U20_YC3121_Firmware_20240315\app\FreeRTOS\include:第10~第13 记录

qq_33772147

已于 2024-03-31 01:12:23 修改

阅读量551

点赞数 22

文章标签：单片机嵌入式硬件

于 2024-03-20 20:52:55 首次发布

本文链接：https://blog.csdn.net/qq_33772147/article/details/136888434

版权

projdefs.h 、、、、、、、、、、、、、、、、、、、、、、、

/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************

FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html

***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.

http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.

http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.

1 tab == 4 spaces!
*/

#ifndef 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 ) 1000 ) )
#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

#endif /* PROJDEFS_H */

queue.h //

/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

1 tab == 4 spaces!
*/

#ifndef QUEUE_H
#define QUEUE_H

#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h" must appear in source files before "include queue.h"
#endif

#ifdef __cplusplus
extern "C" {
#endif

/**
* Type by which queues are referenced. For example, a call to xQueueCreate()
* returns an QueueHandle_t variable that can then be used as a parameter to
* xQueueSend(), xQueueReceive(), etc.
*/
typedef void * QueueHandle_t;

/**
* Type by which queue sets are referenced. For example, a call to
* xQueueCreateSet() returns an xQueueSet variable that can then be used as a
* parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc.
*/
typedef void * QueueSetHandle_t;

/**
* Queue sets can contain both queues and semaphores, so the
* QueueSetMemberHandle_t is defined as a type to be used where a parameter or
* return value can be either an QueueHandle_t or an SemaphoreHandle_t.
*/
typedef void * QueueSetMemberHandle_t;

/* For internal use only. */
#define   queueSEND_TO_BACK       ( ( BaseType_t ) 0 )
#define   queueSEND_TO_FRONT       ( ( BaseType_t ) 1 )
#define queueOVERWRITE           ( ( BaseType_t ) 2 )

/* For internal use only. These definitions *must* match those in queue.c. */
#define queueQUEUE_TYPE_BASE               ( ( uint8_t ) 0U )
#define queueQUEUE_TYPE_SET                   ( ( uint8_t ) 0U )
#define queueQUEUE_TYPE_MUTEX                ( ( uint8_t ) 1U )
#define queueQUEUE_TYPE_COUNTING_SEMAPHORE   ( ( uint8_t ) 2U )
#define queueQUEUE_TYPE_BINARY_SEMAPHORE   ( ( uint8_t ) 3U )
#define queueQUEUE_TYPE_RECURSIVE_MUTEX       ( ( uint8_t ) 4U )

/**
* queue. h
* <pre>
QueueHandle_t xQueueCreate(
 UBaseType_t uxQueueLength,
 UBaseType_t uxItemSize
 );
* </pre>
*
* Creates a new queue instance, and returns a handle by which the new queue
* can be referenced.
*
* Internally, within the FreeRTOS implementation, queues use two blocks of
* memory. The first block is used to hold the queue's data structures. The
* second block is used to hold items placed into the queue. If a queue is
* created using xQueueCreate() then both blocks of memory are automatically
* dynamically allocated inside the xQueueCreate() function. (see
* http://www.freertos.org/a00111.html). If a queue is created using
* xQueueCreateStatic() then the application writer must provide the memory that
* will get used by the queue. xQueueCreateStatic() therefore allows a queue to
* be created without using any dynamic memory allocation.
*
* http://www.FreeRTOS.org/Embedded-RTOS-Queues.html
*
* @param uxQueueLength The maximum number of items that the queue can contain.
*
* @param uxItemSize The number of bytes each item in the queue will require.
* Items are queued by copy, not by reference, so this is the number of bytes
* that will be copied for each posted item. Each item on the queue must be
* the same size.
*
* @return If the queue is successfully create then a handle to the newly
* created queue is returned. If the queue cannot be created then 0 is
* returned.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
};

void vATask( void *pvParameters )
{
QueueHandle_t xQueue1, xQueue2;

   // Create a queue capable of containing 10 uint32_t values.
   xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
   if( xQueue1 == 0 )
   {
       // Queue was not created and must not be used.
   }

   // Create a queue capable of containing 10 pointers to AMessage structures.
   // These should be passed by pointer as they contain a lot of data.
   xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
   if( xQueue2 == 0 )
   {
       // Queue was not created and must not be used.
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueCreate xQueueCreate
* \ingroup QueueManagement
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) )
#endif

/**
* queue. h
* <pre>
QueueHandle_t xQueueCreateStatic(
 UBaseType_t uxQueueLength,
 UBaseType_t uxItemSize,
 uint8_t *pucQueueStorageBuffer,
 StaticQueue_t *pxQueueBuffer
 );
* </pre>
*
* Creates a new queue instance, and returns a handle by which the new queue
* can be referenced.
*
* Internally, within the FreeRTOS implementation, queues use two blocks of
* memory. The first block is used to hold the queue's data structures. The
* second block is used to hold items placed into the queue. If a queue is
* created using xQueueCreate() then both blocks of memory are automatically
* dynamically allocated inside the xQueueCreate() function. (see
* http://www.freertos.org/a00111.html). If a queue is created using
* xQueueCreateStatic() then the application writer must provide the memory that
* will get used by the queue. xQueueCreateStatic() therefore allows a queue to
* be created without using any dynamic memory allocation.
*
* http://www.FreeRTOS.org/Embedded-RTOS-Queues.html
*
* @param uxQueueLength The maximum number of items that the queue can contain.
*
* @param uxItemSize The number of bytes each item in the queue will require.
* Items are queued by copy, not by reference, so this is the number of bytes
* that will be copied for each posted item. Each item on the queue must be
* the same size.
*
* @param pucQueueStorageBuffer If uxItemSize is not zero then
* pucQueueStorageBuffer must point to a uint8_t array that is at least large
* enough to hold the maximum number of items that can be in the queue at any
* one time - which is ( uxQueueLength * uxItemsSize ) bytes. If uxItemSize is
* zero then pucQueueStorageBuffer can be NULL.
*
* @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which
* will be used to hold the queue's data structure.
*
* @return If the queue is created then a handle to the created queue is
* returned. If pxQueueBuffer is NULL then NULL is returned.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
};

#define QUEUE_LENGTH 10
#define ITEM_SIZE sizeof( uint32_t )

// xQueueBuffer will hold the queue structure.
StaticQueue_t xQueueBuffer;

// ucQueueStorage will hold the items posted to the queue. Must be at least
// [(queue length) * ( queue item size)] bytes long.
uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ];

void vATask( void *pvParameters )
{
QueueHandle_t xQueue1;

   // Create a queue capable of containing 10 uint32_t values.
   xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold.
                           ITEM_SIZE   // The size of each item in the queue
                           &( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue.
                           &xQueueBuffer ); // The buffer that will hold the queue structure.

// The queue is guaranteed to be created successfully as no dynamic memory
// allocation is used. Therefore xQueue1 is now a handle to a valid queue.

// ... Rest of task code.
}
</pre>
* \defgroup xQueueCreateStatic xQueueCreateStatic
* \ingroup QueueManagement
*/
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
#define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) )
#endif /* configSUPPORT_STATIC_ALLOCATION */

/**
* queue. h
* <pre>
BaseType_t xQueueSendToToFront(
 QueueHandle_t xQueue,
 const void *pvItemToQueue,
 TickType_t xTicksToWait
 );
* </pre>
*
* This is a macro that calls xQueueGenericSend().
*
* Post an item to the front of a queue. The item is queued by copy, not by
* reference. This function must not be called from an interrupt service
* routine. See xQueueSendFromISR () for an alternative which may be used
* in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0 and the
* queue is full. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is required.
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

uint32_t ulVar = 10UL;

void vATask( void *pvParameters )
{
QueueHandle_t xQueue1, xQueue2;
struct AMessage *pxMessage;

// Create a queue capable of containing 10 uint32_t values.
xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );

// ...

   if( xQueue1 != 0 )
   {
       // Send an uint32_t. Wait for 10 ticks for space to become
       // available if necessary.
       if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
       {
           // Failed to post the message, even after 10 ticks.
       }
   }

   if( xQueue2 != 0 )
   {
       // Send a pointer to a struct AMessage object. Don't block if the
       // queue is already full.
       pxMessage = & xMessage;
       xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )

/**
* queue. h
* <pre>
BaseType_t xQueueSendToBack(
 QueueHandle_t xQueue,
 const void *pvItemToQueue,
 TickType_t xTicksToWait
 );
* </pre>
*
* This is a macro that calls xQueueGenericSend().
*
* Post an item to the back of a queue. The item is queued by copy, not by
* reference. This function must not be called from an interrupt service
* routine. See xQueueSendFromISR () for an alternative which may be used
* in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0 and the queue
* is full. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is required.
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

uint32_t ulVar = 10UL;

void vATask( void *pvParameters )
{
QueueHandle_t xQueue1, xQueue2;
struct AMessage *pxMessage;

