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@ -34,8 +34,8 @@
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#include "list.h"
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/* Used to hide the implementation of the co-routine control block. The
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control block structure however has to be included in the header due to
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/* Used to hide the implementation of the co-routine control block. The
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control block structure however has to be included in the header due to
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the macro implementation of the co-routine functionality. */
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typedef void * xCoRoutineHandle;
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@ -61,14 +61,14 @@ typedef struct corCoRoutineControlBlock
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unsigned portBASE_TYPE uxIndex
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);</pre>
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*
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* Create a new co-routine and add it to the list of co-routines that are
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* Create a new co-routine and add it to the list of co-routines that are
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* ready to run.
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*
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* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
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* functions require special syntax - see the co-routine section of the WEB
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* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
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* functions require special syntax - see the co-routine section of the WEB
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* documentation for more information.
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*
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* @param uxPriority The priority with respect to other co-routines at which
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* @param uxPriority The priority with respect to other co-routines at which
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* the co-routine will run.
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*
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* @param uxIndex Used to distinguish between different co-routines that
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@ -118,13 +118,13 @@ typedef struct corCoRoutineControlBlock
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for( uxIndex = 0; uxIndex < 2; uxIndex++ )
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{
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xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
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}
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}
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}
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</pre>
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* \defgroup xCoRoutineCreate xCoRoutineCreate
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* \ingroup Tasks
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*/
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portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex );
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signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex );
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/**
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@ -133,14 +133,14 @@ portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portB
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void vCoRoutineSchedule( void );</pre>
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*
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* Run a co-routine.
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*
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*
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* vCoRoutineSchedule() executes the highest priority co-routine that is able
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* to run. The co-routine will execute until it either blocks, yields or is
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* preempted by a task. Co-routines execute cooperatively so one
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* preempted by a task. Co-routines execute cooperatively so one
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* co-routine cannot be preempted by another, but can be preempted by a task.
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*
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* If an application comprises of both tasks and co-routines then
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* vCoRoutineSchedule should be called from the idle task (in an idle task
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* If an application comprises of both tasks and co-routines then
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* vCoRoutineSchedule should be called from the idle task (in an idle task
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* hook).
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*
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* Example usage:
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@ -152,7 +152,7 @@ portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portB
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vCoRoutineSchedule();
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}
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// Alternatively, if you do not require any other part of the idle task to
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// Alternatively, if you do not require any other part of the idle task to
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// execute, the idle task hook can call vCoRoutineScheduler() within an
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// infinite loop.
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void vApplicationIdleHook( void )
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@ -231,7 +231,7 @@ void vCoRoutineSchedule( void );
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#define crEND() }
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/*
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* These macros are intended for internal use by the co-routine implementation
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* These macros are intended for internal use by the co-routine implementation
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* only. The macros should not be used directly by application writers.
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*/
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#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
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@ -251,8 +251,8 @@ void vCoRoutineSchedule( void );
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* @param xHandle The handle of the co-routine to delay. This is the xHandle
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* parameter of the co-routine function.
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*
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* @param xTickToDelay The number of ticks that the co-routine should delay
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* for. The actual amount of time this equates to is defined by
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* @param xTickToDelay The number of ticks that the co-routine should delay
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* for. The actual amount of time this equates to is defined by
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* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS
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* can be used to convert ticks to milliseconds.
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*
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@ -292,33 +292,33 @@ void vCoRoutineSchedule( void );
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/**
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* <pre>
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crQUEUE_SEND(
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xCoRoutineHandle xHandle,
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xQueueHandle pxQueue,
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void *pvItemToQueue,
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portTickType xTicksToWait,
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portBASE_TYPE *pxResult
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crQUEUE_SEND(
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xCoRoutineHandle xHandle,
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xQueueHandle pxQueue,
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void *pvItemToQueue,
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portTickType xTicksToWait,
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portBASE_TYPE *pxResult
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)</pre>
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*
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* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
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* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
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* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
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* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
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*
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* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
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* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
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* xQueueSend() and xQueueReceive() can only be used from tasks.
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*
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* crQUEUE_SEND can only be called from the co-routine function itself - not
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* from within a function called by the co-routine function. This is because
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* co-routines do not maintain their own stack.
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*
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* co-routines.
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*
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* @param xHandle The handle of the calling co-routine. This is the xHandle
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* parameter of the co-routine function.
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*
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* @param pxQueue The handle of the queue on which the data will be posted.
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* The handle is obtained as the return value when the queue is created using
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* @param pxQueue The handle of the queue on which the data will be posted.
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* The handle is obtained as the return value when the queue is created using
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* the xQueueCreate() API function.
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*
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* @param pvItemToQueue A pointer to the data being posted onto the queue.
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@ -326,15 +326,15 @@ void vCoRoutineSchedule( void );
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* created. This number of bytes is copied from pvItemToQueue into the queue
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* itself.
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*
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* @param xTickToDelay The number of ticks that the co-routine should block
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* @param xTickToDelay The number of ticks that the co-routine should block
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* to wait for space to become available on the queue, should space not be
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* available immediately. The actual amount of time this equates to is defined
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* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
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* available immediately. The actual amount of time this equates to is defined
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* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
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* portTICK_RATE_MS can be used to convert ticks to milliseconds (see example
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* below).
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*
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* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
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* data was successfully posted onto the queue, otherwise it will be set to an
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* data was successfully posted onto the queue, otherwise it will be set to an
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* error defined within ProjDefs.h.
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*
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* Example usage:
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@ -362,7 +362,7 @@ void vCoRoutineSchedule( void );
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// Increment the number to be posted onto the queue.
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xNumberToPost++;
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// Delay for 100 ticks.
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crDELAY( xHandle, 100 );
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}
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@ -391,43 +391,43 @@ void vCoRoutineSchedule( void );
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/**
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* croutine. h
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* <pre>
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crQUEUE_RECEIVE(
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xCoRoutineHandle xHandle,
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xQueueHandle pxQueue,
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void *pvBuffer,
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portTickType xTicksToWait,
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portBASE_TYPE *pxResult
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crQUEUE_RECEIVE(
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xCoRoutineHandle xHandle,
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xQueueHandle pxQueue,
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void *pvBuffer,
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portTickType xTicksToWait,
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portBASE_TYPE *pxResult
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)</pre>
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*
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* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
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* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
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* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
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* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
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*
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* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
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* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
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* xQueueSend() and xQueueReceive() can only be used from tasks.
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*
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* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
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* from within a function called by the co-routine function. This is because
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* co-routines do not maintain their own stack.
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*
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* co-routines.
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*
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* @param xHandle The handle of the calling co-routine. This is the xHandle
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* parameter of the co-routine function.
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*
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* @param pxQueue The handle of the queue from which the data will be received.
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* The handle is obtained as the return value when the queue is created using
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* @param pxQueue The handle of the queue from which the data will be received.
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* The handle is obtained as the return value when the queue is created using
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* the xQueueCreate() API function.
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*
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* @param pvBuffer The buffer into which the received item is to be copied.
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* The number of bytes of each queued item is specified when the queue is
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* created. This number of bytes is copied into pvBuffer.
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*
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* @param xTickToDelay The number of ticks that the co-routine should block
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* @param xTickToDelay The number of ticks that the co-routine should block
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* to wait for data to become available from the queue, should data not be
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* available immediately. The actual amount of time this equates to is defined
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* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
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* available immediately. The actual amount of time this equates to is defined
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* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
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* portTICK_RATE_MS can be used to convert ticks to milliseconds (see the
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* crQUEUE_SEND example).
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*
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@ -437,7 +437,7 @@ void vCoRoutineSchedule( void );
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*
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* Example usage:
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<pre>
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// A co-routine receives the number of an LED to flash from a queue. It
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// A co-routine receives the number of an LED to flash from a queue. It
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// blocks on the queue until the number is received.
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static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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{
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@ -483,31 +483,31 @@ void vCoRoutineSchedule( void );
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/**
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* croutine. h
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* <pre>
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crQUEUE_SEND_FROM_ISR(
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xQueueHandle pxQueue,
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void *pvItemToQueue,
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crQUEUE_SEND_FROM_ISR(
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xQueueHandle pxQueue,
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void *pvItemToQueue,
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portBASE_TYPE xCoRoutinePreviouslyWoken
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)</pre>
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*
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* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
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* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
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* functions used by tasks.
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* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
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* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
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* functions used by tasks.
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*
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* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
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* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
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* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
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* xQueueReceiveFromISR() can only be used to pass data between a task and and
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* ISR.
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*
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* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
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* that is being used from within a co-routine.
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*
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* co-routines.
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*
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* @param xQueue The handle to the queue on which the item is to be posted.
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*
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* @param pvItemToQueue A pointer to the item that is to be placed on the
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*
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* @param pvItemToQueue A pointer to the item that is to be placed on the
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* queue. The size of the items the queue will hold was defined when the
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* queue was created, so this many bytes will be copied from pvItemToQueue
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* into the queue storage area.
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@ -515,9 +515,9 @@ void vCoRoutineSchedule( void );
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* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
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* the same queue multiple times from a single interrupt. The first call
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* should always pass in pdFALSE. Subsequent calls should pass in
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* the value returned from the previous call.
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* the value returned from the previous call.
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*
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* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
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* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
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* used by the ISR to determine if a context switch may be required following
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* the ISR.
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*
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@ -537,7 +537,7 @@ void vCoRoutineSchedule( void );
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// Wait for data to become available on the queue. This assumes the
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// queue xCommsRxQueue has already been created!
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crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
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// Was a character received?
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if( xResult == pdPASS )
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{
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@ -561,8 +561,8 @@ void vCoRoutineSchedule( void );
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{
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// Obtain the character from the UART.
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cRxedChar = UART_RX_REG;
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// Post the character onto a queue. xCRWokenByPost will be pdFALSE
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// Post the character onto a queue. xCRWokenByPost will be pdFALSE
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// the first time around the loop. If the post causes a co-routine
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// to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
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// In this manner we can ensure that if more than one co-routine is
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@ -580,39 +580,39 @@ void vCoRoutineSchedule( void );
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/**
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* croutine. h
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* <pre>
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crQUEUE_SEND_FROM_ISR(
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xQueueHandle pxQueue,
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void *pvBuffer,
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crQUEUE_SEND_FROM_ISR(
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xQueueHandle pxQueue,
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void *pvBuffer,
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portBASE_TYPE * pxCoRoutineWoken
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)</pre>
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*
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* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
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* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
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* functions used by tasks.
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* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
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* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
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* functions used by tasks.
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*
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* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
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* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
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* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
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* xQueueReceiveFromISR() can only be used to pass data between a task and and
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* ISR.
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*
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* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
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* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
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* from a queue that is being used from within a co-routine (a co-routine
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* posted to the queue).
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*
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* See the co-routine section of the WEB documentation for information on
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* passing data between tasks and co-routines and between ISR's and
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* co-routines.
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*
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* @param xQueue The handle to the queue on which the item is to be posted.
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*
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*
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* @param pvBuffer A pointer to a buffer into which the received item will be
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* placed. The size of the items the queue will hold was defined when the
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* queue was created, so this many bytes will be copied from the queue into
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* pvBuffer.
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*
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* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
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* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
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* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
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* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
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* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
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* *pxCoRoutineWoken will remain unchanged.
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*
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* @return pdTRUE an item was successfully received from the queue, otherwise
|
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|
|
@ -620,7 +620,7 @@ void vCoRoutineSchedule( void );
|
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|
|
*
|
|
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|
|
* Example usage:
|
|
|
|
|
<pre>
|
|
|
|
|
// A co-routine that posts a character to a queue then blocks for a fixed
|
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|
|
// A co-routine that posts a character to a queue then blocks for a fixed
|
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|
|
|
// period. The character is incremented each time.
|
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|
|
|
static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
|
|
|
|
{
|
|
|
|
|
@ -636,7 +636,7 @@ void vCoRoutineSchedule( void );
|
|
|
|
|
{
|
|
|
|
|
// Send the next character to the queue.
|
|
|
|
|
crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if( xResult == pdPASS )
|
|
|
|
|
{
|
|
|
|
|
// The character was successfully posted to the queue.
|
|
|
|
|
@ -651,7 +651,7 @@ void vCoRoutineSchedule( void );
|
|
|
|
|
// from the queue and send it.
|
|
|
|
|
ENABLE_RX_INTERRUPT();
|
|
|
|
|
|
|
|
|
|
// Increment to the next character then block for a fixed period.
|
|
|
|
|
// Increment to the next character then block for a fixed period.
|
|
|
|
|
// cCharToTx will maintain its value across the delay as it is
|
|
|
|
|
// declared static.
|
|
|
|
|
cCharToTx++;
|
|
|
|
|
@ -691,11 +691,11 @@ void vCoRoutineSchedule( void );
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
* This function is intended for internal use by the co-routine macros only.
|
|
|
|
|
* The macro nature of the co-routine implementation requires that the
|
|
|
|
|
* prototype appears here. The function should not be used by application
|
|
|
|
|
* The macro nature of the co-routine implementation requires that the
|
|
|
|
|
* prototype appears here. The function should not be used by application
|
|
|
|
|
* writers.
|
|
|
|
|
*
|
|
|
|
|
* Removes the current co-routine from its ready list and places it in the
|
|
|
|
|
* Removes the current co-routine from its ready list and places it in the
|
|
|
|
|
* appropriate delayed list.
|
|
|
|
|
*/
|
|
|
|
|
void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList );
|
|
|
|
|
@ -707,7 +707,7 @@ void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList
|
|
|
|
|
* Removes the highest priority co-routine from the event list and places it in
|
|
|
|
|
* the pending ready list.
|
|
|
|
|
*/
|
|
|
|
|
portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList );
|
|
|
|
|
signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList );
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif /* CO_ROUTINE_H */
|
|
|
|
|
|
Richard Barry
19 years ago