FreeRTOS之消息队列

消息队列：任务之间通信的时候用的

任务能从队列中读取消息，这些消息可以是其他任务写进来的，如果这些消息为空时，可以设置阻塞时间来等消息的到来再读走，还可以当超过指定时间没有读到消息的时候把任务从阻塞态转为就绪态。

给出FreeRTOS的消息队列的源代码和使用代码，来分析分析

首先使用他

#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
	#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) )
#endif
#define  QUEUE_LEN    4   /* 队列的长度，最大可包含多少个消息 */
#define  QUEUE_SIZE   4   /* 队列中每个消息大小（字节） */

 /* 创建Test_Queue */
 Test_Queue = xQueueCreate((UBaseType_t ) QUEUE_LEN,/* 消息队列的长度 */
                            (UBaseType_t ) QUEUE_SIZE);/* 消息的大小 */

消息队列源代码

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

#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )

	QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
	{
	Queue_t *pxNewQueue;
	size_t xQueueSizeInBytes;
	uint8_t *pucQueueStorage;

		configASSERT( uxQueueLength > ( UBaseType_t ) 0 );

		if( uxItemSize == ( UBaseType_t ) 0 )
		{
			/* There is not going to be a queue storage area. */
			xQueueSizeInBytes = ( size_t ) 0;
		}
		else
		{
			/* Allocate enough space to hold the maximum number of items that
			can be in the queue at any time. */
			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
		}

		pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );

		if( pxNewQueue != NULL )
		{
			/* Jump past the queue structure to find the location of the queue
			storage area. */
			pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );

			#if( configSUPPORT_STATIC_ALLOCATION == 1 )
			{
				/* Queues can be created either statically or dynamically, so
				note this task was created dynamically in case it is later
				deleted. */
				pxNewQueue->ucStaticallyAllocated = pdFALSE;
			}
			#endif /* configSUPPORT_STATIC_ALLOCATION */

			prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
		}

		return pxNewQueue;
	}

#endif /* configSUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/

由代码可以看出来是动态分配消息队列