Robobo
semphr.h
1 /*
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3  All rights reserved
4 
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8 
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68 */
69 
70 #ifndef SEMAPHORE_H
71 #define SEMAPHORE_H
72 
73 #ifndef INC_FREERTOS_H
74  #error "include FreeRTOS.h" must appear in source files before "include semphr.h"
75 #endif
76 
77 #include "queue.h"
78 
79 typedef QueueHandle_t SemaphoreHandle_t;
80 
81 #define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( uint8_t ) 1U )
82 #define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( uint8_t ) 0U )
83 #define semGIVE_BLOCK_TIME ( ( TickType_t ) 0U )
84 
85 
131 #define vSemaphoreCreateBinary( xSemaphore ) \
132  { \
133  ( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \
134  if( ( xSemaphore ) != NULL ) \
135  { \
136  ( void ) xSemaphoreGive( ( xSemaphore ) ); \
137  } \
138  }
139 
185 #define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
186 
252 #define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
253 
345 #define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
346 
347 
348 /*
349  * xSemaphoreAltTake() is an alternative version of xSemaphoreTake().
350  *
351  * The source code that implements the alternative (Alt) API is much
352  * simpler because it executes everything from within a critical section.
353  * This is the approach taken by many other RTOSes, but FreeRTOS.org has the
354  * preferred fully featured API too. The fully featured API has more
355  * complex code that takes longer to execute, but makes much less use of
356  * critical sections. Therefore the alternative API sacrifices interrupt
357  * responsiveness to gain execution speed, whereas the fully featured API
358  * sacrifices execution speed to ensure better interrupt responsiveness.
359  */
360 #define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
361 
423 #define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
424 
507 #define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) )
508 
509 /*
510  * xSemaphoreAltGive() is an alternative version of xSemaphoreGive().
511  *
512  * The source code that implements the alternative (Alt) API is much
513  * simpler because it executes everything from within a critical section.
514  * This is the approach taken by many other RTOSes, but FreeRTOS.org has the
515  * preferred fully featured API too. The fully featured API has more
516  * complex code that takes longer to execute, but makes much less use of
517  * critical sections. Therefore the alternative API sacrifices interrupt
518  * responsiveness to gain execution speed, whereas the fully featured API
519  * sacrifices execution speed to ensure better interrupt responsiveness.
520  */
521 #define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
522 
612 #define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
613 
646 #define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
647 
693 #define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
694 
695 
748 #define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
749 
811 #define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
812 
825 #define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
826 
840 #define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )
841 
842 #endif /* SEMAPHORE_H */
843 
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