// Create a queue capable of containing 10 uint32_t values.
xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );

// ...

   if( xQueue1 != 0 )
   {
       // Send an uint32_t. Wait for 10 ticks for space to become
       // available if necessary.
       if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
       {
           // Failed to post the message, even after 10 ticks.
       }
   }

   if( xQueue2 != 0 )
   {
       // Send a pointer to a struct AMessage object. Don't block if the
       // queue is already full.
       pxMessage = & xMessage;
       xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )

/**
* queue. h
* <pre>
BaseType_t xQueueSend(
 QueueHandle_t xQueue,
 const void * pvItemToQueue,
 TickType_t xTicksToWait
 );
* </pre>
*
* This is a macro that calls xQueueGenericSend(). It is included for
* backward compatibility with versions of FreeRTOS.org that did not
* include the xQueueSendToFront() and xQueueSendToBack() macros. It is
* equivalent to xQueueSendToBack().
*
* Post an item on a queue. The item is queued by copy, not by reference.
* This function must not be called from an interrupt service routine.
* See xQueueSendFromISR () for an alternative which may be used in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0 and the
* queue is full. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is required.
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

uint32_t ulVar = 10UL;

void vATask( void *pvParameters )
{
QueueHandle_t xQueue1, xQueue2;
struct AMessage *pxMessage;

// Create a queue capable of containing 10 uint32_t values.
xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );

// ...

   if( xQueue1 != 0 )
   {
       // Send an uint32_t. Wait for 10 ticks for space to become
       // available if necessary.
       if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
       {
           // Failed to post the message, even after 10 ticks.
       }
   }

   if( xQueue2 != 0 )
   {
       // Send a pointer to a struct AMessage object. Don't block if the
       // queue is already full.
       pxMessage = & xMessage;
       xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )

/**
* queue. h
* <pre>
BaseType_t xQueueOverwrite(
 QueueHandle_t xQueue,
 const void * pvItemToQueue
 );
* </pre>
*
* Only for use with queues that have a length of one - so the queue is either
* empty or full.
*
* Post an item on a queue. If the queue is already full then overwrite the
* value held in the queue. The item is queued by copy, not by reference.
*
* This function must not be called from an interrupt service routine.
* See xQueueOverwriteFromISR () for an alternative which may be used in an ISR.
*
* @param xQueue The handle of the queue to which the data is being sent.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and
* therefore has the same return values as xQueueSendToFront(). However, pdPASS
* is the only value that can be returned because xQueueOverwrite() will write
* to the queue even when the queue is already full.
*
* Example usage:
<pre>

void vFunction( void *pvParameters )
{
QueueHandle_t xQueue;
uint32_t ulVarToSend, ulValReceived;

   // Create a queue to hold one uint32_t value. It is strongly
   // recommended *not* to use xQueueOverwrite() on queues that can
   // contain more than one value, and doing so will trigger an assertion
   // if configASSERT() is defined.
   xQueue = xQueueCreate( 1, sizeof( uint32_t ) );

   // Write the value 10 to the queue using xQueueOverwrite().
   ulVarToSend = 10;
   xQueueOverwrite( xQueue, &ulVarToSend );

   // Peeking the queue should now return 10, but leave the value 10 in
   // the queue. A block time of zero is used as it is known that the
   // queue holds a value.
   ulValReceived = 0;
   xQueuePeek( xQueue, &ulValReceived, 0 );

   if( ulValReceived != 10 )
   {
       // Error unless the item was removed by a different task.
   }

   // The queue is still full. Use xQueueOverwrite() to overwrite the
   // value held in the queue with 100.
   ulVarToSend = 100;
   xQueueOverwrite( xQueue, &ulVarToSend );

   // This time read from the queue, leaving the queue empty once more.
   // A block time of 0 is used again.
   xQueueReceive( xQueue, &ulValReceived, 0 );

   // The value read should be the last value written, even though the
   // queue was already full when the value was written.
   if( ulValReceived != 100 )
   {
       // Error!
   }

// ...
}
</pre>
* \defgroup xQueueOverwrite xQueueOverwrite
* \ingroup QueueManagement
*/
#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE )

/**
* queue. h
* <pre>
BaseType_t xQueueGenericSend(
 QueueHandle_t xQueue,
 const void * pvItemToQueue,
 TickType_t xTicksToWait
 BaseType_t xCopyPosition
 );
* </pre>
*
* It is preferred that the macros xQueueSend(), xQueueSendToFront() and
* xQueueSendToBack() are used in place of calling this function directly.
*
* Post an item on a queue. The item is queued by copy, not by reference.
* This function must not be called from an interrupt service routine.
* See xQueueSendFromISR () for an alternative which may be used in an ISR.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for space to become available on the queue, should it already
* be full. The call will return immediately if this is set to 0 and the
* queue is full. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is required.
*
* @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
* item at the back of the queue, or queueSEND_TO_FRONT to place the item
* at the front of the queue (for high priority messages).
*
* @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

uint32_t ulVar = 10UL;

void vATask( void *pvParameters )
{
QueueHandle_t xQueue1, xQueue2;
struct AMessage *pxMessage;

// Create a queue capable of containing 10 uint32_t values.
xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );

// ...

   if( xQueue1 != 0 )
   {
       // Send an uint32_t. Wait for 10 ticks for space to become
       // available if necessary.
       if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10, queueSEND_TO_BACK ) != pdPASS )
       {
           // Failed to post the message, even after 10 ticks.
       }
   }

   if( xQueue2 != 0 )
   {
       // Send a pointer to a struct AMessage object. Don't block if the
       // queue is already full.
       pxMessage = & xMessage;
       xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0, queueSEND_TO_BACK );
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>
BaseType_t xQueuePeek(
 QueueHandle_t xQueue,
 void *pvBuffer,
 TickType_t xTicksToWait
 );</pre>
*
* This is a macro that calls the xQueueGenericReceive() function.
*
* Receive an item from a queue without removing the item from the queue.
* The item is received by copy so a buffer of adequate size must be
* provided. The number of bytes copied into the buffer was defined when
* the queue was created.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to xQueueReceive().
*
* This macro must not be used in an interrupt service routine. See
* xQueuePeekFromISR() for an alternative that can be called from an interrupt
* service routine.
*
* @param xQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for an item to receive should the queue be empty at the time
* of the call. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is required.
* xQueuePeek() will return immediately if xTicksToWait is 0 and the queue
* is empty.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

QueueHandle_t xQueue;

// Task to create a queue and post a value.
void vATask( void *pvParameters )
{
struct AMessage *pxMessage;

   // Create a queue capable of containing 10 pointers to AMessage structures.
   // These should be passed by pointer as they contain a lot of data.
   xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
   if( xQueue == 0 )
   {
       // Failed to create the queue.
   }

// ...

   // Send a pointer to a struct AMessage object. Don't block if the
   // queue is already full.
   pxMessage = & xMessage;
   xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );

// ... Rest of task code.
}

// Task to peek the data from the queue.
void vADifferentTask( void *pvParameters )
{
struct AMessage *pxRxedMessage;

   if( xQueue != 0 )
   {
       // Peek a message on the created queue. Block for 10 ticks if a
       // message is not immediately available.
       if( xQueuePeek( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
       {
           // pcRxedMessage now points to the struct AMessage variable posted
           // by vATask, but the item still remains on the queue.
       }
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement
*/
#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE )

/**
* queue. h
* <pre>
BaseType_t xQueuePeekFromISR(
 QueueHandle_t xQueue,
 void *pvBuffer,
 );</pre>
*
* A version of xQueuePeek() that can be called from an interrupt service
* routine (ISR).
*
* Receive an item from a queue without removing the item from the queue.
* The item is received by copy so a buffer of adequate size must be
* provided. The number of bytes copied into the buffer was defined when
* the queue was created.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to xQueueReceive().
*
* @param xQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* \defgroup xQueuePeekFromISR xQueuePeekFromISR
* \ingroup QueueManagement
*/
BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>
BaseType_t xQueueReceive(
 QueueHandle_t xQueue,
 void *pvBuffer,
 TickType_t xTicksToWait
 );</pre>
*
* This is a macro that calls the xQueueGenericReceive() function.
*
* Receive an item from a queue. The item is received by copy so a buffer of
* adequate size must be provided. The number of bytes copied into the buffer
* was defined when the queue was created.
*
* Successfully received items are removed from the queue.
*
* This function must not be used in an interrupt service routine. See
* xQueueReceiveFromISR for an alternative that can.
*
* @param xQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for an item to receive should the queue be empty at the time
* of the call. xQueueReceive() will return immediately if xTicksToWait
* is zero and the queue is empty. The time is defined in tick periods so the
* constant portTICK_PERIOD_MS should be used to convert to real time if this is
* required.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

QueueHandle_t xQueue;

// Task to create a queue and post a value.
void vATask( void *pvParameters )
{
struct AMessage *pxMessage;

// ...

