Remove coroutines from FreeRTOS-Kernel.
Paul Bartell
4 years ago
committed by
Paul Bartell
parent
5f7ca3a55f
commit
d98625239b
@ -1,363 +0,0 @@
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/*
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* FreeRTOS Kernel <DEVELOPMENT BRANCH>
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "croutine.h"
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/* Remove the whole file is co-routines are not being used. */
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#if ( configUSE_CO_ROUTINES != 0 )
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/*
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* Some kernel aware debuggers require data to be viewed to be global, rather
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* than file scope.
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*/
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#ifdef portREMOVE_STATIC_QUALIFIER
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#define static
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#endif
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/* Lists for ready and blocked co-routines. --------------------*/
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static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
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static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
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static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
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static List_t * pxDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used. */
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static List_t * pxOverflowDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
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static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
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/* Other file private variables. --------------------------------*/
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CRCB_t * pxCurrentCoRoutine = NULL;
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static UBaseType_t uxTopCoRoutineReadyPriority = 0;
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static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
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/* The initial state of the co-routine when it is created. */
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#define corINITIAL_STATE ( 0 )
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/*
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* Place the co-routine represented by pxCRCB into the appropriate ready queue
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* for the priority. It is inserted at the end of the list.
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*
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* This macro accesses the co-routine ready lists and therefore must not be
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* used from within an ISR.
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*/
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#define prvAddCoRoutineToReadyQueue( pxCRCB ) \
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{ \
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if( ( pxCRCB )->uxPriority > uxTopCoRoutineReadyPriority ) \
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{ \
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uxTopCoRoutineReadyPriority = ( pxCRCB )->uxPriority; \
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} \
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vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ ( pxCRCB )->uxPriority ] ), &( ( pxCRCB )->xGenericListItem ) ); \
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}
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/*
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* Utility to ready all the lists used by the scheduler. This is called
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* automatically upon the creation of the first co-routine.
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*/
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static void prvInitialiseCoRoutineLists( void );
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/*
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* Co-routines that are readied by an interrupt cannot be placed directly into
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* the ready lists (there is no mutual exclusion). Instead they are placed in
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* in the pending ready list in order that they can later be moved to the ready
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* list by the co-routine scheduler.
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*/
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static void prvCheckPendingReadyList( void );
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/*
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* Macro that looks at the list of co-routines that are currently delayed to
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* see if any require waking.
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*
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* Co-routines are stored in the queue in the order of their wake time -
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* meaning once one co-routine has been found whose timer has not expired
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* we need not look any further down the list.
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*/
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static void prvCheckDelayedList( void );
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/*-----------------------------------------------------------*/
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BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
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UBaseType_t uxPriority,
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UBaseType_t uxIndex )
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{
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BaseType_t xReturn;
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CRCB_t * pxCoRoutine;
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/* Allocate the memory that will store the co-routine control block. */
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pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
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if( pxCoRoutine )
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{
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/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
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* be created and the co-routine data structures need initialising. */
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if( pxCurrentCoRoutine == NULL )
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{
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pxCurrentCoRoutine = pxCoRoutine;
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prvInitialiseCoRoutineLists();
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}
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/* Check the priority is within limits. */
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if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
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{
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uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
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}
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/* Fill out the co-routine control block from the function parameters. */
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pxCoRoutine->uxState = corINITIAL_STATE;
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pxCoRoutine->uxPriority = uxPriority;
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pxCoRoutine->uxIndex = uxIndex;
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pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
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/* Initialise all the other co-routine control block parameters. */
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vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
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vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
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/* Set the co-routine control block as a link back from the ListItem_t.
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* This is so we can get back to the containing CRCB from a generic item
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* in a list. */
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listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
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listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
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/* Event lists are always in priority order. */
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listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
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/* Now the co-routine has been initialised it can be added to the ready
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* list at the correct priority. */
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prvAddCoRoutineToReadyQueue( pxCoRoutine );
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xReturn = pdPASS;
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}
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else
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{
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xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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}
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return xReturn;
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}
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/*-----------------------------------------------------------*/
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void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
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List_t * pxEventList )
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{
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TickType_t xTimeToWake;
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/* Calculate the time to wake - this may overflow but this is
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* not a problem. */
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xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
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/* We must remove ourselves from the ready list before adding
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* ourselves to the blocked list as the same list item is used for
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* both lists. */
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( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
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/* The list item will be inserted in wake time order. */
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listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
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if( xTimeToWake < xCoRoutineTickCount )
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{
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/* Wake time has overflowed. Place this item in the
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* overflow list. */
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vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
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}
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else
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{
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/* The wake time has not overflowed, so we can use the
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* current block list. */
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vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
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}
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if( pxEventList )
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{
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/* Also add the co-routine to an event list. If this is done then the
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* function must be called with interrupts disabled. */
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vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCheckPendingReadyList( void )
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{
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/* Are there any co-routines waiting to get moved to the ready list? These
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* are co-routines that have been readied by an ISR. The ISR cannot access
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* the ready lists itself. */
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while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
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{
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CRCB_t * pxUnblockedCRCB;
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/* The pending ready list can be accessed by an ISR. */
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portDISABLE_INTERRUPTS();
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{
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pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) );
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( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
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}
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portENABLE_INTERRUPTS();
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( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
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prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCheckDelayedList( void )
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{
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CRCB_t * pxCRCB;
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xPassedTicks = xTaskGetTickCount() - xLastTickCount;
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while( xPassedTicks )
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{
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xCoRoutineTickCount++;
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xPassedTicks--;
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/* If the tick count has overflowed we need to swap the ready lists. */
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if( xCoRoutineTickCount == 0 )
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{
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List_t * pxTemp;
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/* Tick count has overflowed so we need to swap the delay lists. If there are
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* any items in pxDelayedCoRoutineList here then there is an error! */
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pxTemp = pxDelayedCoRoutineList;
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pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
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pxOverflowDelayedCoRoutineList = pxTemp;
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}
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/* See if this tick has made a timeout expire. */
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while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
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{
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pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
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if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
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{
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/* Timeout not yet expired. */
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break;
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}
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portDISABLE_INTERRUPTS();
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{
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/* The event could have occurred just before this critical
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* section. If this is the case then the generic list item will
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* have been moved to the pending ready list and the following
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* line is still valid. Also the pvContainer parameter will have
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* been set to NULL so the following lines are also valid. */
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( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
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/* Is the co-routine waiting on an event also? */
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if( pxCRCB->xEventListItem.pxContainer )
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{
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( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
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}
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}
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portENABLE_INTERRUPTS();
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prvAddCoRoutineToReadyQueue( pxCRCB );
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}
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}
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xLastTickCount = xCoRoutineTickCount;
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}
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/*-----------------------------------------------------------*/
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void vCoRoutineSchedule( void )
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{
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/* Only run a co-routine after prvInitialiseCoRoutineLists() has been
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* called. prvInitialiseCoRoutineLists() is called automatically when a
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* co-routine is created. */
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if( pxDelayedCoRoutineList != NULL )
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{
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/* See if any co-routines readied by events need moving to the ready lists. */
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prvCheckPendingReadyList();
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/* See if any delayed co-routines have timed out. */
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prvCheckDelayedList();
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/* Find the highest priority queue that contains ready co-routines. */
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while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
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{
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if( uxTopCoRoutineReadyPriority == 0 )
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{
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/* No more co-routines to check. */
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return;
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}
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--uxTopCoRoutineReadyPriority;
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}
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/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
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* of the same priority get an equal share of the processor time. */
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
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/* Call the co-routine. */
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( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvInitialiseCoRoutineLists( void )
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{
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UBaseType_t uxPriority;
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for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
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{
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vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
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}
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vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
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vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
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vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
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/* Start with pxDelayedCoRoutineList using list1 and the
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* pxOverflowDelayedCoRoutineList using list2. */
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pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
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pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
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}
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/*-----------------------------------------------------------*/
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BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList )
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{
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CRCB_t * pxUnblockedCRCB;
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BaseType_t xReturn;
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/* This function is called from within an interrupt. It can only access
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* event lists and the pending ready list. This function assumes that a
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* check has already been made to ensure pxEventList is not empty. */
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pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
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( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
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vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
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if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
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{
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xReturn = pdTRUE;
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}
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else
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{
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xReturn = pdFALSE;
|
|
||||||
}
|
|
||||||
|
|
||||||
return xReturn;
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif /* configUSE_CO_ROUTINES == 0 */
|
|
||||||
@ -1,753 +0,0 @@
|
|||||||
/*
|
|
||||||
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
|
||||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
||||||
*
|
|
||||||
* SPDX-License-Identifier: MIT
|
|
||||||
*
|
|
||||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
||||||
* this software and associated documentation files (the "Software"), to deal in
|
|
||||||
* the Software without restriction, including without limitation the rights to
|
|
||||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
||||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
||||||
* subject to the following conditions:
|
|
||||||
*
|
|
||||||
* The above copyright notice and this permission notice shall be included in all
|
|
||||||
* copies or substantial portions of the Software.
|
|
||||||
*
|
|
||||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
||||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
||||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
||||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
||||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
||||||
*
|
|
||||||
* https://www.FreeRTOS.org
|
|
||||||
* https://github.com/FreeRTOS
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef CO_ROUTINE_H
|
|
||||||
#define CO_ROUTINE_H
|
|
||||||
|
|
||||||
#ifndef INC_FREERTOS_H
|
|
||||||
#error "include FreeRTOS.h must appear in source files before include croutine.h"
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#include "list.h"
|
|
||||||
|
|
||||||
/* *INDENT-OFF* */
|
|
||||||
#ifdef __cplusplus
|
|
||||||
extern "C" {
|
|
||||||
#endif
|
|
||||||
/* *INDENT-ON* */
|
|
||||||
|
|
||||||
/* Used to hide the implementation of the co-routine control block. The
|
|
||||||
* control block structure however has to be included in the header due to
|
|
||||||
* the macro implementation of the co-routine functionality. */
|
|
||||||
typedef void * CoRoutineHandle_t;
|
|
||||||
|
|
||||||
/* Defines the prototype to which co-routine functions must conform. */
|
|
||||||
typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t,
|
|
||||||
UBaseType_t );
|
|
||||||
|
|
||||||
typedef struct corCoRoutineControlBlock
|
|
||||||
{
|
|
||||||
crCOROUTINE_CODE pxCoRoutineFunction;
|
|
||||||
ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
|
|
||||||
ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
|
|
||||||
UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
|
|
||||||
UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
|
|
||||||
uint16_t uxState; /*< Used internally by the co-routine implementation. */
|
|
||||||
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* BaseType_t xCoRoutineCreate(
|
|
||||||
* crCOROUTINE_CODE pxCoRoutineCode,
|
|
||||||
* UBaseType_t uxPriority,
|
|
||||||
* UBaseType_t uxIndex
|
|
||||||
* );
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* Create a new co-routine and add it to the list of co-routines that are
|
|
||||||
* ready to run.
|
|
||||||
*
|
|
||||||
* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
|
|
||||||
* functions require special syntax - see the co-routine section of the WEB
|
|
||||||
* documentation for more information.
|
|
||||||
*
|
|
||||||
* @param uxPriority The priority with respect to other co-routines at which
|
|
||||||
* the co-routine will run.
|
|
||||||
*
|
|
||||||
* @param uxIndex Used to distinguish between different co-routines that
|
|
||||||
* execute the same function. See the example below and the co-routine section
|
|
||||||
* of the WEB documentation for further information.
|
|
||||||
*
|
|
||||||
* @return pdPASS if the co-routine was successfully created and added to a ready
|
|
||||||
* list, otherwise an error code defined with ProjDefs.h.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // Co-routine to be created.
|
|
||||||
* void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
||||||
* {
|
|
||||||
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
||||||
* // This may not be necessary for const variables.
|
|
||||||
* static const char cLedToFlash[ 2 ] = { 5, 6 };
|
|
||||||
* static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
|
|
||||||
*
|
|
||||||
* // Must start every co-routine with a call to crSTART();
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // This co-routine just delays for a fixed period, then toggles
|
|
||||||
* // an LED. Two co-routines are created using this function, so
|
|
||||||
* // the uxIndex parameter is used to tell the co-routine which
|
|
||||||
* // LED to flash and how int32_t to delay. This assumes xQueue has
|
|
||||||
* // already been created.
|
|
||||||
* vParTestToggleLED( cLedToFlash[ uxIndex ] );
|
|
||||||
* crDELAY( xHandle, uxFlashRates[ uxIndex ] );
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Must end every co-routine with a call to crEND();
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Function that creates two co-routines.
|
|
||||||
* void vOtherFunction( void )
|
|
||||||
* {
|
|
||||||
* uint8_t ucParameterToPass;
|
|
||||||
* TaskHandle_t xHandle;
|
|
||||||
*
|
|
||||||
* // Create two co-routines at priority 0. The first is given index 0
|
|
||||||
* // so (from the code above) toggles LED 5 every 200 ticks. The second
|
|
||||||
* // is given index 1 so toggles LED 6 every 400 ticks.
|
|
||||||
* for( uxIndex = 0; uxIndex < 2; uxIndex++ )
|
|
||||||
* {
|
|
||||||
* xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup xCoRoutineCreate xCoRoutineCreate
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
|
|
||||||
UBaseType_t uxPriority,
|
|
||||||
UBaseType_t uxIndex );
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* void vCoRoutineSchedule( void );
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* Run a co-routine.
|
|
||||||
*
|
|
||||||
* vCoRoutineSchedule() executes the highest priority co-routine that is able
|
|
||||||
* to run. The co-routine will execute until it either blocks, yields or is
|
|
||||||
* preempted by a task. Co-routines execute cooperatively so one
|
|
||||||
* co-routine cannot be preempted by another, but can be preempted by a task.
|
|
||||||
*
|
|
||||||
* If an application comprises of both tasks and co-routines then
|
|
||||||
* vCoRoutineSchedule should be called from the idle task (in an idle task
|
|
||||||
* hook).
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // This idle task hook will schedule a co-routine each time it is called.
|
|
||||||
* // The rest of the idle task will execute between co-routine calls.
|
|
||||||
* void vApplicationIdleHook( void )
|
|
||||||
* {
|
|
||||||
* vCoRoutineSchedule();
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Alternatively, if you do not require any other part of the idle task to
|
|
||||||
* // execute, the idle task hook can call vCoRoutineSchedule() within an
|
|
||||||
* // infinite loop.
|
|
||||||
* void vApplicationIdleHook( void )
|
|
||||||
* {
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* vCoRoutineSchedule();
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup vCoRoutineSchedule vCoRoutineSchedule
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
void vCoRoutineSchedule( void );
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* crSTART( CoRoutineHandle_t xHandle );
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* This macro MUST always be called at the start of a co-routine function.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // Co-routine to be created.
|
|
||||||
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
||||||
* {
|
|
||||||
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
||||||
* static int32_t ulAVariable;
|
|
||||||
*
|
|
||||||
* // Must start every co-routine with a call to crSTART();
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // Co-routine functionality goes here.
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Must end every co-routine with a call to crEND();
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crSTART crSTART
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crSTART( pxCRCB ) \
|
|
||||||
switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \
|
|
||||||
case 0:
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* crEND();
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* This macro MUST always be called at the end of a co-routine function.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // Co-routine to be created.
|
|
||||||
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
||||||
* {
|
|
||||||
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
||||||
* static int32_t ulAVariable;
|
|
||||||
*
|
|
||||||
* // Must start every co-routine with a call to crSTART();
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // Co-routine functionality goes here.
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Must end every co-routine with a call to crEND();
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crSTART crSTART
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crEND() }
|
|
||||||
|
|
||||||
/*
|
|
||||||
* These macros are intended for internal use by the co-routine implementation
|
|
||||||
* only. The macros should not be used directly by application writers.
|
|
||||||
*/
|
|
||||||
#define crSET_STATE0( xHandle ) \
|
|
||||||
( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \
|
|
||||||
case ( __LINE__ * 2 ):
|
|
||||||
#define crSET_STATE1( xHandle ) \
|
|
||||||
( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \
|
|
||||||
case ( ( __LINE__ * 2 ) + 1 ):
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* Delay a co-routine for a fixed period of time.
|
|
||||||
*
|
|
||||||
* crDELAY 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.
|
|
||||||
*
|
|
||||||
* @param xHandle The handle of the co-routine to delay. This is the xHandle
|
|
||||||
* parameter of the co-routine function.
|
|
||||||
*
|
|
||||||
* @param xTickToDelay The number of ticks that the co-routine should delay
|
|
||||||
* for. 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.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // Co-routine to be created.
|
|
||||||
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
||||||
* {
|
|
||||||
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
||||||
* // This may not be necessary for const variables.
|
|
||||||
* // We are to delay for 200ms.
|
|
||||||
* static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
|
|
||||||
*
|
|
||||||
* // Must start every co-routine with a call to crSTART();
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // Delay for 200ms.
|
|
||||||
* crDELAY( xHandle, xDelayTime );
|
|
||||||
*
|
|
||||||
* // Do something here.
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Must end every co-routine with a call to crEND();
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crDELAY crDELAY
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crDELAY( xHandle, xTicksToDelay ) \
|
|
||||||
if( ( xTicksToDelay ) > 0 ) \
|
|
||||||
{ \
|
|
||||||
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
|
|
||||||
} \
|
|
||||||
crSET_STATE0( ( xHandle ) );
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @code{c}
|
|
||||||
* crQUEUE_SEND(
|
|
||||||
* CoRoutineHandle_t xHandle,
|
|
||||||
* QueueHandle_t pxQueue,
|
|
||||||
* void *pvItemToQueue,
|
|
||||||
* TickType_t xTicksToWait,
|
|
||||||
* BaseType_t *pxResult
|
|
||||||
* )
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* @param xHandle The handle of the calling co-routine. This is the xHandle
|
|
||||||
* parameter of the co-routine function.
|
|
||||||
*
|
|
||||||
* @param pxQueue 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.
|
|
||||||
*
|
|
||||||
* @param 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.
|
|
||||||
*
|
|
||||||
* @param 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).
|
|
||||||
*
|
|
||||||
* @param 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:
|
|
||||||
* @code{c}
|
|
||||||
* // 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, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
|
|
||||||
*
|
|
||||||
* if( xResult != pdPASS )
|
|
||||||
* {
|
|
||||||
* // The message was not posted!
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Increment the number to be posted onto the queue.
|
|
||||||
* xNumberToPost++;
|
|
||||||
*
|
|
||||||
* // Delay for 100 ticks.
|
|
||||||
* crDELAY( xHandle, 100 );
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Co-routines must end with a call to crEND().
