From b2fbccdc9ddd701095912425f8f6f3eaaa47166a Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 29 Aug 2024 21:56:13 +0800
Subject: [PATCH] =?UTF-8?q?fix=20zqueue=E5=9C=A8=E4=B8=AD=E6=96=AD?=
 =?UTF-8?q?=E4=B8=AD=E8=B0=83=E7=94=A8=E5=A4=B1=E8=B4=A5=E7=9A=84BUG?=
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---
 zqueue.hpp | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/zqueue.hpp b/zqueue.hpp
index b6c676d..27a1b02 100644
--- a/zqueue.hpp
+++ b/zqueue.hpp
@@ -1,6 +1,6 @@
 #pragma once
-#include "cmsis_os.h"
 #include "basic/zlog.h"
+#include "cmsis_os.h"
 namespace iflytop {
 template <typename T>
 class ZQueue {
@@ -30,8 +30,14 @@ class ZQueue {
 
  private:
   bool _send(uint8_t *data, int32_t len, int32_t overtime) {
-    BaseType_t xStatus = xQueueSend(xQueue, data, overtime);
-    return xStatus == pdPASS;
+    if (xPortIsInsideInterrupt()) {
+      BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+      BaseType_t xStatus                  = xQueueSendToFrontFromISR(xQueue, data, &xHigherPriorityTaskWoken);
+      return xStatus == pdPASS;
+    } else {
+      BaseType_t xStatus = xQueueSend(xQueue, data, overtime);
+      return xStatus == pdPASS;
+    }
   }
   bool _receive(uint8_t *data, int32_t overtime) {
     BaseType_t xStatus = xQueueReceive(xQueue, data, overtime);