   // Send a pointer to a struct AMessage object. Don't block if the
   // queue is already full.
   pxMessage = & xMessage;
   xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );

// ... Rest of task code.
}

// Task to receive from the queue.
void vADifferentTask( void *pvParameters )
{
struct AMessage *pxRxedMessage;

   if( xQueue != 0 )
   {
       // Receive a message on the created queue. Block for 10 ticks if a
       // message is not immediately available.
       if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
       {
           // pcRxedMessage now points to the struct AMessage variable posted
           // by vATask.
       }
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement
*/
#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE )

/**
* queue. h
* <pre>
BaseType_t xQueueGenericReceive(
 QueueHandle_t xQueue,
 void *pvBuffer,
 TickType_t xTicksToWait
 BaseType_t xJustPeek
 );</pre>
*
* It is preferred that the macro xQueueReceive() be used rather than calling
* this function directly.
*
* Receive an item from a queue. The item is received by copy so a buffer of
* adequate size must be provided. The number of bytes copied into the buffer
* was defined when the queue was created.
*
* This function must not be used in an interrupt service routine. See
* xQueueReceiveFromISR for an alternative that can.
*
* @param xQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @param xTicksToWait The maximum amount of time the task should block
* waiting for an item to receive should the queue be empty at the time
* of the call. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is required.
* xQueueGenericReceive() will return immediately if the queue is empty and
* xTicksToWait is 0.
*
* @param xJustPeek When set to true, the item received from the queue is not
* actually removed from the queue - meaning a subsequent call to
* xQueueReceive() will return the same item. When set to false, the item
* being received from the queue is also removed from the queue.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* Example usage:
<pre>
struct AMessage
{
 char ucMessageID;
 char ucData[ 20 ];
} xMessage;

QueueHandle_t xQueue;

// Task to create a queue and post a value.
void vATask( void *pvParameters )
{
struct AMessage *pxMessage;

// ...

   // Send a pointer to a struct AMessage object. Don't block if the
   // queue is already full.
   pxMessage = & xMessage;
   xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );

// ... Rest of task code.
}

// Task to receive from the queue.
void vADifferentTask( void *pvParameters )
{
struct AMessage *pxRxedMessage;

   if( xQueue != 0 )
   {
       // Receive a message on the created queue. Block for 10 ticks if a
       // message is not immediately available.
       if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
       {
           // pcRxedMessage now points to the struct AMessage variable posted
           // by vATask.
       }
   }

// ... Rest of task code.
}
</pre>
* \defgroup xQueueReceive xQueueReceive
* \ingroup QueueManagement
*/
BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeek ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );</pre>
*
* Return the number of messages stored in a queue.
*
* @param xQueue A handle to the queue being queried.
*
* @return The number of messages available in the queue.
*
* \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
* \ingroup QueueManagement
*/
UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );</pre>
*
* Return the number of free spaces available in a queue. This is equal to the
* number of items that can be sent to the queue before the queue becomes full
* if no items are removed.
*
* @param xQueue A handle to the queue being queried.
*
* @return The number of spaces available in the queue.
*
* \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
* \ingroup QueueManagement
*/
UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>void vQueueDelete( QueueHandle_t xQueue );</pre>
*
* Delete a queue - freeing all the memory allocated for storing of items
* placed on the queue.
*
* @param xQueue A handle to the queue to be deleted.
*
* \defgroup vQueueDelete vQueueDelete
* \ingroup QueueManagement
*/
void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>
BaseType_t xQueueSendToFrontFromISR(
 QueueHandle_t xQueue,
 const void *pvItemToQueue,
 BaseType_t *pxHigherPriorityTaskWoken
 );
</pre>
*
* This is a macro that calls xQueueGenericSendFromISR().
*
* Post an item to the front of a queue. It is safe to use this macro from
* within an interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return pdTRUE if the data was successfully sent to the queue, otherwise
* errQUEUE_FULL.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
char cIn;
BaseType_t xHigherPrioritTaskWoken;

// We have not woken a task at the start of the ISR.
xHigherPriorityTaskWoken = pdFALSE;

   // Loop until the buffer is empty.
   do
   {
       // Obtain a byte from the buffer.
       cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );

// Post the byte.
xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );

} while( portINPUT_BYTE( BUFFER_COUNT ) );

// Now the buffer is empty we can switch context if necessary.
 if( xHigherPriorityTaskWoken )
 {
 taskYIELD ();
 }
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )

/**
* queue. h
* <pre>
BaseType_t xQueueSendToBackFromISR(
 QueueHandle_t xQueue,
 const void *pvItemToQueue,
 BaseType_t *pxHigherPriorityTaskWoken
 );
</pre>
*
* This is a macro that calls xQueueGenericSendFromISR().
*
* Post an item to the back of a queue. It is safe to use this macro from
* within an interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return pdTRUE if the data was successfully sent to the queue, otherwise
* errQUEUE_FULL.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
char cIn;
BaseType_t xHigherPriorityTaskWoken;

// We have not woken a task at the start of the ISR.
xHigherPriorityTaskWoken = pdFALSE;

   // Loop until the buffer is empty.
   do
   {
       // Obtain a byte from the buffer.
       cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );

// Post the byte.
xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );

} while( portINPUT_BYTE( BUFFER_COUNT ) );

// Now the buffer is empty we can switch context if necessary.
 if( xHigherPriorityTaskWoken )
 {
 taskYIELD ();
 }
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )

/**
* queue. h
* <pre>
BaseType_t xQueueOverwriteFromISR(
 QueueHandle_t xQueue,
 const void * pvItemToQueue,
 BaseType_t *pxHigherPriorityTaskWoken
 );
* </pre>
*
* A version of xQueueOverwrite() that can be used in an interrupt service
* routine (ISR).
*
* Only for use with queues that can hold a single item - so the queue is either
* empty or full.
*
* Post an item on a queue. If the queue is already full then overwrite the
* value held in the queue. The item is queued by copy, not by reference.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return xQueueOverwriteFromISR() is a macro that calls
* xQueueGenericSendFromISR(), and therefore has the same return values as
* xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be
* returned because xQueueOverwriteFromISR() will write to the queue even when
* the queue is already full.
*
* Example usage:
<pre>

QueueHandle_t xQueue;

void vFunction( void *pvParameters )
{
    // Create a queue to hold one uint32_t value. It is strongly
   // recommended *not* to use xQueueOverwriteFromISR() on queues that can
   // contain more than one value, and doing so will trigger an assertion
   // if configASSERT() is defined.
   xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
}

void vAnInterruptHandler( void )
{
// xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
uint32_t ulVarToSend, ulValReceived;

   // Write the value 10 to the queue using xQueueOverwriteFromISR().
   ulVarToSend = 10;
   xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );

   // The queue is full, but calling xQueueOverwriteFromISR() again will still
   // pass because the value held in the queue will be overwritten with the
   // new value.
   ulVarToSend = 100;
   xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );

// Reading from the queue will now return 100.

// ...

if( xHigherPrioritytaskWoken == pdTRUE )
 {
 // Writing to the queue caused a task to unblock and the unblocked task
 // has a priority higher than or equal to the priority of the currently
 // executing task (the task this interrupt interrupted). Perform a context
 // switch so this interrupt returns directly to the unblocked task.
 portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
 }
}
</pre>
* \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
* \ingroup QueueManagement
*/
#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )

/**
* queue. h
* <pre>
BaseType_t xQueueSendFromISR(
 QueueHandle_t xQueue,
 const void *pvItemToQueue,
 BaseType_t *pxHigherPriorityTaskWoken
 );
</pre>
*
* This is a macro that calls xQueueGenericSendFromISR(). It is included
* for backward compatibility with versions of FreeRTOS.org that did not
* include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()
* macros.
*
* Post an item to the back of a queue. It is safe to use this function from
* within an interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xQueueSendFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return pdTRUE if the data was successfully sent to the queue, otherwise
* errQUEUE_FULL.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
char cIn;
BaseType_t xHigherPriorityTaskWoken;

// We have not woken a task at the start of the ISR.
xHigherPriorityTaskWoken = pdFALSE;

   // Loop until the buffer is empty.
   do
   {
       // Obtain a byte from the buffer.
       cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );

// Post the byte.
xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );

} while( portINPUT_BYTE( BUFFER_COUNT ) );