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crQUEUE_SEND crQUEUE_SEND
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
|
|
||||||
{ \
|
|
||||||
*( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \
|
|
||||||
if( *( pxResult ) == errQUEUE_BLOCKED ) \
|
|
||||||
{ \
|
|
||||||
crSET_STATE0( ( xHandle ) ); \
|
|
||||||
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
|
|
||||||
} \
|
|
||||||
if( *pxResult == errQUEUE_YIELD ) \
|
|
||||||
{ \
|
|
||||||
crSET_STATE1( ( xHandle ) ); \
|
|
||||||
*pxResult = pdPASS; \
|
|
||||||
} \
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* crQUEUE_RECEIVE(
|
|
||||||
* CoRoutineHandle_t xHandle,
|
|
||||||
* QueueHandle_t pxQueue,
|
|
||||||
* void *pvBuffer,
|
|
||||||
* TickType_t xTicksToWait,
|
|
||||||
* BaseType_t *pxResult
|
|
||||||
* )
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* crQUEUE_RECEIVE 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.
|
|
||||||
*
|
|
||||||
* @param xHandle The handle of the calling co-routine. This is the xHandle
|
|
||||||
* parameter of the co-routine function.
|
|
||||||
*
|
|
||||||
* @param pxQueue The handle of the queue from which the data will be received.
|
|
||||||
* The handle is obtained as the return value when the queue is created using
|
|
||||||
* the xQueueCreate() API function.
|
|
||||||
*
|
|
||||||
* @param pvBuffer The buffer into which the received item is to be copied.
|
|
||||||
* The number of bytes of each queued item is specified when the queue is
|
|
||||||
* created. This number of bytes is copied into pvBuffer.
|
|
||||||
*
|
|
||||||
* @param xTickToDelay The number of ticks that the co-routine should block
|
|
||||||
* to wait for data to become available from the queue, should data 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 the
|
|
||||||
* crQUEUE_SEND example).
|
|
||||||
*
|
|
||||||
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
|
|
||||||
* data was successfully retrieved from the queue, otherwise it will be set to
|
|
||||||
* an error code as defined within ProjDefs.h.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // A co-routine receives the number of an LED to flash from a queue. It
|
|
||||||
* // blocks on the queue until the number is received.
|
|
||||||
* static void prvCoRoutineFlashWorkTask( 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 xResult;
|
|
||||||
* static UBaseType_t uxLEDToFlash;
|
|
||||||
*
|
|
||||||
* // All co-routines must start with a call to crSTART().
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // Wait for data to become available on the queue.
|
|
||||||
* crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
|
||||||
*
|
|
||||||
* if( xResult == pdPASS )
|
|
||||||
* {
|
|
||||||
* // We received the LED to flash - flash it!
|
|
||||||
* vParTestToggleLED( uxLEDToFlash );
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
|
|
||||||
{ \
|
|
||||||
*( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \
|
|
||||||
if( *( pxResult ) == errQUEUE_BLOCKED ) \
|
|
||||||
{ \
|
|
||||||
crSET_STATE0( ( xHandle ) ); \
|
|
||||||
*( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \
|
|
||||||
} \
|
|
||||||
if( *( pxResult ) == errQUEUE_YIELD ) \
|
|
||||||
{ \
|
|
||||||
crSET_STATE1( ( xHandle ) ); \
|
|
||||||
*( pxResult ) = pdPASS; \
|
|
||||||
} \
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* crQUEUE_SEND_FROM_ISR(
|
|
||||||
* QueueHandle_t pxQueue,
|
|
||||||
* void *pvItemToQueue,
|
|
||||||
* BaseType_t xCoRoutinePreviouslyWoken
|
|
||||||
* )
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
|
|
||||||
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
|
|
||||||
* functions used by tasks.
|
|
||||||
*
|
|
||||||
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
|
|
||||||
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
|
|
||||||
* xQueueReceiveFromISR() can only be used to pass data between a task and and
|
|
||||||
* ISR.
|
|
||||||
*
|
|
||||||
* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
|
|
||||||
* that is being used from within a co-routine.
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* @param xQueue The handle to the queue on which the item is to be posted.
|
|
||||||
*
|
|
||||||
* @param pvItemToQueue A pointer to the item that is to be placed on the
|
|
||||||
* queue. The size of the items the queue will hold was defined when the
|
|
||||||
* queue was created, so this many bytes will be copied from pvItemToQueue
|
|
||||||
* into the queue storage area.
|
|
||||||
*
|
|
||||||
* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
|
|
||||||
* the same queue multiple times from a single interrupt. The first call
|
|
||||||
* should always pass in pdFALSE. Subsequent calls should pass in
|
|
||||||
* the value returned from the previous call.
|
|
||||||
*
|
|
||||||
* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
|
|
||||||
* used by the ISR to determine if a context switch may be required following
|
|
||||||
* the ISR.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // A co-routine that blocks on a queue waiting for characters to be received.
|
|
||||||
* static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
||||||
* {
|
|
||||||
* char cRxedChar;
|
|
||||||
* BaseType_t xResult;
|
|
||||||
*
|
|
||||||
* // All co-routines must start with a call to crSTART().
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // Wait for data to become available on the queue. This assumes the
|
|
||||||
* // queue xCommsRxQueue has already been created!
|
|
||||||
* crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
|
||||||
*
|
|
||||||
* // Was a character received?
|
|
||||||
* if( xResult == pdPASS )
|
|
||||||
* {
|
|
||||||
* // Process the character here.
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // All co-routines must end with a call to crEND().
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // An ISR that uses a queue to send characters received on a serial port to
|
|
||||||
* // a co-routine.
|
|
||||||
* void vUART_ISR( void )
|
|
||||||
* {
|
|
||||||
* char cRxedChar;
|
|
||||||
* BaseType_t xCRWokenByPost = pdFALSE;
|
|
||||||
*
|
|
||||||
* // We loop around reading characters until there are none left in the UART.
|
|
||||||
* while( UART_RX_REG_NOT_EMPTY() )
|
|
||||||
* {
|
|
||||||
* // Obtain the character from the UART.
|
|
||||||
* cRxedChar = UART_RX_REG;
|
|
||||||
*
|
|
||||||
* // Post the character onto a queue. xCRWokenByPost will be pdFALSE
|
|
||||||
* // the first time around the loop. If the post causes a co-routine
|
|
||||||
* // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
|
|
||||||
* // In this manner we can ensure that if more than one co-routine is
|
|
||||||
* // blocked on the queue only one is woken by this ISR no matter how
|
|
||||||
* // many characters are posted to the queue.
|
|
||||||
* xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) \
|
|
||||||
xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* croutine. h
|
|
||||||
* @code{c}
|
|
||||||
* crQUEUE_SEND_FROM_ISR(
|
|
||||||
* QueueHandle_t pxQueue,
|
|
||||||
* void *pvBuffer,
|
|
||||||
* BaseType_t * pxCoRoutineWoken
|
|
||||||
* )
|
|
||||||
* @endcode
|
|
||||||
*
|
|
||||||
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
|
|
||||||
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
|
|
||||||
* functions used by tasks.
|
|
||||||
*
|
|
||||||
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
|
|
||||||
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
|
|
||||||
* xQueueReceiveFromISR() can only be used to pass data between a task and and
|
|
||||||
* ISR.
|
|
||||||
*
|
|
||||||
* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
|
|
||||||
* from a queue that is being used from within a co-routine (a co-routine
|
|
||||||
* posted to the queue).
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* @param xQueue The handle to the queue on which the item is to be posted.
|
|
||||||
*
|
|
||||||
* @param pvBuffer A pointer to a buffer into which the received item will be
|
|
||||||
* placed. The size of the items the queue will hold was defined when the
|
|
||||||
* queue was created, so this many bytes will be copied from the queue into
|
|
||||||
* pvBuffer.
|
|
||||||
*
|
|
||||||
* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
|
|
||||||
* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
|
|
||||||
* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
|
|
||||||
* *pxCoRoutineWoken will remain unchanged.
|
|
||||||
*
|
|
||||||
* @return pdTRUE an item was successfully received from the queue, otherwise
|
|
||||||
* pdFALSE.
|
|
||||||
*
|
|
||||||
* Example usage:
|
|
||||||
* @code{c}
|
|
||||||
* // A co-routine that posts a character to a queue then blocks for a fixed
|
|
||||||
* // period. The character is incremented each time.
|
|
||||||
* static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
||||||
* {
|
|
||||||
* // cChar holds its value while this co-routine is blocked and must therefore
|
|
||||||
* // be declared static.
|
|
||||||
* static char cCharToTx = 'a';
|
|
||||||
* BaseType_t xResult;
|
|
||||||
*
|
|
||||||
* // All co-routines must start with a call to crSTART().
|
|
||||||
* crSTART( xHandle );
|
|
||||||
*
|
|
||||||
* for( ;; )
|
|
||||||
* {
|
|
||||||
* // 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.
|
|
||||||
* }
|
|
||||||
* else
|
|
||||||
* {
|
|
||||||
* // Could not post the character to the queue.
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // Enable the UART Tx interrupt to cause an interrupt in this
|
|
||||||
* // hypothetical UART. The interrupt will obtain the character
|
|
||||||
* // from the queue and send it.
|
|
||||||
* ENABLE_RX_INTERRUPT();
|
|
||||||
*
|
|
||||||
* // 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++;
|
|
||||||
* if( cCharToTx > 'x' )
|
|
||||||
* {
|
|
||||||
* cCharToTx = 'a';
|
|
||||||
* }
|
|
||||||
* crDELAY( 100 );
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // All co-routines must end with a call to crEND().
|
|
||||||
* crEND();
|
|
||||||
* }
|
|
||||||
*
|
|
||||||
* // An ISR that uses a queue to receive characters to send on a UART.
|
|
||||||
* void vUART_ISR( void )
|
|
||||||
* {
|
|
||||||
* char cCharToTx;
|
|
||||||
* BaseType_t xCRWokenByPost = pdFALSE;
|
|
||||||
*
|
|
||||||
* while( UART_TX_REG_EMPTY() )
|
|
||||||
* {
|
|
||||||
* // Are there any characters in the queue waiting to be sent?
|
|
||||||
* // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
|
|
||||||
* // is woken by the post - ensuring that only a single co-routine is
|
|
||||||
* // woken no matter how many times we go around this loop.
|
|
||||||
* if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
|
|
||||||
* {
|
|
||||||
* SEND_CHARACTER( cCharToTx );
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
* }
|
|
||||||
* @endcode
|
|
||||||
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
|
|
||||||
* \ingroup Tasks
|
|
||||||
*/
|
|
||||||
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) \
|
|
||||||
xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
|
|
||||||
|
|
||||||
/*
|
|
||||||
* 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
|
|
||||||
* writers.
|
|
||||||
*
|
|
||||||
* Removes the current co-routine from its ready list and places it in the
|
|
||||||
* appropriate delayed list.
|
|
||||||
*/
|
|
||||||
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
|
|
||||||
List_t * pxEventList );
|
|
||||||
|
|
||||||
/*
|
|
||||||
* This function is intended for internal use by the queue implementation only.
|
|
||||||
* The function should not be used by application writers.
|
|
||||||
*
|
|
||||||
* Removes the highest priority co-routine from the event list and places it in
|
|
||||||
* the pending ready list.
|
|
||||||
*/
|
|
||||||
BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList );
|
|
||||||
|
|
||||||
/* *INDENT-OFF* */
|
|
||||||
#ifdef __cplusplus
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
/* *INDENT-ON* */
|
|
||||||
|
|
||||||
#endif /* CO_ROUTINE_H */
|
|
||||||
Loading…
Reference in New Issue