}    pq = (OS_Q *)pevent->OSEventPtr;                  /* Point to queue control block                  */    if (pq->OSQEntries >= pq->OSQSize) {              /* Make sure queue is not full                   */        OS_EXIT_CRITICAL();        return (OS_Q_FULL);    }    if (pq->OSQOut == pq->OSQStart) {                 /* Wrap OUT ptr if we are at the 1st queue entry */        pq->OSQOut = pq->OSQEnd;    }    pq->OSQOut--;    *pq->OSQOut = msg;                                /* Insert message into queue                     */    pq->OSQEntries++;                                 /* Update the nbr of entries in the queue        */    OS_EXIT_CRITICAL();    return (OS_NO_ERR);}#endif/*$PAGE*//***********************************************************************************************************                                        POST MESSAGE TO A QUEUE** Description: This function sends a message to a queue.  This call has been added to reduce code size*              since it can replace both OSQPost() and OSQPostFront().  Also, this function adds the *              capability to broadcast a message to ALL tasks waiting on the message queue.** Arguments  : pevent        is a pointer to the event control block associated with the desired queue**              msg           is a pointer to the message to send.  You MUST NOT send a NULL pointer.**              opt           determines the type of POST performed:*                            OS_POST_OPT_NONE         POST to a single waiting task *                                                     (Identical to OSQPost())*                            OS_POST_OPT_BROADCAST    POST to ALL tasks that are waiting on the queue*                            OS_POST_OPT_FRONT        POST as LIFO (Simulates OSQPostFront())**                            Below is a list of ALL the possible combination of these flags:**                                 1) OS_POST_OPT_NONE*                                    identical to OSQPost()**                                 2) OS_POST_OPT_FRONT  *                                    identical to OSQPostFront()**                                 3) OS_POST_OPT_BROADCAST*                                    identical to OSQPost() but will broadcast 'msg' to ALL waiting tasks**                                 4) OS_POST_OPT_FRONT + OS_POST_OPT_BROADCAST  is identical to*                                    OSQPostFront() except that will broadcast 'msg' to ALL waiting tasks** Returns    : OS_NO_ERR             The call was successful and the message was sent*              OS_Q_FULL             If the queue cannot accept any more messages because it is full.*              OS_ERR_EVENT_TYPE     If you didn't pass a pointer to a queue.*              OS_ERR_PEVENT_NULL    If 'pevent' is a NULL pointer*              OS_ERR_POST_NULL_PTR  If you are attempting to post a NULL pointer** Warning    : Interrupts can be disabled for a long time if you do a 'broadcast'.  In fact, the *              interrupt disable time is proportional to the number of tasks waiting on the queue.**********************************************************************************************************/#if OS_Q_POST_OPT_EN > 0INT8U  OSQPostOpt (OS_EVENT *pevent, void *msg, INT8U opt){#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */    OS_CPU_SR  cpu_sr;#endif        OS_Q      *pq;#if OS_ARG_CHK_EN > 0    if (pevent == (OS_EVENT *)0) {                    /* Validate 'pevent'                             */        return (OS_ERR_PEVENT_NULL);    }    if (msg == (void *)0) {                           /* Make sure we are not posting a NULL pointer   */        return (OS_ERR_POST_NULL_PTR);    }    if (pevent->OSEventType != OS_EVENT_TYPE_Q) {     /* Validate event block type                     */        return (OS_ERR_EVENT_TYPE);    }#endif    OS_ENTER_CRITICAL();    if (pevent->OSEventGrp != 0x00) {                 /* See if any task pending on queue              */        if ((opt & OS_POST_OPT_BROADCAST) != 0x00) {  /* Do we need to post msg to ALL waiting tasks ? */            while (pevent->OSEventGrp != 0x00) {      /* Yes, Post to ALL tasks waiting on queue       */                           OS_EventTaskRdy(pevent, msg, OS_STAT_Q);                }        } else {            OS_EventTaskRdy(pevent, msg, OS_STAT_Q);  /* No,  Post to HPT waiting on queue             */        }        OS_EXIT_CRITICAL();        OS_Sched();                                   /* Find highest priority task ready to run       */        return (OS_NO_ERR);    }    pq = (OS_Q *)pevent->OSEventPtr;                  /* Point to queue control block                  */    if (pq->OSQEntries >= pq->OSQSize) {              /* Make sure queue is not full                   */        OS_EXIT_CRITICAL();        return (OS_Q_FULL);    }    if ((opt & OS_POST_OPT_FRONT) != 0x00) {          /* Do we post to the FRONT of the queue?         */        if (pq->OSQOut == pq->OSQStart) {             /* Yes, Post as LIFO, Wrap OUT pointer if we ... */            pq->OSQOut = pq->OSQEnd;                  /*      ... are at the 1st queue entry           */        }        pq->OSQOut--;        *pq->OSQOut = msg;                            /*      Insert message into queue                */    } else {                                          /* No,  Post as FIFO                             */        *pq->OSQIn++ = msg;                           /*      Insert message into queue                */        if (pq->OSQIn == pq->OSQEnd) {                /*      Wrap IN ptr if we are at end of queue    */            pq->OSQIn = pq->OSQStart;        }    }    pq->OSQEntries++;                                 /* Update the nbr of entries in the queue        */    OS_EXIT_CRITICAL();    return (OS_NO_ERR);}#endif/*$PAGE*//***********************************************************************************************************                                        QUERY A MESSAGE QUEUE** Description: This function obtains information about a message queue.** Arguments  : pevent        is a pointer to the event control block associated with the desired queue**              pdata         is a pointer to a structure that will contain information about the message*                            queue.** Returns    : OS_NO_ERR           The call was successful and the message was sent*              OS_ERR_EVENT_TYPE   If you are attempting to obtain data from a non queue.*              OS_ERR_PEVENT_NULL  If 'pevent' is a NULL pointer**********************************************************************************************************/#if OS_Q_QUERY_EN > 0INT8U  OSQQuery (OS_EVENT *pevent, OS_Q_DATA *pdata){#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */    OS_CPU_SR  cpu_sr;#endif        OS_Q      *pq;    INT8U     *psrc;    INT8U     *pdest;#if OS_ARG_CHK_EN > 0    if (pevent == (OS_EVENT *)0) {                         /* Validate 'pevent'                        */        return (OS_ERR_PEVENT_NULL);    }    if (pevent->OSEventType != OS_EVENT_TYPE_Q) {          /* Validate event block type                */        return (OS_ERR_EVENT_TYPE);    }#endif    OS_ENTER_CRITICAL();    pdata->OSEventGrp = pevent->OSEventGrp;                /* Copy message queue wait list           */    psrc              = &pevent->OSEventTbl[0];    pdest             = &pdata->OSEventTbl[0];#if OS_EVENT_TBL_SIZE > 0    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 1    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 2    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 3    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 4    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 5    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 6    *pdest++          = *psrc++;#endif#if OS_EVENT_TBL_SIZE > 7    *pdest            = *psrc;#endif    pq = (OS_Q *)pevent->OSEventPtr;    if (pq->OSQEntries > 0) {        pdata->OSMsg = pq->OSQOut;                         /* Get next message to return if available  */    } else {        pdata->OSMsg = (void *)0;    }    pdata->OSNMsgs = pq->OSQEntries;    pdata->OSQSize = pq->OSQSize;    OS_EXIT_CRITICAL();    return (OS_NO_ERR);}#endif                                                     /* OS_Q_QUERY_EN                            *//*$PAGE*//***********************************************************************************************************                                      QUEUE MODULE INITIALIZATION** Description : This function is called by uC/OS-II to initialize the message queue module.  Your*               application MUST NOT call this function.** Arguments   :  none** Returns     : none** Note(s)    : This function is INTERNAL to uC/OS-II and your application should not call it.**********************************************************************************************************/void  OS_QInit (void){#if OS_MAX_QS == 1    OSQFreeList         = &OSQTbl[0];            /* Only ONE queue!                                    */    OSQFreeList->OSQPtr = (OS_Q *)0;#endif#if OS_MAX_QS >= 2    INT16U  i;    OS_Q   *pq1;    OS_Q   *pq2;    pq1 = &OSQTbl[0];    pq2 = &OSQTbl[1];    for (i = 0; i < (OS_MAX_QS - 1); i++) {      /* Init. list of free QUEUE control blocks            */        pq1->OSQPtr = pq2;        pq1++;        pq2++;    }    pq1->OSQPtr = (OS_Q *)0;    OSQFreeList = &OSQTbl[0];#endif}#endif                                                     /* OS_Q_EN                                  */