// Now the buffer is empty we can switch context if necessary.
 if( xHigherPriorityTaskWoken )
 {
 // Actual macro used here is port specific.
 portYIELD_FROM_ISR ();
 }
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )

/**
* queue. h
* <pre>
BaseType_t xQueueGenericSendFromISR(
 QueueHandle_t xQueue,
 const void *pvItemToQueue,
 BaseType_t *pxHigherPriorityTaskWoken,
 BaseType_t xCopyPosition
 );
</pre>
*
* It is preferred that the macros xQueueSendFromISR(),
* xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
* of calling this function directly. xQueueGiveFromISR() is an
* equivalent for use by semaphores that don't actually copy any data.
*
* Post an item on a queue. It is safe to use this function from within an
* interrupt service routine.
*
* Items are queued by copy not reference so it is preferable to only
* queue small items, especially when called from an ISR. In most cases
* it would be preferable to store a pointer to the item being queued.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
* item at the back of the queue, or queueSEND_TO_FRONT to place the item
* at the front of the queue (for high priority messages).
*
* @return pdTRUE if the data was successfully sent to the queue, otherwise
* errQUEUE_FULL.
*
* Example usage for buffered IO (where the ISR can obtain more than one value
* per call):
<pre>
void vBufferISR( void )
{
char cIn;
BaseType_t xHigherPriorityTaskWokenByPost;

// We have not woken a task at the start of the ISR.
xHigherPriorityTaskWokenByPost = pdFALSE;

   // Loop until the buffer is empty.
   do
   {
       // Obtain a byte from the buffer.
       cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );

// Post each byte.
xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );

} while( portINPUT_BYTE( BUFFER_COUNT ) );

// Now the buffer is empty we can switch context if necessary. Note that the
 // name of the yield function required is port specific.
 if( xHigherPriorityTaskWokenByPost )
 {
 taskYIELD_YIELD_FROM_ISR();
 }
}
</pre>
*
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;

/**
* queue. h
* <pre>
BaseType_t xQueueReceiveFromISR(
 QueueHandle_t xQueue,
 void *pvBuffer,
 BaseType_t *pxTaskWoken
 );
* </pre>
*
* Receive an item from a queue. It is safe to use this function from within an
* interrupt service routine.
*
* @param xQueue The handle to the queue from which the item is to be
* received.
*
* @param pvBuffer Pointer to the buffer into which the received item will
* be copied.
*
* @param pxTaskWoken A task may be blocked waiting for space to become
* available on the queue. If xQueueReceiveFromISR causes such a task to
* unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will
* remain unchanged.
*
* @return pdTRUE if an item was successfully received from the queue,
* otherwise pdFALSE.
*
* Example usage:
<pre>

QueueHandle_t xQueue;

// Function to create a queue and post some values.
void vAFunction( void *pvParameters )
{
char cValueToPost;
const TickType_t xTicksToWait = ( TickType_t )0xff;

   // Create a queue capable of containing 10 characters.
   xQueue = xQueueCreate( 10, sizeof( char ) );
   if( xQueue == 0 )
   {
       // Failed to create the queue.
   }

// ...

   // Post some characters that will be used within an ISR. If the queue
   // is full then this task will block for xTicksToWait ticks.
   cValueToPost = 'a';
   xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
   cValueToPost = 'b';
   xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );

// ... keep posting characters ... this task may block when the queue
// becomes full.

cValueToPost = 'c';
xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
}

// ISR that outputs all the characters received on the queue.
void vISR_Routine( void )
{
BaseType_t xTaskWokenByReceive = pdFALSE;
char cRxedChar;

   while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
   {
       // A character was received. Output the character now.
       vOutputCharacter( cRxedChar );

       // If removing the character from the queue woke the task that was
       // posting onto the queue cTaskWokenByReceive will have been set to
       // pdTRUE. No matter how many times this loop iterates only one
       // task will be woken.
   }

if( cTaskWokenByPost != ( char ) pdFALSE;
 {
 taskYIELD ();
 }
}
</pre>
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
* \ingroup QueueManagement
*/
BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;

/*
* Utilities to query queues that are safe to use from an ISR. These utilities
* should be used only from witin an ISR, or within a critical section.
*/
BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;

/*
* The functions defined above are for passing data to and from tasks. The
* functions below are the equivalents for passing data to and from
* co-routines.
*
* These functions are called from the co-routine macro implementation and
* should not be called directly from application code. Instead use the macro
* wrappers defined within croutine.h.
*/
BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken );
BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxTaskWoken );
BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait );
BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait );

/*
* For internal use only. Use xSemaphoreCreateMutex(),
* xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
* these functions directly.
*/
QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
void* xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;

/*
* For internal use only. Use xSemaphoreTakeMutexRecursive() or
* xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
*/
BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
BaseType_t xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) PRIVILEGED_FUNCTION;

/*
* Reset a queue back to its original empty state. The return value is now
* obsolete and is always set to pdPASS.
*/
#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )

/*
* The registry is provided as a means for kernel aware debuggers to
* locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add
* a queue, semaphore or mutex handle to the registry if you want the handle
* to be available to a kernel aware debugger. If you are not using a kernel
* aware debugger then this function can be ignored.
*
* configQUEUE_REGISTRY_SIZE defines the maximum number of handles the
* registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0
* within FreeRTOSConfig.h for the registry to be available. Its value
* does not effect the number of queues, semaphores and mutexes that can be
* created - just the number that the registry can hold.
*
* @param xQueue The handle of the queue being added to the registry. This
* is the handle returned by a call to xQueueCreate(). Semaphore and mutex
* handles can also be passed in here.
*
* @param pcName The name to be associated with the handle. This is the
* name that the kernel aware debugger will display. The queue registry only
* stores a pointer to the string - so the string must be persistent (global or
* preferably in ROM/Flash), not on the stack.
*/
#if( configQUEUE_REGISTRY_SIZE > 0 )
void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
#endif

/*
* The queue registry is provided as a means for kernel aware debuggers to
* locate queues, semaphores and mutexes. Call pcQueueGetName() to look
* up and return the name of a queue in the queue registry from the queue's
* handle.
*
* @param xQueue The handle of the queue the name of which will be returned.
* @return If the queue is in the registry then a pointer to the name of the
* queue is returned. If the queue is not in the registry then NULL is
* returned.
*/
#if( configQUEUE_REGISTRY_SIZE > 0 )
const char *pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
#endif

/*
* Generic version of the function used to creaet a queue using dynamic memory
* allocation. This is called by other functions and macros that create other
* RTOS objects that use the queue structure as their base.
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
#endif

/*
* Generic version of the function used to creaet a queue using dynamic memory
* allocation. This is called by other functions and macros that create other
* RTOS objects that use the queue structure as their base.
*/
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
#endif

/*
* Queue sets provide a mechanism to allow a task to block (pend) on a read
* operation from multiple queues or semaphores simultaneously.
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* A queue set must be explicitly created using a call to xQueueCreateSet()
* before it can be used. Once created, standard FreeRTOS queues and semaphores
* can be added to the set using calls to xQueueAddToSet().
* xQueueSelectFromSet() is then used to determine which, if any, of the queues
* or semaphores contained in the set is in a state where a queue read or
* semaphore take operation would be successful.
*
* Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
* for reasons why queue sets are very rarely needed in practice as there are
* simpler methods of blocking on multiple objects.
*
* Note 2: Blocking on a queue set that contains a mutex will not cause the
* mutex holder to inherit the priority of the blocked task.
*
* Note 3: An additional 4 bytes of RAM is required for each space in a every
* queue added to a queue set. Therefore counting semaphores that have a high
* maximum count value should not be added to a queue set.
*
* Note 4: A receive (in the case of a queue) or take (in the case of a
* semaphore) operation must not be performed on a member of a queue set unless
* a call to xQueueSelectFromSet() has first returned a handle to that set member.
*
* @param uxEventQueueLength Queue sets store events that occur on
* the queues and semaphores contained in the set. uxEventQueueLength specifies
* the maximum number of events that can be queued at once. To be absolutely
* certain that events are not lost uxEventQueueLength should be set to the
* total sum of the length of the queues added to the set, where binary
* semaphores and mutexes have a length of 1, and counting semaphores have a
* length set by their maximum count value. Examples:
* + If a queue set is to hold a queue of length 5, another queue of length 12,
* and a binary semaphore, then uxEventQueueLength should be set to
* (5 + 12 + 1), or 18.
* + If a queue set is to hold three binary semaphores then uxEventQueueLength
* should be set to (1 + 1 + 1 ), or 3.
* + If a queue set is to hold a counting semaphore that has a maximum count of
* 5, and a counting semaphore that has a maximum count of 3, then
* uxEventQueueLength should be set to (5 + 3), or 8.
*
* @return If the queue set is created successfully then a handle to the created
* queue set is returned. Otherwise NULL is returned.
*/
QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;

/*
* Adds a queue or semaphore to a queue set that was previously created by a
* call to xQueueCreateSet().
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* Note 1: A receive (in the case of a queue) or take (in the case of a
* semaphore) operation must not be performed on a member of a queue set unless
* a call to xQueueSelectFromSet() has first returned a handle to that set member.
*
* @param xQueueOrSemaphore The handle of the queue or semaphore being added to
* the queue set (cast to an QueueSetMemberHandle_t type).
*
* @param xQueueSet The handle of the queue set to which the queue or semaphore
* is being added.
*
* @return If the queue or semaphore was successfully added to the queue set
* then pdPASS is returned. If the queue could not be successfully added to the
* queue set because it is already a member of a different queue set then pdFAIL
* is returned.
*/
BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;

/*
* Removes a queue or semaphore from a queue set. A queue or semaphore can only
* be removed from a set if the queue or semaphore is empty.
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* @param xQueueOrSemaphore The handle of the queue or semaphore being removed
* from the queue set (cast to an QueueSetMemberHandle_t type).
*
* @param xQueueSet The handle of the queue set in which the queue or semaphore
* is included.
*
* @return If the queue or semaphore was successfully removed from the queue set
* then pdPASS is returned. If the queue was not in the queue set, or the
* queue (or semaphore) was not empty, then pdFAIL is returned.
*/
BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;

/*
* xQueueSelectFromSet() selects from the members of a queue set a queue or
* semaphore that either contains data (in the case of a queue) or is available
* to take (in the case of a semaphore). xQueueSelectFromSet() effectively
* allows a task to block (pend) on a read operation on all the queues and
* semaphores in a queue set simultaneously.
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
* for reasons why queue sets are very rarely needed in practice as there are
* simpler methods of blocking on multiple objects.
*
* Note 2: Blocking on a queue set that contains a mutex will not cause the
* mutex holder to inherit the priority of the blocked task.
*
* Note 3: A receive (in the case of a queue) or take (in the case of a
* semaphore) operation must not be performed on a member of a queue set unless
* a call to xQueueSelectFromSet() has first returned a handle to that set member.
*
* @param xQueueSet The queue set on which the task will (potentially) block.
*
* @param xTicksToWait The maximum time, in ticks, that the calling task will
* remain in the Blocked state (with other tasks executing) to wait for a member
* of the queue set to be ready for a successful queue read or semaphore take
* operation.
*
* @return xQueueSelectFromSet() will return the handle of a queue (cast to
* a QueueSetMemberHandle_t type) contained in the queue set that contains data,
* or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained
* in the queue set that is available, or NULL if no such queue or semaphore
* exists before before the specified block time expires.
*/
QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;

/*
* A version of xQueueSelectFromSet() that can be used from an ISR.
*/
QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;

/* Not public API functions. */
void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION;
UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;

#ifdef __cplusplus
}
#endif

#endif /* QUEUE_H */

semphr.h /

/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

1 tab == 4 spaces!
*/

#ifndef SEMAPHORE_H
#define SEMAPHORE_H

#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h" must appear in source files before "include semphr.h"
#endif

#include "queue.h"

typedef QueueHandle_t SemaphoreHandle_t;

#define semBINARY_SEMAPHORE_QUEUE_LENGTH   ( ( uint8_t ) 1U )
#define semSEMAPHORE_QUEUE_ITEM_LENGTH       ( ( uint8_t ) 0U )
#define semGIVE_BLOCK_TIME                   ( ( TickType_t ) 0U )

/**
* semphr. h
* <pre>vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore )</pre>
*
* In many usage scenarios it is faster and more memory efficient to use a
* direct to task notification in place of a binary semaphore!
* http://www.freertos.org/RTOS-task-notifications.html
*
* This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
* xSemaphoreCreateBinary() function. Note that binary semaphores created using
* the vSemaphoreCreateBinary() macro are created in a state such that the
* first call to 'take' the semaphore would pass, whereas binary semaphores
* created using xSemaphoreCreateBinary() are created in a state such that the
* the semaphore must first be 'given' before it can be 'taken'.
*
* Macro that implements a semaphore by using the existing queue mechanism.
* The queue length is 1 as this is a binary semaphore. The data size is 0
* as we don't want to actually store any data - we just want to know if the
* queue is empty or full.
*
* This type of semaphore can be used for pure synchronisation between tasks or
* between an interrupt and a task. The semaphore need not be given back once
* obtained, so one task/interrupt can continuously 'give' the semaphore while
* another continuously 'takes' the semaphore. For this reason this type of
* semaphore does not use a priority inheritance mechanism. For an alternative
* that does use priority inheritance see xSemaphoreCreateMutex().
*
* @param xSemaphore Handle to the created semaphore. Should be of type SemaphoreHandle_t.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore = NULL;

void vATask( void * pvParameters )
{
// Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
// This is a macro so pass the variable in directly.
vSemaphoreCreateBinary( xSemaphore );

if( xSemaphore != NULL )
{
// The semaphore was created successfully.
// The semaphore can now be used.
}
}
</pre>
* \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
* \ingroup Semaphores
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 #define vSemaphoreCreateBinary( xSemaphore ) \
 { \
 ( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \
 if( ( xSemaphore ) != NULL ) \
 { \
 ( void ) xSemaphoreGive( ( xSemaphore ) ); \
 } \
 }
#endif

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateBinary( void )</pre>
*
* Creates a new binary semaphore instance, and returns a handle by which the
* new semaphore can be referenced.
*
* In many usage scenarios it is faster and more memory efficient to use a
* direct to task notification in place of a binary semaphore!
* http://www.freertos.org/RTOS-task-notifications.html
*
* Internally, within the FreeRTOS implementation, binary semaphores use a block
* of memory, in which the semaphore structure is stored. If a binary semaphore
* is created using xSemaphoreCreateBinary() then the required memory is
* automatically dynamically allocated inside the xSemaphoreCreateBinary()
* function. (see http://www.freertos.org/a00111.html). If a binary semaphore
* is created using xSemaphoreCreateBinaryStatic() then the application writer
* must provide the memory. xSemaphoreCreateBinaryStatic() therefore allows a
* binary semaphore to be created without using any dynamic memory allocation.
*
* The old vSemaphoreCreateBinary() macro is now deprecated in favour of this
* xSemaphoreCreateBinary() function. Note that binary semaphores created using
* the vSemaphoreCreateBinary() macro are created in a state such that the
* first call to 'take' the semaphore would pass, whereas binary semaphores
* created using xSemaphoreCreateBinary() are created in a state such that the
* the semaphore must first be 'given' before it can be 'taken'.
*
* This type of semaphore can be used for pure synchronisation between tasks or
* between an interrupt and a task. The semaphore need not be given back once
* obtained, so one task/interrupt can continuously 'give' the semaphore while
* another continuously 'takes' the semaphore. For this reason this type of
* semaphore does not use a priority inheritance mechanism. For an alternative
* that does use priority inheritance see xSemaphoreCreateMutex().
*
* @return Handle to the created semaphore, or NULL if the memory required to
* hold the semaphore's data structures could not be allocated.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore = NULL;

void vATask( void * pvParameters )
{
// Semaphore cannot be used before a call to xSemaphoreCreateBinary().
// This is a macro so pass the variable in directly.
xSemaphore = xSemaphoreCreateBinary();

if( xSemaphore != NULL )
{
// The semaphore was created successfully.
// The semaphore can now be used.
}
}
</pre>
* \defgroup xSemaphoreCreateBinary xSemaphoreCreateBinary
* \ingroup Semaphores
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
#endif

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer )</pre>
*
* Creates a new binary semaphore instance, and returns a handle by which the
* new semaphore can be referenced.
*
* NOTE: In many usage scenarios it is faster and more memory efficient to use a
* direct to task notification in place of a binary semaphore!
* http://www.freertos.org/RTOS-task-notifications.html
*
* Internally, within the FreeRTOS implementation, binary semaphores use a block
* of memory, in which the semaphore structure is stored. If a binary semaphore
* is created using xSemaphoreCreateBinary() then the required memory is
* automatically dynamically allocated inside the xSemaphoreCreateBinary()
* function. (see http://www.freertos.org/a00111.html). If a binary semaphore
* is created using xSemaphoreCreateBinaryStatic() then the application writer
* must provide the memory. xSemaphoreCreateBinaryStatic() therefore allows a
* binary semaphore to be created without using any dynamic memory allocation.
*
* This type of semaphore can be used for pure synchronisation between tasks or
* between an interrupt and a task. The semaphore need not be given back once
* obtained, so one task/interrupt can continuously 'give' the semaphore while
* another continuously 'takes' the semaphore. For this reason this type of
* semaphore does not use a priority inheritance mechanism. For an alternative
* that does use priority inheritance see xSemaphoreCreateMutex().
*
* @param pxSemaphoreBuffer Must point to a variable of type StaticSemaphore_t,
* which will then be used to hold the semaphore's data structure, removing the
* need for the memory to be allocated dynamically.
*
* @return If the semaphore is created then a handle to the created semaphore is
* returned. If pxSemaphoreBuffer is NULL then NULL is returned.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore = NULL;
StaticSemaphore_t xSemaphoreBuffer;

void vATask( void * pvParameters )
{
// Semaphore cannot be used before a call to xSemaphoreCreateBinary().
// The semaphore's data structures will be placed in the xSemaphoreBuffer
// variable, the address of which is passed into the function. The
// function's parameter is not NULL, so the function will not attempt any
// dynamic memory allocation, and therefore the function will not return
// return NULL.
xSemaphore = xSemaphoreCreateBinary( &xSemaphoreBuffer );

// Rest of task code goes here.
}
</pre>
* \defgroup xSemaphoreCreateBinaryStatic xSemaphoreCreateBinaryStatic
* \ingroup Semaphores
*/
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
#define xSemaphoreCreateBinaryStatic( pxStaticSemaphore ) xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticSemaphore, queueQUEUE_TYPE_BINARY_SEMAPHORE )
#endif /* configSUPPORT_STATIC_ALLOCATION */

/**
* semphr. h
* <pre>xSemaphoreTake(
* SemaphoreHandle_t xSemaphore,
* TickType_t xBlockTime
* )</pre>
*
* Macro to obtain a semaphore. The semaphore must have previously been
* created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
* xSemaphoreCreateCounting().
*
* @param xSemaphore A handle to the semaphore being taken - obtained when
* the semaphore was created.
*
* @param xBlockTime 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. A block
* time of portMAX_DELAY can be used to block indefinitely (provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
*
* @return pdTRUE if the semaphore was obtained. pdFALSE
* if xBlockTime expired without the semaphore becoming available.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore = NULL;

// A task that creates a semaphore.
void vATask( void * pvParameters )
{
// Create the semaphore to guard a shared resource.
xSemaphore = xSemaphoreCreateBinary();
}

// A task that uses the semaphore.
void vAnotherTask( void * pvParameters )
{
// ... Do other things.

if( xSemaphore != NULL )
{
// See if we can obtain the semaphore. If the semaphore is not available
// wait 10 ticks to see if it becomes free.
if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
{
// We were able to obtain the semaphore and can now access the
// shared resource.

// ...

// We have finished accessing the shared resource. Release the
// semaphore.
xSemaphoreGive( xSemaphore );
}
else
{
// We could not obtain the semaphore and can therefore not access
// the shared resource safely.
}
}
}
</pre>
* \defgroup xSemaphoreTake xSemaphoreTake
* \ingroup Semaphores
*/
#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )

/**
* semphr. h
* xSemaphoreTakeRecursive(
* SemaphoreHandle_t xMutex,
* TickType_t xBlockTime
* )
*
* Macro to recursively obtain, or 'take', a mutex type semaphore.
* The mutex must have previously been created using a call to
* xSemaphoreCreateRecursiveMutex();
*
* configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
* macro to be available.
*
* This macro must not be used on mutexes created using xSemaphoreCreateMutex().
*
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
* doesn't become available again until the owner has called
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
* if a task successfully 'takes' the same mutex 5 times then the mutex will
* not be available to any other task until it has also 'given' the mutex back
* exactly five times.
*
* @param xMutex A handle to the mutex being obtained. This is the
* handle returned by xSemaphoreCreateRecursiveMutex();
*
* @param xBlockTime 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. If
* the task already owns the semaphore then xSemaphoreTakeRecursive() will
* return immediately no matter what the value of xBlockTime.
*
* @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime
* expired without the semaphore becoming available.
*
* Example usage:
<pre>
SemaphoreHandle_t xMutex = NULL;

// A task that creates a mutex.
void vATask( void * pvParameters )
{
// Create the mutex to guard a shared resource.
xMutex = xSemaphoreCreateRecursiveMutex();
}

// A task that uses the mutex.
void vAnotherTask( void * pvParameters )
{
// ... Do other things.

if( xMutex != NULL )
{
// See if we can obtain the mutex. If the mutex is not available
// wait 10 ticks to see if it becomes free.
if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
{
// We were able to obtain the mutex and can now access the
// shared resource.

// ...
// For some reason due to the nature of the code further calls to
           // xSemaphoreTakeRecursive() are made on the same mutex. In real
           // code these would not be just sequential calls as this would make
           // no sense. Instead the calls are likely to be buried inside
           // a more complex call structure.
xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );

// The mutex has now been 'taken' three times, so will not be
           // available to another task until it has also been given back
           // three times. Again it is unlikely that real code would have
           // these calls sequentially, but instead buried in a more complex
           // call structure. This is just for illustrative purposes.
xSemaphoreGiveRecursive( xMutex );
           xSemaphoreGiveRecursive( xMutex );
           xSemaphoreGiveRecursive( xMutex );

// Now the mutex can be taken by other tasks.
}
else
{
// We could not obtain the mutex and can therefore not access
// the shared resource safely.
}
}
}
</pre>
* \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
* \ingroup Semaphores
*/
#if( configUSE_RECURSIVE_MUTEXES == 1 )
#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
#endif

/**
* semphr. h
* <pre>xSemaphoreGive( SemaphoreHandle_t xSemaphore )</pre>
*
* Macro to release a semaphore. The semaphore must have previously been
* created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
* xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().
*
* This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for
* an alternative which can be used from an ISR.
*
* This macro must also not be used on semaphores created using
* xSemaphoreCreateRecursiveMutex().
*
* @param xSemaphore A handle to the semaphore being released. This is the
* handle returned when the semaphore was created.
*
* @return pdTRUE if the semaphore was released. pdFALSE 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.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore = NULL;

void vATask( void * pvParameters )
{
// Create the semaphore to guard a shared resource.
xSemaphore = vSemaphoreCreateBinary();

if( xSemaphore != NULL )
{
if( xSemaphoreGive( xSemaphore ) != pdTRUE )
{
// We would expect this call to fail because we cannot give
// a semaphore without first "taking" it!
}

// Obtain the semaphore - don't block if the semaphore is not
// immediately available.
if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
{
// We now have the semaphore and can access the shared resource.

// ...

// We have finished accessing the shared resource so can free the
// semaphore.
if( xSemaphoreGive( xSemaphore ) != pdTRUE )
{
// We would not expect this call to fail because we must have
// obtained the semaphore to get here.
}
}
}
}
</pre>
* \defgroup xSemaphoreGive xSemaphoreGive
* \ingroup Semaphores
*/
#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )

/**
* semphr. h
* <pre>xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex )</pre>
*
* Macro to recursively release, or 'give', a mutex type semaphore.
* The mutex must have previously been created using a call to
* xSemaphoreCreateRecursiveMutex();
*
* configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
* macro to be available.
*
* This macro must not be used on mutexes created using xSemaphoreCreateMutex().
*
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
* doesn't become available again until the owner has called
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
* if a task successfully 'takes' the same mutex 5 times then the mutex will
* not be available to any other task until it has also 'given' the mutex back
* exactly five times.
*
* @param xMutex A handle to the mutex being released, or 'given'. This is the
* handle returned by xSemaphoreCreateMutex();
*
* @return pdTRUE if the semaphore was given.
*
* Example usage:
<pre>
SemaphoreHandle_t xMutex = NULL;

// A task that creates a mutex.
void vATask( void * pvParameters )
{
// Create the mutex to guard a shared resource.
xMutex = xSemaphoreCreateRecursiveMutex();
}

// A task that uses the mutex.
void vAnotherTask( void * pvParameters )
{
// ... Do other things.

if( xMutex != NULL )
{
// See if we can obtain the mutex. If the mutex is not available
// wait 10 ticks to see if it becomes free.
if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
{
// We were able to obtain the mutex and can now access the
// shared resource.

// The mutex has now been 'taken' three times, so will not be
           // available to another task until it has also been given back
           // three times. Again it is unlikely that real code would have
           // these calls sequentially, it would be more likely that the calls
           // to xSemaphoreGiveRecursive() would be called as a call stack
           // unwound. This is just for demonstrative purposes.
xSemaphoreGiveRecursive( xMutex );
           xSemaphoreGiveRecursive( xMutex );
           xSemaphoreGiveRecursive( xMutex );

// Now the mutex can be taken by other tasks.
}
else
{
// We could not obtain the mutex and can therefore not access
// the shared resource safely.
}
}
}
</pre>
* \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
* \ingroup Semaphores
*/
#if( configUSE_RECURSIVE_MUTEXES == 1 )
#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) )
#endif

/**
* semphr. h
* <pre>
xSemaphoreGiveFromISR(
SemaphoreHandle_t xSemaphore,
BaseType_t *pxHigherPriorityTaskWoken
)</pre>
*
* Macro to release a semaphore. The semaphore must have previously been
* created with a call to xSemaphoreCreateBinary() or xSemaphoreCreateCounting().
*
* Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
* must not be used with this macro.
*
* This macro can be used from an ISR.
*
* @param xSemaphore A handle to the semaphore being released. This is the
* handle returned when the semaphore was created.
*
* @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
*
* Example usage:
<pre>
\#define LONG_TIME 0xffff
\#define TICKS_TO_WAIT 10
SemaphoreHandle_t xSemaphore = NULL;

// Repetitive task.
void vATask( void * pvParameters )
{
for( ;; )
{
// We want this task to run every 10 ticks of a timer. The semaphore
// was created before this task was started.

// Block waiting for the semaphore to become available.
if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
{
// It is time to execute.

// ...

// We have finished our task. Return to the top of the loop where
// we will block on the semaphore until it is time to execute
// again. Note when using the semaphore for synchronisation with an
// ISR in this manner there is no need to 'give' the semaphore back.
}
}
}

// Timer ISR
void vTimerISR( void * pvParameters )
{
static uint8_t ucLocalTickCount = 0;
static BaseType_t xHigherPriorityTaskWoken;

// A timer tick has occurred.

// ... Do other time functions.

// Is it time for vATask () to run?
xHigherPriorityTaskWoken = pdFALSE;
ucLocalTickCount++;
if( ucLocalTickCount >= TICKS_TO_WAIT )
{
// Unblock the task by releasing the semaphore.
xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );

// Reset the count so we release the semaphore again in 10 ticks time.
ucLocalTickCount = 0;
}

if( xHigherPriorityTaskWoken != pdFALSE )
{
// We can force a context switch here. Context switching from an
// ISR uses port specific syntax. Check the demo task for your port
// to find the syntax required.
}
}
</pre>
* \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
* \ingroup Semaphores
*/
#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )

/**
* semphr. h
* <pre>
xSemaphoreTakeFromISR(
SemaphoreHandle_t xSemaphore,
BaseType_t *pxHigherPriorityTaskWoken
)</pre>
*
* Macro to take a semaphore from an ISR. The semaphore must have
* previously been created with a call to xSemaphoreCreateBinary() or
* xSemaphoreCreateCounting().
*
* Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
* must not be used with this macro.
*
* This macro can be used from an ISR, however taking a semaphore from an ISR
* is not a common operation. It is likely to only be useful when taking a
* counting semaphore when an interrupt is obtaining an object from a resource
* pool (when the semaphore count indicates the number of resources available).
*
* @param xSemaphore A handle to the semaphore being taken. This is the
* handle returned when the semaphore was created.
*
* @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task
* to unblock, and the unblocked task has a priority higher than the currently
* running task. If xSemaphoreTakeFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return pdTRUE if the semaphore was successfully taken, otherwise
* pdFALSE
*/
#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateMutex( void )</pre>
*
* Creates a new mutex type semaphore instance, and returns a handle by which
* the new mutex can be referenced.
*
* Internally, within the FreeRTOS implementation, mutex semaphores use a block
* of memory, in which the mutex structure is stored. If a mutex is created
* using xSemaphoreCreateMutex() then the required memory is automatically
* dynamically allocated inside the xSemaphoreCreateMutex() function. (see
* http://www.freertos.org/a00111.html). If a mutex is created using
* xSemaphoreCreateMutexStatic() then the application writer must provided the
* memory. xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
* without using any dynamic memory allocation.
*
* Mutexes created using this function can be accessed using the xSemaphoreTake()
* and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
* xSemaphoreGiveRecursive() macros must not be used.
*
* This type of semaphore uses a priority inheritance mechanism so a task
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
* semaphore it is no longer required.
*
* Mutex type semaphores cannot be used from within interrupt service routines.
*
* See xSemaphoreCreateBinary() for an alternative implementation that can be
* used for pure synchronisation (where one task or interrupt always 'gives' the
* semaphore and another always 'takes' the semaphore) and from within interrupt
* service routines.
*
* @return If the mutex was successfully created then a handle to the created
* semaphore is returned. If there was not enough heap to allocate the mutex
* data structures then NULL is returned.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore;

void vATask( void * pvParameters )
{
// Semaphore cannot be used before a call to xSemaphoreCreateMutex().
// This is a macro so pass the variable in directly.
xSemaphore = xSemaphoreCreateMutex();

if( xSemaphore != NULL )
{
// The semaphore was created successfully.
// The semaphore can now be used.
}
}
</pre>
* \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex
* \ingroup Semaphores
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
#endif

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer )</pre>
*
* Creates a new mutex type semaphore instance, and returns a handle by which
* the new mutex can be referenced.
*
* Internally, within the FreeRTOS implementation, mutex semaphores use a block
* of memory, in which the mutex structure is stored. If a mutex is created
* using xSemaphoreCreateMutex() then the required memory is automatically
* dynamically allocated inside the xSemaphoreCreateMutex() function. (see
* http://www.freertos.org/a00111.html). If a mutex is created using
* xSemaphoreCreateMutexStatic() then the application writer must provided the
* memory. xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
* without using any dynamic memory allocation.
*
* Mutexes created using this function can be accessed using the xSemaphoreTake()
* and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
* xSemaphoreGiveRecursive() macros must not be used.
*
* This type of semaphore uses a priority inheritance mechanism so a task
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
* semaphore it is no longer required.
*
* Mutex type semaphores cannot be used from within interrupt service routines.
*
* See xSemaphoreCreateBinary() for an alternative implementation that can be
* used for pure synchronisation (where one task or interrupt always 'gives' the
* semaphore and another always 'takes' the semaphore) and from within interrupt
* service routines.
*
* @param pxMutexBuffer Must point to a variable of type StaticSemaphore_t,
* which will be used to hold the mutex's data structure, removing the need for
* the memory to be allocated dynamically.
*
* @return If the mutex was successfully created then a handle to the created
* mutex is returned. If pxMutexBuffer was NULL then NULL is returned.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore;
StaticSemaphore_t xMutexBuffer;

void vATask( void * pvParameters )
{
// A mutex cannot be used before it has been created. xMutexBuffer is
// into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
// attempted.
xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );

// As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
// so there is no need to check it.
}
</pre>
* \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic
* \ingroup Semaphores
*/
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
#define xSemaphoreCreateMutexStatic( pxMutexBuffer ) xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) )
#endif /* configSUPPORT_STATIC_ALLOCATION */

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )</pre>
*
* Creates a new recursive mutex type semaphore instance, and returns a handle
* by which the new recursive mutex can be referenced.
*
* Internally, within the FreeRTOS implementation, recursive mutexs use a block
* of memory, in which the mutex structure is stored. If a recursive mutex is
* created using xSemaphoreCreateRecursiveMutex() then the required memory is
* automatically dynamically allocated inside the
* xSemaphoreCreateRecursiveMutex() function. (see
* http://www.freertos.org/a00111.html). If a recursive mutex is created using
* xSemaphoreCreateRecursiveMutexStatic() then the application writer must
* provide the memory that will get used by the mutex.
* xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
* be created without using any dynamic memory allocation.
*
* Mutexes created using this macro can be accessed using the
* xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
* xSemaphoreTake() and xSemaphoreGive() macros must not be used.
*
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
* doesn't become available again until the owner has called
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
* if a task successfully 'takes' the same mutex 5 times then the mutex will
* not be available to any other task until it has also 'given' the mutex back
* exactly five times.
*
* This type of semaphore uses a priority inheritance mechanism so a task
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
* semaphore it is no longer required.
*
* Mutex type semaphores cannot be used from within interrupt service routines.
*
* See xSemaphoreCreateBinary() for an alternative implementation that can be
* used for pure synchronisation (where one task or interrupt always 'gives' the
* semaphore and another always 'takes' the semaphore) and from within interrupt
* service routines.
*
* @return xSemaphore Handle to the created mutex semaphore. Should be of type
* SemaphoreHandle_t.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore;

void vATask( void * pvParameters )
{
// Semaphore cannot be used before a call to xSemaphoreCreateMutex().
// This is a macro so pass the variable in directly.
xSemaphore = xSemaphoreCreateRecursiveMutex();

if( xSemaphore != NULL )
{
// The semaphore was created successfully.
// The semaphore can now be used.
}
}
</pre>
* \defgroup xSemaphoreCreateRecursiveMutex xSemaphoreCreateRecursiveMutex
* \ingroup Semaphores
*/
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
#endif

