/* * FreeRTOS V202111.00 * Copyright (C) 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 * */ #include "proof/queue.h" #include "proof/queuecontracts.h" BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) /*@requires * [1/2]queuehandle(xQueue, ?N, ?M, ?is_isr) &*& is_isr == true &*& * chars(pvItemToQueue, M, ?x) &*& * integer(pxHigherPriorityTaskWoken, _) &*& * (xCopyPosition == queueSEND_TO_BACK || xCopyPosition == queueSEND_TO_FRONT || (xCopyPosition == queueOVERWRITE && N == 1));@*/ /*@ensures * [1/2]queuehandle(xQueue, N, M, is_isr) &*& * chars(pvItemToQueue, M, x) &*& * integer(pxHigherPriorityTaskWoken, _);@*/ { BaseType_t xReturn; UBaseType_t uxSavedInterruptStatus; #ifdef VERIFAST /*< const pointer declaration */ Queue_t * pxQueue = xQueue; #else Queue_t * const pxQueue = xQueue; configASSERT( pxQueue ); configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); #endif /* RTOS ports that support interrupt nesting have the concept of a maximum * system call (or maximum API call) interrupt priority. Interrupts that are * above the maximum system call priority are kept permanently enabled, even * when the RTOS kernel is in a critical section, but cannot make any calls to * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion * failure if a FreeRTOS API function is called from an interrupt that has been * assigned a priority above the configured maximum system call priority. * Only FreeRTOS functions that end in FromISR can be called from interrupts * that have been assigned a priority at or (logically) below the maximum * system call interrupt priority. FreeRTOS maintains a separate interrupt * safe API to ensure interrupt entry is as fast and as simple as possible. * More information (albeit Cortex-M specific) is provided on the following * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); /* Similar to xQueueGenericSend, except without blocking if there is no room * in the queue. Also don't directly wake a task that was blocked on a queue * read, instead return a flag to say whether a context switch is required or * not (i.e. has a task with a higher priority than us been woken by this * post). */ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); /*@assert queue(pxQueue, ?Storage, N, M, ?W, ?R, ?K, ?is_locked, ?abs);@*/ { if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) { const int8_t cTxLock = pxQueue->cTxLock; const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting; traceQUEUE_SEND_FROM_ISR( pxQueue ); /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a * semaphore or mutex. That means prvCopyDataToQueue() cannot result * in a task disinheriting a priority and prvCopyDataToQueue() can be * called here even though the disinherit function does not check if * the scheduler is suspended before accessing the ready lists. */ #ifdef VERIFAST /*< void cast of unused return value */ /*@close queue(pxQueue, Storage, N, M, W, R, K, is_locked, abs);@*/ prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); #else ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); #endif /*@open queue(pxQueue, _, N, M, _, _, _, _, _);@*/ /* The event list is not altered if the queue is locked. This will * be done when the queue is unlocked later. */ if( cTxLock == queueUNLOCKED ) { /* VeriFast: we do not verify this configuration option */ #if ( configUSE_QUEUE_SETS == 1 ) { if( pxQueue->pxQueueSetContainer != NULL ) { 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 ) != pdFALSE ) { /* The queue is a member of a queue set, and posting * to the queue set caused a higher priority task to * unblock. A context switch is required. */ if( pxHigherPriorityTaskWoken != NULL ) { *pxHigherPriorityTaskWoken = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) { if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) { /* The task waiting has a higher priority so * record that a context switch is required. */ if( pxHigherPriorityTaskWoken != NULL ) { *pxHigherPriorityTaskWoken = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } } #else /* configUSE_QUEUE_SETS */ { if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) { if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) { /* The task waiting has a higher priority so record that a * context switch is required. */ if( pxHigherPriorityTaskWoken != NULL ) { *pxHigherPriorityTaskWoken = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } /* Not used in this path. */ #ifndef VERIFAST /*< void cast of unused var */ ( void ) uxPreviousMessagesWaiting; #endif } #endif /* configUSE_QUEUE_SETS */ } else { /* Increment the lock count so the task that unlocks the queue * knows that data was posted while it was locked. */ configASSERT( cTxLock != queueINT8_MAX ); pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 ); } xReturn = pdPASS; /*@ * if (xCopyPosition == queueSEND_TO_BACK) * { * close queue(pxQueue, Storage, N, M, (W+1)%N, R, (K+1), is_locked, append(abs, singleton(x))); * } * else if (xCopyPosition == queueSEND_TO_FRONT) * { * if (R == 0) * { * close queue(pxQueue, Storage, N, M, W, (N-1), (K+1), is_locked, cons(x, abs)); * } * else * { * close queue(pxQueue, Storage, N, M, W, (R-1), (K+1), is_locked, cons(x, abs)); * } * } else if (xCopyPosition == queueOVERWRITE) * { * close queue(pxQueue, Storage, N, M, W, R, 1, is_locked, singleton(x)); * } * @*/ } else { traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); xReturn = errQUEUE_FULL; /*@close queue(pxQueue, Storage, N, M, W, R, K, is_locked, abs);@*/ } } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); return xReturn; }