diff --git a/FreeRTOS/Source/include/FreeRTOS.h b/FreeRTOS/Source/include/FreeRTOS.h
index 71ff1db..1cde3ce 100644
--- a/FreeRTOS/Source/include/FreeRTOS.h
+++ b/FreeRTOS/Source/include/FreeRTOS.h
@@ -826,6 +826,13 @@ extern "C" {
#define configSTACK_DEPTH_TYPE uint16_t
#endif
+#ifndef configMESSAGE_BUFFER_LENGTH_TYPE
+ /* Defaults to size_t for backward compatibility, but can be overridden
+ in FreeRTOSConfig.h if lengths will always be less than the number of bytes
+ in a size_t. */
+ #define configMESSAGE_BUFFER_LENGTH_TYPE size_t
+#endif
+
/* Sanity check the configuration. */
#if( configUSE_TICKLESS_IDLE != 0 )
#if( INCLUDE_vTaskSuspend != 1 )
@@ -1019,7 +1026,7 @@ typedef struct xSTATIC_TCB
uint32_t ulDummy18;
uint8_t ucDummy19;
#endif
- #if( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )
+ #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
uint8_t uxDummy20;
#endif
diff --git a/FreeRTOS/Source/include/message_buffer.h b/FreeRTOS/Source/include/message_buffer.h
index 91e34fa..396cffd 100644
--- a/FreeRTOS/Source/include/message_buffer.h
+++ b/FreeRTOS/Source/include/message_buffer.h
@@ -693,6 +693,25 @@ size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
*/
#define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer )
+/**
+ * message_buffer.h
+
+ size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
+
+ * Returns the length (in bytes) of the next message in a message buffer.
+ * Useful if xMessageBufferReceive() returned 0 because the size of the buffer
+ * passed into xMessageBufferReceive() was too small to hold the next message.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return The length (in bytes) of the next message in the message buffer, or 0
+ * if the message buffer is empty.
+ *
+ * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION;
+
/**
* message_buffer.h
*
diff --git a/FreeRTOS/Source/include/mpu_prototypes.h b/FreeRTOS/Source/include/mpu_prototypes.h
index e2c89ab..118988b 100644
--- a/FreeRTOS/Source/include/mpu_prototypes.h
+++ b/FreeRTOS/Source/include/mpu_prototypes.h
@@ -138,6 +138,7 @@ UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup );
size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t xDataLengthBytes, TickType_t xTicksToWait );
size_t MPU_xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t xDataLengthBytes, BaseType_t * const pxHigherPriorityTaskWoken );
size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t xBufferLengthBytes, TickType_t xTicksToWait );
+size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer );
size_t MPU_xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t xBufferLengthBytes, BaseType_t * const pxHigherPriorityTaskWoken );
void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
diff --git a/FreeRTOS/Source/include/mpu_wrappers.h b/FreeRTOS/Source/include/mpu_wrappers.h
index eb326e7..f7c97c3 100644
--- a/FreeRTOS/Source/include/mpu_wrappers.h
+++ b/FreeRTOS/Source/include/mpu_wrappers.h
@@ -142,6 +142,7 @@ only for ports that are using the MPU. */
#define xStreamBufferSend MPU_xStreamBufferSend
#define xStreamBufferSendFromISR MPU_xStreamBufferSendFromISR
#define xStreamBufferReceive MPU_xStreamBufferReceive
+ #define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes
#define xStreamBufferReceiveFromISR MPU_xStreamBufferReceiveFromISR
#define vStreamBufferDelete MPU_vStreamBufferDelete
#define xStreamBufferIsFull MPU_xStreamBufferIsFull
diff --git a/FreeRTOS/Source/include/queue.h b/FreeRTOS/Source/include/queue.h
index a23fa1e..abfb7ae 100644
--- a/FreeRTOS/Source/include/queue.h
+++ b/FreeRTOS/Source/include/queue.h
@@ -233,7 +233,7 @@ typedef void * QueueSetMemberHandle_t;
/**
* queue. h
*
- BaseType_t xQueueSendToToFront(
+ BaseType_t xQueueSendToFront(
QueueHandle_t xQueue,
const void *pvItemToQueue,
TickType_t xTicksToWait
diff --git a/FreeRTOS/Source/include/stream_buffer.h b/FreeRTOS/Source/include/stream_buffer.h
index 5418e05..8f91968 100644
--- a/FreeRTOS/Source/include/stream_buffer.h
+++ b/FreeRTOS/Source/include/stream_buffer.h
@@ -839,6 +839,8 @@ StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
+size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
#if( configUSE_TRACE_FACILITY == 1 )
void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
diff --git a/FreeRTOS/Source/include/task.h b/FreeRTOS/Source/include/task.h
index d0ee068..b559a4e 100644
--- a/FreeRTOS/Source/include/task.h
+++ b/FreeRTOS/Source/include/task.h
@@ -135,7 +135,7 @@ typedef struct xTASK_STATUS
UBaseType_t uxBasePriority; /* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex. Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
uint32_t ulRunTimeCounter; /* The total run time allocated to the task so far, as defined by the run time stats clock. See http://www.freertos.org/rtos-run-time-stats.html. Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
StackType_t *pxStackBase; /* Points to the lowest address of the task's stack area. */
- uint16_t usStackHighWaterMark; /* The minimum amount of stack space that has remained for the task since the task was created. The closer this value is to zero the closer the task has come to overflowing its stack. */
+ configSTACK_DEPTH_TYPE usStackHighWaterMark; /* The minimum amount of stack space that has remained for the task since the task was created. The closer this value is to zero the closer the task has come to overflowing its stack. */
} TaskStatus_t;
/* Possible return values for eTaskConfirmSleepModeStatus(). */
diff --git a/FreeRTOS/Source/list.c b/FreeRTOS/Source/list.c
index 758523a..1412776 100644
--- a/FreeRTOS/Source/list.c
+++ b/FreeRTOS/Source/list.c
@@ -114,7 +114,7 @@ const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
/* Insert the new list item into the list, sorted in xItemValue order.
