David Fletcher / Mbed 2 deprecated cc3100_Test_mqtt_CM4F

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Dependencies:   mbed

FreeRTOS/source/include/croutine.h@0:1e7b5dd9edb4, 2015-09-03 (annotated)

Committer:
dflet
Date:
Thu Sep 03 14:07:01 2015 +0000
Revision:
0:1e7b5dd9edb4
First commit, it's been hanging around for a while. Updated SPI mode change 1 to 0.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dflet 0:1e7b5dd9edb4 1 /*
dflet 0:1e7b5dd9edb4 2 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
dflet 0:1e7b5dd9edb4 3 All rights reserved
dflet 0:1e7b5dd9edb4 4
dflet 0:1e7b5dd9edb4 5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
dflet 0:1e7b5dd9edb4 6
dflet 0:1e7b5dd9edb4 7 This file is part of the FreeRTOS distribution.
dflet 0:1e7b5dd9edb4 8
dflet 0:1e7b5dd9edb4 9 FreeRTOS is free software; you can redistribute it and/or modify it under
dflet 0:1e7b5dd9edb4 10 the terms of the GNU General Public License (version 2) as published by the
dflet 0:1e7b5dd9edb4 11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
dflet 0:1e7b5dd9edb4 12
dflet 0:1e7b5dd9edb4 13 ***************************************************************************
dflet 0:1e7b5dd9edb4 14 >>! NOTE: The modification to the GPL is included to allow you to !<<
dflet 0:1e7b5dd9edb4 15 >>! distribute a combined work that includes FreeRTOS without being !<<
dflet 0:1e7b5dd9edb4 16 >>! obliged to provide the source code for proprietary components !<<
dflet 0:1e7b5dd9edb4 17 >>! outside of the FreeRTOS kernel. !<<
dflet 0:1e7b5dd9edb4 18 ***************************************************************************
dflet 0:1e7b5dd9edb4 19
dflet 0:1e7b5dd9edb4 20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
dflet 0:1e7b5dd9edb4 21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
dflet 0:1e7b5dd9edb4 22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
dflet 0:1e7b5dd9edb4 23 link: http://www.freertos.org/a00114.html
dflet 0:1e7b5dd9edb4 24
dflet 0:1e7b5dd9edb4 25 ***************************************************************************
dflet 0:1e7b5dd9edb4 26 * *
dflet 0:1e7b5dd9edb4 27 * FreeRTOS provides completely free yet professionally developed, *
dflet 0:1e7b5dd9edb4 28 * robust, strictly quality controlled, supported, and cross *
dflet 0:1e7b5dd9edb4 29 * platform software that is more than just the market leader, it *
dflet 0:1e7b5dd9edb4 30 * is the industry's de facto standard. *
dflet 0:1e7b5dd9edb4 31 * *
dflet 0:1e7b5dd9edb4 32 * Help yourself get started quickly while simultaneously helping *
dflet 0:1e7b5dd9edb4 33 * to support the FreeRTOS project by purchasing a FreeRTOS *
dflet 0:1e7b5dd9edb4 34 * tutorial book, reference manual, or both: *
dflet 0:1e7b5dd9edb4 35 * http://www.FreeRTOS.org/Documentation *
dflet 0:1e7b5dd9edb4 36 * *
dflet 0:1e7b5dd9edb4 37 ***************************************************************************
dflet 0:1e7b5dd9edb4 38
dflet 0:1e7b5dd9edb4 39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
dflet 0:1e7b5dd9edb4 40 the FAQ page "My application does not run, what could be wrong?". Have you
dflet 0:1e7b5dd9edb4 41 defined configASSERT()?
dflet 0:1e7b5dd9edb4 42
dflet 0:1e7b5dd9edb4 43 http://www.FreeRTOS.org/support - In return for receiving this top quality
dflet 0:1e7b5dd9edb4 44 embedded software for free we request you assist our global community by
dflet 0:1e7b5dd9edb4 45 participating in the support forum.
dflet 0:1e7b5dd9edb4 46
dflet 0:1e7b5dd9edb4 47 http://www.FreeRTOS.org/training - Investing in training allows your team to
dflet 0:1e7b5dd9edb4 48 be as productive as possible as early as possible. Now you can receive
dflet 0:1e7b5dd9edb4 49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
dflet 0:1e7b5dd9edb4 50 Ltd, and the world's leading authority on the world's leading RTOS.
dflet 0:1e7b5dd9edb4 51
dflet 0:1e7b5dd9edb4 52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
dflet 0:1e7b5dd9edb4 53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
dflet 0:1e7b5dd9edb4 54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
dflet 0:1e7b5dd9edb4 55
dflet 0:1e7b5dd9edb4 56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
dflet 0:1e7b5dd9edb4 57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
dflet 0:1e7b5dd9edb4 58
dflet 0:1e7b5dd9edb4 59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
dflet 0:1e7b5dd9edb4 60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
dflet 0:1e7b5dd9edb4 61 licenses offer ticketed support, indemnification and commercial middleware.
dflet 0:1e7b5dd9edb4 62
dflet 0:1e7b5dd9edb4 63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
dflet 0:1e7b5dd9edb4 64 engineered and independently SIL3 certified version for use in safety and
dflet 0:1e7b5dd9edb4 65 mission critical applications that require provable dependability.
dflet 0:1e7b5dd9edb4 66
dflet 0:1e7b5dd9edb4 67 1 tab == 4 spaces!
dflet 0:1e7b5dd9edb4 68 */
dflet 0:1e7b5dd9edb4 69
dflet 0:1e7b5dd9edb4 70 #ifndef CO_ROUTINE_H
dflet 0:1e7b5dd9edb4 71 #define CO_ROUTINE_H
dflet 0:1e7b5dd9edb4 72
dflet 0:1e7b5dd9edb4 73 #ifndef INC_FREERTOS_H
dflet 0:1e7b5dd9edb4 74 #error "include FreeRTOS.h must appear in source files before include croutine.h"
dflet 0:1e7b5dd9edb4 75 #endif
dflet 0:1e7b5dd9edb4 76
dflet 0:1e7b5dd9edb4 77 #include "list.h"
dflet 0:1e7b5dd9edb4 78
dflet 0:1e7b5dd9edb4 79 #ifdef __cplusplus
dflet 0:1e7b5dd9edb4 80 extern "C" {
dflet 0:1e7b5dd9edb4 81 #endif
dflet 0:1e7b5dd9edb4 82
dflet 0:1e7b5dd9edb4 83 /* Used to hide the implementation of the co-routine control block. The
dflet 0:1e7b5dd9edb4 84 control block structure however has to be included in the header due to
dflet 0:1e7b5dd9edb4 85 the macro implementation of the co-routine functionality. */
dflet 0:1e7b5dd9edb4 86 typedef void * CoRoutineHandle_t;
dflet 0:1e7b5dd9edb4 87
dflet 0:1e7b5dd9edb4 88 /* Defines the prototype to which co-routine functions must conform. */
dflet 0:1e7b5dd9edb4 89 typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
dflet 0:1e7b5dd9edb4 90
dflet 0:1e7b5dd9edb4 91 typedef struct corCoRoutineControlBlock
dflet 0:1e7b5dd9edb4 92 {
dflet 0:1e7b5dd9edb4 93 crCOROUTINE_CODE pxCoRoutineFunction;
dflet 0:1e7b5dd9edb4 94 ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
dflet 0:1e7b5dd9edb4 95 ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
dflet 0:1e7b5dd9edb4 96 UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
dflet 0:1e7b5dd9edb4 97 UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
dflet 0:1e7b5dd9edb4 98 uint16_t uxState; /*< Used internally by the co-routine implementation. */
dflet 0:1e7b5dd9edb4 99 } CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
dflet 0:1e7b5dd9edb4 100
dflet 0:1e7b5dd9edb4 101 /**
dflet 0:1e7b5dd9edb4 102 * croutine. h
dflet 0:1e7b5dd9edb4 103 *<pre>
dflet 0:1e7b5dd9edb4 104 BaseType_t xCoRoutineCreate(
dflet 0:1e7b5dd9edb4 105 crCOROUTINE_CODE pxCoRoutineCode,
dflet 0:1e7b5dd9edb4 106 UBaseType_t uxPriority,
dflet 0:1e7b5dd9edb4 107 UBaseType_t uxIndex
dflet 0:1e7b5dd9edb4 108 );</pre>
dflet 0:1e7b5dd9edb4 109 *
dflet 0:1e7b5dd9edb4 110 * Create a new co-routine and add it to the list of co-routines that are
dflet 0:1e7b5dd9edb4 111 * ready to run.
dflet 0:1e7b5dd9edb4 112 *
dflet 0:1e7b5dd9edb4 113 * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
dflet 0:1e7b5dd9edb4 114 * functions require special syntax - see the co-routine section of the WEB
dflet 0:1e7b5dd9edb4 115 * documentation for more information.