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic( StaticSemaphore_t *pxMutexBuffer )</pre>
*
* Creates a new recursive mutex type semaphore instance, and returns a handle
* by which the new recursive mutex can be referenced.
*
* Internally, within the FreeRTOS implementation, recursive mutexs use a block
* of memory, in which the mutex structure is stored. If a recursive mutex is
* created using xSemaphoreCreateRecursiveMutex() then the required memory is
* automatically dynamically allocated inside the
* xSemaphoreCreateRecursiveMutex() function. (see
* http://www.freertos.org/a00111.html). If a recursive mutex is created using
* xSemaphoreCreateRecursiveMutexStatic() then the application writer must
* provide the memory that will get used by the mutex.
* xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
* be created without using any dynamic memory allocation.
*
* Mutexes created using this macro can be accessed using the
* xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
* xSemaphoreTake() and xSemaphoreGive() macros must not be used.
*
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
* doesn't become available again until the owner has called
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
* if a task successfully 'takes' the same mutex 5 times then the mutex will
* not be available to any other task until it has also 'given' the mutex back
* exactly five times.
*
* This type of semaphore uses a priority inheritance mechanism so a task
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
* semaphore it is no longer required.
*
* Mutex type semaphores cannot be used from within interrupt service routines.
*
* See xSemaphoreCreateBinary() for an alternative implementation that can be
* used for pure synchronisation (where one task or interrupt always 'gives' the
* semaphore and another always 'takes' the semaphore) and from within interrupt
* service routines.
*
* @param pxMutexBuffer Must point to a variable of type StaticSemaphore_t,
* which will then be used to hold the recursive mutex's data structure,
* removing the need for the memory to be allocated dynamically.
*
* @return If the recursive mutex was successfully created then a handle to the
* created recursive mutex is returned. If pxMutexBuffer was NULL then NULL is
* returned.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore;
StaticSemaphore_t xMutexBuffer;

void vATask( void * pvParameters )
{
// A recursive semaphore cannot be used before it is created. Here a
// recursive mutex is created using xSemaphoreCreateRecursiveMutexStatic().
// The address of xMutexBuffer is passed into the function, and will hold
// the mutexes data structures - so no dynamic memory allocation will be
// attempted.
xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xMutexBuffer );

// As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
// so there is no need to check it.
}
</pre>
* \defgroup xSemaphoreCreateRecursiveMutexStatic xSemaphoreCreateRecursiveMutexStatic
* \ingroup Semaphores
*/
#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
#define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
#endif /* configSUPPORT_STATIC_ALLOCATION */

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount )</pre>
*
* Creates a new counting semaphore instance, and returns a handle by which the
* new counting semaphore can be referenced.
*
* In many usage scenarios it is faster and more memory efficient to use a
* direct to task notification in place of a counting semaphore!
* http://www.freertos.org/RTOS-task-notifications.html
*
* Internally, within the FreeRTOS implementation, counting semaphores use a
* block of memory, in which the counting semaphore structure is stored. If a
* counting semaphore is created using xSemaphoreCreateCounting() then the
* required memory is automatically dynamically allocated inside the
* xSemaphoreCreateCounting() function. (see
* http://www.freertos.org/a00111.html). If a counting semaphore is created
* using xSemaphoreCreateCountingStatic() then the application writer can
* instead optionally provide the memory that will get used by the counting
* semaphore. xSemaphoreCreateCountingStatic() therefore allows a counting
* semaphore to be created without using any dynamic memory allocation.
*
* Counting semaphores are typically used for two things:
*
* 1) Counting events.
*
* 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.
*
* 2) Resource management.
*
* 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.
*
* @param uxMaxCount The maximum count value that can be reached. When the
* semaphore reaches this value it can no longer be 'given'.
*
* @param uxInitialCount The count value assigned to the semaphore when it is
* created.
*
* @return Handle to the created semaphore. Null if the semaphore could not be
* created.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore;

void vATask( void * pvParameters )
{
SemaphoreHandle_t xSemaphore = NULL;

// Semaphore cannot be used before a call to xSemaphoreCreateCounting().
// The max value to which the semaphore can count should be 10, and the
// initial value assigned to the count should be 0.
xSemaphore = xSemaphoreCreateCounting( 10, 0 );

if( xSemaphore != NULL )
{
// The semaphore was created successfully.
// The semaphore can now be used.
}
}
</pre>
* \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
* \ingroup Semaphores
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
#endif

/**
* semphr. h
* <pre>SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer )</pre>
*
* Creates a new counting semaphore instance, and returns a handle by which the
* new counting semaphore can be referenced.
*
* In many usage scenarios it is faster and more memory efficient to use a
* direct to task notification in place of a counting semaphore!
* http://www.freertos.org/RTOS-task-notifications.html
*
* Internally, within the FreeRTOS implementation, counting semaphores use a
* block of memory, in which the counting semaphore structure is stored. If a
* counting semaphore is created using xSemaphoreCreateCounting() then the
* required memory is automatically dynamically allocated inside the
* xSemaphoreCreateCounting() function. (see
* http://www.freertos.org/a00111.html). If a counting semaphore is created
* using xSemaphoreCreateCountingStatic() then the application writer must
* provide the memory. xSemaphoreCreateCountingStatic() therefore allows a
* counting semaphore to be created without using any dynamic memory allocation.
*
* Counting semaphores are typically used for two things:
*
* 1) Counting events.
*
* 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.
*
* 2) Resource management.
*
* 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.
*
* @param uxMaxCount The maximum count value that can be reached. When the
* semaphore reaches this value it can no longer be 'given'.
*
* @param uxInitialCount The count value assigned to the semaphore when it is
* created.
*
* @param pxSemaphoreBuffer Must point to a variable of type StaticSemaphore_t,
* which will then be used to hold the semaphore's data structure, removing the
* need for the memory to be allocated dynamically.
*
* @return If the counting semaphore was successfully created then a handle to
* the created counting semaphore is returned. If pxSemaphoreBuffer was NULL
* then NULL is returned.
*
* Example usage:
<pre>
SemaphoreHandle_t xSemaphore;
StaticSemaphore_t xSemaphoreBuffer;

void vATask( void * pvParameters )
{
SemaphoreHandle_t xSemaphore = NULL;

// Counting semaphore cannot be used before they have been created. Create
// a counting semaphore using xSemaphoreCreateCountingStatic(). The max
// value to which the semaphore can count is 10, and the initial value
// assigned to the count will be 0. The address of xSemaphoreBuffer is
// passed in and will be used to hold the semaphore structure, so no dynamic
// memory allocation will be used.
xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );

// No memory allocation was attempted so xSemaphore cannot be NULL, so there
// is no need to check its value.
}
</pre>
* \defgroup xSemaphoreCreateCountingStatic xSemaphoreCreateCountingStatic
* \ingroup Semaphores
*/
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
#define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer ) xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) )
#endif /* configSUPPORT_STATIC_ALLOCATION */

/**
* semphr. h
* <pre>void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );</pre>
*
* Delete a semaphore. This function must be used with care. For example,
* do not delete a mutex type semaphore if the mutex is held by a task.
*
* @param xSemaphore A handle to the semaphore to be deleted.
*
* \defgroup vSemaphoreDelete vSemaphoreDelete
* \ingroup Semaphores
*/
#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )

/**
* semphr.h
* <pre>TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );</pre>
*
* If xMutex is indeed a mutex type semaphore, return the current mutex holder.
* If xMutex is not a mutex type semaphore, or the mutex is available (not held
* by a task), return NULL.
*
* Note: This is a good way of determining if the calling task is the mutex
* holder, but not a good way of determining the identity of the mutex holder as
* the holder may change between the function exiting and the returned value
* being tested.
*/
#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )

/**
* semphr.h
* <pre>UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );</pre>
*
* If the semaphore is a counting semaphore then uxSemaphoreGetCount() returns
* its current count value. If the semaphore is a binary semaphore then
* uxSemaphoreGetCount() returns 1 if the semaphore is available, and 0 if the
* semaphore is not available.
*
*/
#define uxSemaphoreGetCount( xSemaphore ) uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) )

#endif /* SEMAPHORE_H */

stack_macros.h /

/*
* FreeRTOS Kernel V10.0.1
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/

#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.
*/

/*-----------------------------------------------------------*/

#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 ) \
 { \
 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 )                                   \
       {                                                                                               \
           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 );                                   \
       }                                                                                                                               \
   }