If the list already contains a list item with the same item value then the
- new list item should be placed after it. This ensures that TCB's which are
+ new list item should be placed after it. This ensures that TCBs which are
stored in ready lists (all of which have the same xItemValue value) get a
share of the CPU. However, if the xItemValue is the same as the back marker
the iteration loop below will not end. Therefore the value is checked
diff --git a/FreeRTOS/Source/queue.c b/FreeRTOS/Source/queue.c
index c37d285..829faf2 100644
--- a/FreeRTOS/Source/queue.c
+++ b/FreeRTOS/Source/queue.c
@@ -301,7 +301,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
{
- Queue_t *pxNewQueue;
+ Queue_t *pxNewQueue = NULL;
configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
@@ -345,6 +345,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
else
{
traceQUEUE_CREATE_FAILED( ucQueueType );
+ mtCOVERAGE_TEST_MARKER();
}
return pxNewQueue;
@@ -397,6 +398,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
else
{
traceQUEUE_CREATE_FAILED( ucQueueType );
+ mtCOVERAGE_TEST_MARKER();
}
return pxNewQueue;
@@ -752,13 +754,23 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
{
traceQUEUE_SEND( pxQueue );
- xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
#if ( configUSE_QUEUE_SETS == 1 )
{
+ UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
+
+ xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+
if( pxQueue->pxQueueSetContainer != NULL )
{
- if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
+ if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
+ {
+ /* Do not notify the queue set as an existing item
+ was overwritten in the queue so the number of items
+ in the queue has not changed. */
+ mtCOVERAGE_TEST_MARKER();
+ }
+ else if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
{
/* The queue is a member of a queue set, and posting
to the queue set caused a higher priority task to
@@ -805,6 +817,8 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
}
#else /* configUSE_QUEUE_SETS */
{
+ xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+
/* If there was a task waiting for data to arrive on the
queue then unblock it now. */
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
diff --git a/FreeRTOS/Source/stream_buffer.c b/FreeRTOS/Source/stream_buffer.c
index c60045f..73b7c64 100644
--- a/FreeRTOS/Source/stream_buffer.c
+++ b/FreeRTOS/Source/stream_buffer.c
@@ -129,7 +129,7 @@ that uses task notifications. */
/*lint -restore (9026) */
/* The number of bytes used to hold the length of a message in the buffer. */
-#define sbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( size_t ) )
+#define sbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) )
/* Bits stored in the ucFlags field of the stream buffer. */
#define sbFLAGS_IS_MESSAGE_BUFFER ( ( uint8_t ) 1 ) /* Set if the stream buffer was created as a message buffer, in which case it holds discrete messages rather than a stream. */
@@ -504,6 +504,9 @@ TimeOut_t xTimeOut;
if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
{
xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
+
+ /* Overflow? */
+ configASSERT( xRequiredSpace > xDataLengthBytes );
}
else
{
@@ -540,7 +543,7 @@ TimeOut_t xTimeOut;
taskEXIT_CRITICAL();
traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer );
- ( void ) xTaskNotifyWait( ( uint32_t ) 0, UINT32_MAX, NULL, xTicksToWait );
+ ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
pxStreamBuffer->xTaskWaitingToSend = NULL;
} while( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE );
@@ -746,7 +749,7 @@ size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
{
/* Wait for data to be available. */
traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer );
- ( void ) xTaskNotifyWait( ( uint32_t ) 0, UINT32_MAX, NULL, xTicksToWait );
+ ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
pxStreamBuffer->xTaskWaitingToReceive = NULL;
/* Recheck the data available after blocking. */
@@ -792,6 +795,50 @@ size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
}
/*-----------------------------------------------------------*/
+size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer )
+{
+StreamBuffer_t * const pxStreamBuffer = ( StreamBuffer_t * ) xStreamBuffer; /*lint !e9087 !e9079 Safe cast as StreamBufferHandle_t is opaque Streambuffer_t. */
+size_t xReturn, xBytesAvailable, xOriginalTail;
+configMESSAGE_BUFFER_LENGTH_TYPE xTempReturn;
+
+ configASSERT( pxStreamBuffer );
+
+ /* Ensure the stream buffer is being used as a message buffer. */
+ if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+ {
+ xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
