Quality RTOS & Embedded Software

 Real time embedded FreeRTOS RSS feed 
Quick Start Supported MCUs PDF Books Trace Tools Ecosystem

[Co-Routine Specific]

crQUEUE_SEND( CoRoutineHandle_t xHandle, QueueHandle_t xQueue, void *pvItemToQueue, TickType_t xTicksToWait, BaseType_t *pxResult )

crQUEUE_SEND is a macro. The data types are shown in the prototype above for reference only.

The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.

crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas xQueueSend() and xQueueReceive() can only be used from tasks. Note that co-routines can only send data to other co-routines. A co-routine cannot use a queue to send data to a task or vice versa.

crQUEUE_SEND can only be called from the co-routine function itself - not from within a function called by the co-routine function. This is because co-routines do not maintain their own stack.

See the co-routine section of the web documentation for information on passing data between tasks and co-routines and between ISR's and co-routines.

xHandle The handle of the calling co-routine. This is the xHandle parameter of the co-routine function.
xQueue The handle of the queue on which the data will be posted. The handle is obtained as the return value when the queue is created using the xQueueCreate() API function.
pvItemToQueue A pointer to the data being posted onto the queue. The number of bytes of each queued item is specified when the queue is created. This number of bytes is copied from pvItemToQueue into the queue itself.
xTickToDelay The number of ticks that the co-routine should block to wait for space to become available on the queue, should space not be available immediately. The actual amount of time this equates to is defined by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example below).
pxResult The variable pointed to by pxResult will be set to pdPASS if data was successfully posted onto the queue, otherwise it will be set to an error defined within ProjDefs.h.
Example usage:
 // Co-routine function that blocks for a fixed period then posts a number onto
 // a queue.
 static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle,
                                    UBaseType_t uxIndex )
 // Variables in co-routines must be declared static if they must maintain
 // value across a blocking call.
 static BaseType_t xNumberToPost = 0;
 static BaseType_t xResult;

    // Co-routines must begin with a call to crSTART().
    crSTART( xHandle );

    for( ;; )
        // This assumes the queue has already been created.
        crQUEUE_SEND( xHandle,
                      &xResult );

        if( xResult != pdPASS )
            // The message was not posted!

        // Increment the number to be posted onto the queue.

        // Delay for 100 ticks.
        crDELAY( xHandle, 100 );

    // Co-routines must end with a call to crEND().

[ Back to the top ]    [ About FreeRTOS ]    [ Privacy ]    [ Sitemap ]    [ ]

Copyright (C) Amazon Web Services, Inc. or its affiliates. All rights reserved.

Latest News

NXP tweet showing LPC5500 (ARMv8-M Cortex-M33) running FreeRTOS.

Meet Richard Barry and learn about running FreeRTOS on RISC-V at FOSDEM 2019

Version 10.1.1 of the FreeRTOS kernel is available for immediate download. MIT licensed.

View a recording of the "OTA Update Security and Reliability" webinar, presented by TI and AWS.


FreeRTOS and other embedded software careers at AWS.

FreeRTOS Partners

ARM Connected RTOS partner for all ARM microcontroller cores

Espressif ESP32

IAR Partner

Microchip Premier RTOS Partner

RTOS partner of NXP for all NXP ARM microcontrollers


STMicro RTOS partner supporting ARM7, ARM Cortex-M3, ARM Cortex-M4 and ARM Cortex-M0

Texas Instruments MCU Developer Network RTOS partner for ARM and MSP430 microcontrollers

OpenRTOS and SafeRTOS

Xilinx Microblaze and Zynq partner