diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index dfccccb404b..ce8530e7dcf 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -1484,6 +1484,14 @@
#define traceRETURN_xQueueCreateSet( pxQueue )
#endif
+#ifndef traceENTER_xQueueCreateSetStatic
+ #define traceENTER_xQueueCreateSetStatic( uxEventQueueLength )
+#endif
+
+#ifndef traceRETURN_xQueueCreateSetStatic
+ #define traceRETURN_xQueueCreateSetStatic( pxQueue )
+#endif
+
#ifndef traceENTER_xQueueAddToSet
#define traceENTER_xQueueAddToSet( xQueueOrSemaphore, xQueueSet )
#endif
diff --git a/include/mpu_prototypes.h b/include/mpu_prototypes.h
index 1efd13440b7..9df2a5762c8 100644
--- a/include/mpu_prototypes.h
+++ b/include/mpu_prototypes.h
@@ -269,6 +269,9 @@ uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
+ QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+ uint8_t * pucQueueStorage,
+ StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
@@ -294,6 +297,9 @@ uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
+ QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+ uint8_t * pucQueueStorage,
+ StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
diff --git a/include/mpu_wrappers.h b/include/mpu_wrappers.h
index 4513ca99610..3b4738e962c 100644
--- a/include/mpu_wrappers.h
+++ b/include/mpu_wrappers.h
@@ -150,6 +150,7 @@
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
#define xQueueGenericReset MPU_xQueueGenericReset
#define xQueueCreateSet MPU_xQueueCreateSet
+ #define xQueueCreateSetStatic MPU_xQueueCreateSetStatic
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
diff --git a/include/queue.h b/include/queue.h
index 963904bb38e..56753d30079 100644
--- a/include/queue.h
+++ b/include/queue.h
@@ -1638,12 +1638,12 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
- * A queue set must be explicitly created using a call to xQueueCreateSet()
- * before it can be used. Once created, standard FreeRTOS queues and semaphores
- * can be added to the set using calls to xQueueAddToSet().
- * xQueueSelectFromSet() is then used to determine which, if any, of the queues
- * or semaphores contained in the set is in a state where a queue read or
- * semaphore take operation would be successful.
+ * A queue set must be explicitly created using a call to xQueueCreateSet() or
+ * xQueueCreateSetStatic() before it can be used. Once created, standard
+ * FreeRTOS queues and semaphores can be added to the set using calls to
+ * xQueueAddToSet(). xQueueSelectFromSet() is then used to determine which, if
+ * any, of the queues or semaphores contained in the set is in a state where a
+ * queue read or semaphore take operation would be successful.
*
* Note 1: See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets
* for reasons why queue sets are very rarely needed in practice as there are
@@ -1683,9 +1683,69 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
#endif
+/*
+ * Queue sets provide a mechanism to allow a task to block (pend) on a read
+ * operation from multiple queues or semaphores simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * A queue set must be explicitly created using a call to xQueueCreateSet()
+ * or xQueueCreateSetStatic() before it can be used. Once created, standard
+ * FreeRTOS queues and semaphores can be added to the set using calls to
+ * xQueueAddToSet(). xQueueSelectFromSet() is then used to determine which, if
+ * any, of the queues or semaphores contained in the set is in a state where a
+ * queue read or semaphore take operation would be successful.
+ *
+ * Note 1: See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets
+ * for reasons why queue sets are very rarely needed in practice as there are
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2: Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3: An additional 4 bytes of RAM is required for each space in a every
+ * queue added to a queue set. Therefore counting semaphores that have a high
+ * maximum count value should not be added to a queue set.
+ *
+ * Note 4: A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param uxEventQueueLength Queue sets store events that occur on
+ * the queues and semaphores contained in the set. uxEventQueueLength specifies
+ * the maximum number of events that can be queued at once. To be absolutely
+ * certain that events are not lost uxEventQueueLength should be set to the
+ * total sum of the length of the queues added to the set, where binary
+ * semaphores and mutexes have a length of 1, and counting semaphores have a
+ * length set by their maximum count value. Examples:
+ * + If a queue set is to hold a queue of length 5, another queue of length 12,
+ * and a binary semaphore, then uxEventQueueLength should be set to
+ * (5 + 12 + 1), or 18.
+ * + If a queue set is to hold three binary semaphores then uxEventQueueLength
+ * should be set to (1 + 1 + 1 ), or 3.