+ if( xBytesAvailable > sbBYTES_TO_STORE_MESSAGE_LENGTH )
+ {
+ /* The number of bytes available is greater than the number of bytes
+ required to hold the length of the next message, so another message
+ is available. Return its length without removing the length bytes
+ from the buffer. A copy of the tail is stored so the buffer can be
+ returned to its prior state as the message is not actually being
+ removed from the buffer. */
+ xOriginalTail = pxStreamBuffer->xTail;
+ ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempReturn, sbBYTES_TO_STORE_MESSAGE_LENGTH, xBytesAvailable );
+ xReturn = ( size_t ) xTempReturn;
+ pxStreamBuffer->xTail = xOriginalTail;
+ }
+ else
+ {
+ /* The minimum amount of bytes in a message buffer is
+ ( sbBYTES_TO_STORE_MESSAGE_LENGTH + 1 ), so if xBytesAvailable is
+ less than sbBYTES_TO_STORE_MESSAGE_LENGTH the only other valid
+ value is 0. */
+ configASSERT( xBytesAvailable == 0 );
+ xReturn = 0;
+ }
+ }
+ else
+ {
+ xReturn = 0;
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
void *pvRxData,
size_t xBufferLengthBytes,
@@ -856,6 +903,7 @@ static size_t prvReadMessageFromBuffer( StreamBuffer_t *pxStreamBuffer,
size_t xBytesToStoreMessageLength )
{
size_t xOriginalTail, xReceivedLength, xNextMessageLength;
+configMESSAGE_BUFFER_LENGTH_TYPE xTempNextMessageLength;
if( xBytesToStoreMessageLength != ( size_t ) 0 )
{
@@ -864,7 +912,8 @@ size_t xOriginalTail, xReceivedLength, xNextMessageLength;
returned to its prior state if the length of the message is too
large for the provided buffer. */
xOriginalTail = pxStreamBuffer->xTail;
- ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xNextMessageLength, xBytesToStoreMessageLength, xBytesAvailable );
+ ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempNextMessageLength, xBytesToStoreMessageLength, xBytesAvailable );
+ xNextMessageLength = ( size_t ) xTempNextMessageLength;
/* Reduce the number of bytes available by the number of bytes just
read out. */
@@ -1192,7 +1241,7 @@ static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer )
{
- return ( ( StreamBuffer_t * )xStreamBuffer )->ucFlags | sbFLAGS_IS_MESSAGE_BUFFER;
+ return ( ( StreamBuffer_t * )xStreamBuffer )->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER;
}
#endif /* configUSE_TRACE_FACILITY */
diff --git a/FreeRTOS/Source/tasks.c b/FreeRTOS/Source/tasks.c
index 85f04ec..f25e8b3 100644
--- a/FreeRTOS/Source/tasks.c
+++ b/FreeRTOS/Source/tasks.c
@@ -509,7 +509,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseT
*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
- static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
+ static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
#endif
@@ -846,6 +846,8 @@ UBaseType_t x;
uxPriority &= ~portPRIVILEGE_BIT;
#endif /* portUSING_MPU_WRAPPERS == 1 */
+ configASSERT( pcName );
+
/* Avoid dependency on memset() if it is not required. */
#if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
{
@@ -1982,7 +1984,7 @@ BaseType_t xReturn;
xNextTaskUnblockTime = portMAX_DELAY;
xSchedulerRunning = pdTRUE;
- xTickCount = ( TickType_t ) 0U;
+ xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
/* If configGENERATE_RUN_TIME_STATS is defined then the following
macro must be defined to configure the timer/counter used to generate
@@ -1992,6 +1994,8 @@ BaseType_t xReturn;
FreeRTOSConfig.h file. */
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+ traceTASK_SWITCHED_IN();
+
/* Setting up the timer tick is hardware specific and thus in the
portable interface. */
if( xPortStartScheduler() != pdFALSE )
@@ -2778,7 +2782,9 @@ BaseType_t xSwitchRequired = pdFALSE;
/* Save the hook function in the TCB. A critical section is required as
the value can be accessed from an interrupt. */
taskENTER_CRITICAL();
+ {
xTCB->pxTaskTag = pxHookFunction;
+ }
taskEXIT_CRITICAL();
}
@@ -3474,7 +3480,7 @@ static void prvCheckTasksWaitingTermination( void )
{
TCB_t *pxTCB;
- /* uxDeletedTasksWaitingCleanUp is used to prevent vTaskSuspendAll()
+ /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
being called too often in the idle task. */
while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
{
@@ -3625,7 +3631,7 @@ static void prvCheckTasksWaitingTermination( void )
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
- static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
+ static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
{
uint32_t ulCount = 0U;
@@ -3637,7 +3643,7 @@ static void prvCheckTasksWaitingTermination( void )
ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
- return ( uint16_t ) ulCount;
+ return ( configSTACK_DEPTH_TYPE ) ulCount;
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */