed of the aborted wait; check return value * for the number of tasks whose wait on the queue * was aborted. * OS_ERR_EVENT_TYPE If you didn't pass a pointer to a queue. * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer. * * Returns : == 0 if no tasks were waiting on the queue, or upon error. * > 0 if one or more tasks waiting on the queue are now readied and informed. ********************************************************************************************************* */ #if OS_Q_PEND_ABORT_EN > 0u INT8U OSQPendAbort (OS_EVENT *pevent, INT8U opt, INT8U *perr) { INT8U nbr_tasks; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #ifdef OS_SAFETY_CRITICAL if (perr == (INT8U *)0) { OS_SAFETY_CRITICAL_EXCEPTION(); } #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ *perr = OS_ERR_PEVENT_NULL; return (0u); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ *perr = OS_ERR_EVENT_TYPE; return (0u); } OS_ENTER_CRITICAL(); if (pevent->OSEventGrp != 0u) { /* See if any task waiting on queue? */ nbr_tasks = 0u; switch (opt) { case OS_PEND_OPT_BROADCAST: /* Do we need to abort ALL waiting tasks? */ while (pevent->OSEventGrp != 0u) { /* Yes, ready ALL tasks waiting on queue */ (void)OS_EventTaskRdy(pevent, (void *)0, OS_STAT_Q, OS_STAT_PEND_ABORT); nbr_tasks++; } break; case OS_PEND_OPT_NONE: default: /* No, ready HPT waiting on queue */ (void)OS_EventTaskRdy(pevent, (void *)0, OS_STAT_Q, OS_STAT_PEND_ABORT); nbr_tasks++; break; } OS_EXIT_CRITICAL(); OS_Sched(); /* Find HPT ready to run */ *perr = OS_ERR_PEND_ABORT; return (nbr_tasks); } OS_EXIT_CRITICAL(); *perr = OS_ERR_NONE; return (0u); /* No tasks waiting on queue */ } #endif /*$PAGE*/ /* ********************************************************************************************************* * POST MESSAGE TO A QUEUE * * Description: This function sends a message to a queue * * Arguments : pevent is a pointer to the event control block associated with the desired queue * * pmsg is a pointer to the message to send. * * Returns : OS_ERR_NONE The call was successful and the message was sent * OS_ERR_Q_FULL If the queue cannot accept any more messages because it is full. * OS_ERR_EVENT_TYPE If you didn't pass a pointer to a queue. * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * * Note(s) : As of V2.60, this function allows you to send NULL pointer messages. ********************************************************************************************************* */ #if OS_Q_POST_EN > 0u INT8U OSQPost (OS_EVENT *pevent, void *pmsg) { OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ return (OS_ERR_PEVENT_NULL); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ return (OS_ERR_EVENT_TYPE); } OS_ENTER_CRITICAL(); if (pevent->OSEventGrp != 0u) { /* See if any task pending on queue */ /* Ready highest priority task waiting on event */ (void)OS_EventTaskRdy(pevent, pmsg, OS_STAT_Q, OS_STAT_PEND_OK); OS_EXIT_CRITICAL(); OS_Sched(); /* Find highest priority task ready to run */ return (OS_ERR_NONE); } pq = (OS_Q *)pevent->OSEventPtr; /* Point to queue control block */ if (pq->OSQEntries >= pq->OSQSize) { /* Make sure queue is not full */ OS_EXIT_CRITICAL(); return (OS_ERR_Q_FULL); } *pq->OSQIn++ = pmsg; /* Insert message into queue */ pq->OSQEntries++; /* Update the nbr of entries in the queue */ if (pq->OSQIn == pq->OSQEnd) { /* Wrap IN ptr if we are at end of queue */ pq->OSQIn = pq->OSQStart; } OS_EXIT_CRITICAL(); return (OS_ERR_NONE); } #endif /*$PAGE*/ /* ********************************************************************************************************* * POST MESSAGE TO THE FRONT OF A QUEUE * * Description: This function sends a message to a queue but unlike OSQPost(), the message is posted at * the front instead of the end of the queue. Using OSQPostFront() allows you to send * 'priority' messages. * * Arguments : pevent is a pointer to the event control block associated with the desired queue * * pmsg is a pointer to the message to send. * * Returns : OS_ERR_NONE The call was successful and the message was sent * OS_ERR_Q_FULL If the queue cannot accept any more messages because it is full. * OS_ERR_EVENT_TYPE If you didn't pass a pointer to a queue. * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * * Note(s) : As of V2.60, this function allows you to send NULL pointer messages. ********************************************************************************************************* */ #if OS_Q_POST_FRONT_EN > 0u INT8U OSQPostFront (OS_EVENT *pevent, void *pmsg) { OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ return (OS_ERR_PEVENT_NULL); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ return (OS_ERR_EVENT_TYPE); } OS_ENTER_CRITICAL(); if (pevent->OSEventGrp != 0u) { /* See if any task pending on queue */ /* Ready highest priority task waiting on event */ (void)OS_EventTaskRdy(pevent, pmsg, OS_STAT_Q, OS_STAT_PEND_OK); OS_EXIT_CRITICAL(); OS_Sched(); /* Find highest priority task ready to run */ return (OS_ERR_NONE); } pq = (OS_Q *)pevent->OSEventPtr; /* Point to queue control block */ if (pq->OSQEntries >= pq->OSQSize) { /* Make sure queue is not full */ OS_EXIT_CRITICAL(); return (OS_ERR_Q_FULL); } if (pq->OSQOut == pq->OSQStart) { /* Wrap OUT ptr if we are at the 1st queue entry */ pq->OSQOut = pq->OSQEnd; } pq->OSQOut--; *pq->OSQOut = pmsg; /* Insert message into queue */ pq->OSQEntries++; /* Update the nbr of entries in the queue */ OS_EXIT_CRITICAL(); return (OS_ERR_NONE); } #endif /*$PAGE*/ /* ********************************************************************************************************* * POST MESSAGE TO A QUEUE * * Description: This function sends a message to a queue. This call has been added to reduce code size * since it can replace both OSQPost() and OSQPostFront(). Also, this function adds the * capability to broadcast a message to ALL tasks waiting on the message queue. * * Arguments : pevent is a pointer to the event control block associated with the desired queue * * pmsg is a pointer to the message to send. * * opt determines the type of POST performed: * OS_POST_OPT_NONE POST to a single waiting task * (Identical to OSQPost()) * OS_POST_OPT_BROADCAST POST to ALL tasks that are waiting on the queue * OS_POST_OPT_FRONT POST as LIFO (Simulates OSQPostFront()) * OS_POST_OPT_NO_SCHED Indicates that the scheduler will NOT be invoked * * Returns : OS_ERR_NONE The call was successful and the message was sent * OS_ERR_Q_FULL If the queue cannot accept any more messages because it is full. * OS_ERR_EVENT_TYPE If you didn't pass a pointer to a queue. * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * * Warning : Interrupts can be disabled for a long time if you do a 'broadcast'. In fact, the * interrupt disable time is proportional to the number of tasks waiting on the queue. ********************************************************************************************************* */ #if OS_Q_POST_OPT_EN > 0u INT8U OSQPostOpt (OS_EVENT *pevent, void *pmsg, INT8U opt) { OS_Q *pq; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ return (OS_ERR_PEVENT_NULL); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ return (OS_ERR_EVENT_TYPE); } OS_ENTER_CRITICAL(); if (pevent->OSEventGrp != 0x00u) { /* See if any task pending on queue */ if ((opt & OS_POST_OPT_BROADCAST) != 0x00u) { /* Do we need to post msg to ALL waiting tasks ? */ while (pevent->OSEventGrp != 0u) { /* Yes, Post to ALL tasks waiting on queue */ (void)OS_EventTaskRdy(pevent, pmsg, OS_STAT_Q, OS_STAT_PEND_OK); } } else { /* No, Post to HPT waiting on queue */ (void)OS_EventTaskRdy(pevent, pmsg, OS_STAT_Q, OS_STAT_PEND_OK); } OS_EXIT_CRITICAL(); if ((opt & OS_POST_OPT_NO_SCHED) == 0u) { /* See if scheduler needs to be invoked */ OS_Sched(); /* Find highest priority task ready to run */ } return (OS_ERR_NONE); } pq = (OS_Q *)pevent->OSEventPtr; /* Point to queue control block */ if (pq->OSQEntries >= pq->OSQSize) { /* Make sure queue is not full */ OS_EXIT_CRITICAL(); return (OS_ERR_Q_FULL); } if ((opt & OS_POST_OPT_FRONT) != 0x00u) { /* Do we post to the FRONT of the queue? */ if (pq->OSQOut == pq->OSQStart) { /* Yes, Post as LIFO, Wrap OUT pointer if we ... */ pq->OSQOut = pq->OSQEnd; /* ... are at the 1st queue entry */ } pq->OSQOut--; *pq->OSQOut = pmsg; /* Insert message into queue */ } else { /* No, Post as FIFO */ *pq->OSQIn++ = pmsg; /* Insert message into queue */ if (pq->OSQIn == pq->OSQEnd) { /* Wrap IN ptr if we are at end of queue */ pq->OSQIn = pq->OSQStart; } } pq->OSQEntries++; /* Update the nbr of entries in the queue */ OS_EXIT_CRITICAL(); return (OS_ERR_NONE); } #endif /*$PAGE*/ /* ********************************************************************************************************* * QUERY A MESSAGE QUEUE * * Description: This function obtains information about a message queue. * * Arguments : pevent is a pointer to the event control block associated with the desired queue * * p_q_data is a pointer to a structure that will contain information about the message * queue. * * Returns : OS_ERR_NONE The call was successful and the message was sent * OS_ERR_EVENT_TYPE If you are attempting to obtain data from a non queue. * OS_ERR_PEVENT_NULL If 'pevent' is a NULL pointer * OS_ERR_PDATA_NULL If 'p_q_data' is a NULL pointer ********************************************************************************************************* */ #if OS_Q_QUERY_EN > 0u INT8U OSQQuery (OS_EVENT *pevent, OS_Q_DATA *p_q_data) { OS_Q *pq; INT8U i; OS_PRIO *psrc; OS_PRIO *pdest; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #if OS_ARG_CHK_EN > 0u if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */ return (OS_ERR_PEVENT_NULL); } if (p_q_data == (OS_Q_DATA *)0) { /* Validate 'p_q_data' */ return (OS_ERR_PDATA_NULL); } #endif if (pevent->OSEventType != OS_EVENT_TYPE_Q) { /* Validate event block type */ return (OS_ERR_EVENT_TYPE); } OS_ENTER_CRITICAL(); p_q_data->OSEventGrp = pevent->OSEventGrp; /* Copy message queue wait list */ psrc = &pevent->OSEventTbl[0]; pdest = &p_q_data->OSEventTbl[0]; for (i = 0u; i < OS_EVENT_TBL_SIZE; i++) { *pdest++ = *psrc++; } pq = (OS_Q *)pevent->OSEventPtr; if (pq->OSQEntries > 0u) { p_q_data->OSMsg = *pq->OSQOut; /* Get next message to return if available */ } else { p_q_data->OSMsg = (void *)0; } p_q_data->OSNMsgs = pq->OSQEntries; p_q_data->OSQSize = pq->OSQSize; OS_EXIT_CRITICAL(); return (OS_ERR_NONE); } #endif /* OS_Q_QUERY_EN */ /*$PAGE*/ /* ********************************************************************************************************* * QUEUE MODULE INITIALIZATION * * Description : This function is called by uC/OS-II to initialize the message queue module. Your * application MUST NOT call this function. * * Arguments : none * * Returns : none * * Note(s) : This function is INTERNAL to uC/OS-II and your application should not call it. ********************************************************************************************************* */ void OS_QInit (void) { #if OS_MAX_QS == 1u OSQFreeList = &OSQTbl[0]; /* Only ONE queue! */ OSQFreeList->OSQPtr = (OS_Q *)0; #endif #if OS_MAX_QS >= 2u INT16U ix; INT16U ix_next; OS_Q *pq1; OS_Q *pq2; OS_MemClr((INT8U *)&OSQTbl[0], sizeof(OSQTbl)); /* Clear the queue table */ for (ix = 0u; ix < (OS_MAX_QS - 1u); ix++) { /* Init. list of free QUEUE control blocks */ ix_next = ix + 1u; pq1 = &OSQTbl[ix]; pq2 = &OSQTbl[ix_next]; pq1->OSQPtr = pq2; } pq1 = &OSQTbl[ix]; pq1->OSQPtr = (OS_Q *)0; OSQFreeList = &OSQTbl[0]; #endif } #endif /* OS_Q_EN */