+ * + If a queue set is to hold a counting semaphore that has a maximum count of
+ * 5, and a counting semaphore that has a maximum count of 3, then
+ * uxEventQueueLength should be set to (5 + 3), or 8.
+ *
+ * @param pucQueueStorage pucQueueStorage must point to a uint8_t array that is
+ * at least large enough to hold uxEventQueueLength events.
+ *
+ * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which
+ * will be used to hold the queue's data structure.
+ *
+ * @return If the queue set is created successfully then a handle to the created
+ * queue set is returned. If pxQueueBuffer is NULL then NULL is returned.
+ */
+#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+ QueueSetHandle_t xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+ uint8_t * pucQueueStorage,
+ StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+#endif
+
/*
* Adds a queue or semaphore to a queue set that was previously created by a
- * call to xQueueCreateSet().
+ * call to xQueueCreateSet() or xQueueCreateSetStatic().
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
diff --git a/portable/Common/mpu_wrappers.c b/portable/Common/mpu_wrappers.c
index 4c573166578..5bc4181e2d3 100644
--- a/portable/Common/mpu_wrappers.c
+++ b/portable/Common/mpu_wrappers.c
@@ -1524,6 +1524,34 @@
#endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/
+ #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+ QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+ uint8_t * pucQueueStorage,
+ StaticQueue_t * pxStaticQueue ) /* FREERTOS_SYSTEM_CALL */
+ {
+ QueueSetHandle_t xReturn;
+
+ if( portIS_PRIVILEGED() == pdFALSE )
+ {
+ portRAISE_PRIVILEGE();
+ portMEMORY_BARRIER();
+
+ xReturn = xQueueCreateSetStatic( uxEventQueueLength, pucQueueStorage, pxStaticQueue );
+ portMEMORY_BARRIER();
+
+ portRESET_PRIVILEGE();
+ portMEMORY_BARRIER();
+ }
+ else
+ {
+ xReturn = xQueueCreateSetStatic( uxEventQueueLength, pucQueueStorage, pxStaticQueue );
+ }
+
+ return xReturn;
+ }
+ #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
#if ( configUSE_QUEUE_SETS == 1 )
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
TickType_t xBlockTimeTicks ) /* FREERTOS_SYSTEM_CALL */
diff --git a/portable/Common/mpu_wrappers_v2.c b/portable/Common/mpu_wrappers_v2.c
index eb9e6f056db..e92aca0f565 100644
--- a/portable/Common/mpu_wrappers_v2.c
+++ b/portable/Common/mpu_wrappers_v2.c
@@ -3016,6 +3016,39 @@
#endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/
+ #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+ QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+ uint8_t * pucQueueStorage,
+ StaticQueue_t * pxStaticQueue ) /* PRIVILEGED_FUNCTION */
+ {
+ QueueSetHandle_t xInternalQueueSetHandle = NULL;
+ QueueSetHandle_t xExternalQueueSetHandle = NULL;
+ int32_t lIndex;
+
+ lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+ if( lIndex != -1 )
+ {
+ xInternalQueueSetHandle = xQueueCreateSetStatic( uxEventQueueLength, pucQueueStorage, pxStaticQueue );
+
+ if( xInternalQueueSetHandle != NULL )
+ {
+ MPU_StoreQueueSetHandleAtIndex( lIndex, xInternalQueueSetHandle );
+ xExternalQueueSetHandle = ( QueueSetHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+ }
+ else
+ {
+ MPU_SetIndexFreeInKernelObjectPool( lIndex );
+ }
+ }
+
+ return xExternalQueueSetHandle;
+ }
+
+ #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
#if ( configUSE_QUEUE_SETS == 1 )
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
diff --git a/queue.c b/queue.c
index 4759b439ba9..688fb311360 100644
--- a/queue.c
+++ b/queue.c
@@ -3186,7 +3186,27 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
return pxQueue;
}
-#endif /* configUSE_QUEUE_SETS */
+#endif /* #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+ QueueSetHandle_t xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+ uint8_t * pucQueueStorage,
+ StaticQueue_t * pxStaticQueue )
+ {
+ QueueSetHandle_t pxQueue;
+
+ traceENTER_xQueueCreateSetStatic( uxEventQueueLength );
+
+ pxQueue = xQueueGenericCreateStatic( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), pucQueueStorage, pxStaticQueue, queueQUEUE_TYPE_SET );
+
+ traceRETURN_xQueueCreateSetStatic( pxQueue );
+
+ return pxQueue;
+ }
+
+#endif /* #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )