/* * FreeRTOS Kernel V10.4.3 * Copyright (C) 2020 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. * * https://www.FreeRTOS.org * https://github.com/FreeRTOS * */ #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 * 
 * vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore );
 *
* * In many usage scenarios it is faster and more memory efficient to use a * direct to task notification in place of a binary semaphore! * https://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: * 
 * 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.
 *  }
 * }
 *
* \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 * 
 * SemaphoreHandle_t xSemaphoreCreateBinary( void );
 *
* * 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! * https://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 https://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: * 
 * 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.
 *  }
 * }
 *
* \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 * 
 * SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer );
 *
* * 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! * https://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 https://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: * 
 * 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.
 * }
 *
* \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 * 
 * xSemaphoreTake(
 *                   SemaphoreHandle_t xSemaphore,
 *                   TickType_t xBlockTime
 *               );
 *
* * 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: * 
 * 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.
 *      }
 *  }
 * }
 *
* \defgroup xSemaphoreTake xSemaphoreTake * \ingroup Semaphores */ #define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) ) /** * 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: * 
 * 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.
 *      }
 *  }
 * }
 *
* \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive * \ingroup Semaphores */ #if ( configUSE_RECURSIVE_MUTEXES == 1 ) #define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) ) #endif /** * semphr. h * 
 * xSemaphoreGive( SemaphoreHandle_t xSemaphore );
 *
* * 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: * 
 * 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.
 *          }
 *      }
 *  }
 * }
 *
* \defgroup xSemaphoreGive xSemaphoreGive * \ingroup Semaphores */ #define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) /** * semphr. h * 
 * xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex );
 *
* * 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: * 
 * 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.
 *
 *          // ...
 *          // 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, 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.
 *      }
 *  }
 * }
 *
* \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive * \ingroup Semaphores */ #if ( configUSE_RECURSIVE_MUTEXES == 1 ) #define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) ) #endif /** * semphr. h * 
 * xSemaphoreGiveFromISR(
 *                        SemaphoreHandle_t xSemaphore,
 *                        BaseType_t *pxHigherPriorityTaskWoken
 *                    );
 *
* * 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: * 
 \#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.
 *  }
 * }
 *
* \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR * \ingroup Semaphores */ #define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) ) /** * semphr. h * 
 * xSemaphoreTakeFromISR(
 *                        SemaphoreHandle_t xSemaphore,
 *                        BaseType_t *pxHigherPriorityTaskWoken
 *                    );
 *
* * 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 * 
 * SemaphoreHandle_t xSemaphoreCreateMutex( void );
 *
* * 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 * https://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: * 
 * 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.
 *  }
 * }
 *
* \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex * \ingroup Semaphores */ #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) #define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX ) #endif /** * semphr. h * 
 * SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer );
 *
* * 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 * https://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: * 
 * 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.
 * }
 *
* \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic * \ingroup Semaphores */ #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) #define xSemaphoreCreateMutexStatic( pxMutexBuffer ) xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) ) #endif /* configSUPPORT_STATIC_ALLOCATION */ /** * semphr. h * 
 * SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void );
 *
* * 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 * https://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: * 
 * 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.
 *  }
 * }
 *
* \defgroup xSemaphoreCreateRecursiveMutex xSemaphoreCreateRecursiveMutex * \ingroup Semaphores */ #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) ) #define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX ) #endif /** * semphr. h * 
 * SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic( StaticSemaphore_t *pxMutexBuffer );
 *
* * 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 * https://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: * 
 * 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.
 * }
 *
* \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 * 
 * SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount );
 *
* * 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! * https://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 * https://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: * 
 * 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.
 *  }
 * }
 *
* \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting * \ingroup Semaphores */ #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) #define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) ) #endif /** * semphr. h * 
 * SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer );
 *
* * 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! * https://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 * https://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: * 
 * 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.
 * }
 *
* \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 * 
 * void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );
 *
* * 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 * 
 * TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );
 *
* * 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 * 
 * TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );
 *
* * 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. * */ #define xSemaphoreGetMutexHolderFromISR( xSemaphore ) xQueueGetMutexHolderFromISR( ( xSemaphore ) ) /** * semphr.h * 
 * UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );
 *
* * 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 */