| /* |
| * 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 ) \ |
| do { \ |
| if( ( xTicksToDelay ) > 0 ) \ |
| { \ |
| vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ |
| } \ |
| crSET_STATE0( ( xHandle ) ); \ |
| } while( 0 ) |
| |
| /** |
| * @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 ) \ |
| do { \ |
| *( 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; \ |
| } \ |
| } while( 0 ) |
| |
| /** |
| * 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 ) \ |
| do { \ |
| *( 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; \ |
| } \ |
| } while( 0 ) |
| |
| /** |
| * 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 */ |
