FreeRTOS学习记录 04--队列篇

0 前言

@ Author         ：Dargon
@ Record Date    ：2021/07/13
@ Reference Book : `FreeRTOS源码详解与应用开发`，`ARM Cortex-M3与Cortex-M4权威指南`，`B站正点原子FreeRTOS讲解视频`
@ Purpose        ：学习正点原子的miniFly，该飞控基于FreeRTOS系统开发的，所以学习一下记录下关于RTOS系统的一些基本操作，大概了解系统的工作原理，如何创建，运行，切换任务等等基本操作流程。在此进行学习的记录。

1 队列的基础知识

1.1 队列 Queue_t

• 结构体 Queue_t

  typedef struct QueueDefinition
  {
       
      int8_t *pcHead;					/*< Points to the beginning of the queue storage area. */
      int8_t *pcTail;					/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
      int8_t *pcWriteTo;				/*< Points to the free next place in the storage area. */
  
      union							/* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */
      {
       
          int8_t *pcReadFrom;			/*< Points to the last place that a queued item was read from when the structure is used as a queue. */
          UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
      } u;
  
      List_t xTasksWaitingToSend;		/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
      List_t xTasksWaitingToReceive;	/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
  
      volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
      UBaseType_t uxLength;