dflet 0:1e7b5dd9edb4 116 *
dflet 0:1e7b5dd9edb4 117 * @param uxPriority The priority with respect to other co-routines at which
dflet 0:1e7b5dd9edb4 118 * the co-routine will run.
dflet 0:1e7b5dd9edb4 119 *
dflet 0:1e7b5dd9edb4 120 * @param uxIndex Used to distinguish between different co-routines that
dflet 0:1e7b5dd9edb4 121 * execute the same function. See the example below and the co-routine section
dflet 0:1e7b5dd9edb4 122 * of the WEB documentation for further information.
dflet 0:1e7b5dd9edb4 123 *
dflet 0:1e7b5dd9edb4 124 * @return pdPASS if the co-routine was successfully created and added to a ready
dflet 0:1e7b5dd9edb4 125 * list, otherwise an error code defined with ProjDefs.h.
dflet 0:1e7b5dd9edb4 126 *
dflet 0:1e7b5dd9edb4 127 * Example usage:
dflet 0:1e7b5dd9edb4 128 <pre>
dflet 0:1e7b5dd9edb4 129 // Co-routine to be created.
dflet 0:1e7b5dd9edb4 130 void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 131 {
dflet 0:1e7b5dd9edb4 132 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
dflet 0:1e7b5dd9edb4 133 // This may not be necessary for const variables.
dflet 0:1e7b5dd9edb4 134 static const char cLedToFlash[ 2 ] = { 5, 6 };
dflet 0:1e7b5dd9edb4 135 static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
dflet 0:1e7b5dd9edb4 136
dflet 0:1e7b5dd9edb4 137 // Must start every co-routine with a call to crSTART();
dflet 0:1e7b5dd9edb4 138 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 139
dflet 0:1e7b5dd9edb4 140 for( ;; )
dflet 0:1e7b5dd9edb4 141 {
dflet 0:1e7b5dd9edb4 142 // This co-routine just delays for a fixed period, then toggles
dflet 0:1e7b5dd9edb4 143 // an LED. Two co-routines are created using this function, so
dflet 0:1e7b5dd9edb4 144 // the uxIndex parameter is used to tell the co-routine which
dflet 0:1e7b5dd9edb4 145 // LED to flash and how int32_t to delay. This assumes xQueue has
dflet 0:1e7b5dd9edb4 146 // already been created.
dflet 0:1e7b5dd9edb4 147 vParTestToggleLED( cLedToFlash[ uxIndex ] );
dflet 0:1e7b5dd9edb4 148 crDELAY( xHandle, uxFlashRates[ uxIndex ] );
dflet 0:1e7b5dd9edb4 149 }
dflet 0:1e7b5dd9edb4 150
dflet 0:1e7b5dd9edb4 151 // Must end every co-routine with a call to crEND();
dflet 0:1e7b5dd9edb4 152 crEND();
dflet 0:1e7b5dd9edb4 153 }
dflet 0:1e7b5dd9edb4 154
dflet 0:1e7b5dd9edb4 155 // Function that creates two co-routines.
dflet 0:1e7b5dd9edb4 156 void vOtherFunction( void )
dflet 0:1e7b5dd9edb4 157 {
dflet 0:1e7b5dd9edb4 158 uint8_t ucParameterToPass;
dflet 0:1e7b5dd9edb4 159 TaskHandle_t xHandle;
dflet 0:1e7b5dd9edb4 160
dflet 0:1e7b5dd9edb4 161 // Create two co-routines at priority 0. The first is given index 0
dflet 0:1e7b5dd9edb4 162 // so (from the code above) toggles LED 5 every 200 ticks. The second
dflet 0:1e7b5dd9edb4 163 // is given index 1 so toggles LED 6 every 400 ticks.
dflet 0:1e7b5dd9edb4 164 for( uxIndex = 0; uxIndex < 2; uxIndex++ )
dflet 0:1e7b5dd9edb4 165 {
dflet 0:1e7b5dd9edb4 166 xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
dflet 0:1e7b5dd9edb4 167 }
dflet 0:1e7b5dd9edb4 168 }
dflet 0:1e7b5dd9edb4 169 </pre>
dflet 0:1e7b5dd9edb4 170 * \defgroup xCoRoutineCreate xCoRoutineCreate
dflet 0:1e7b5dd9edb4 171 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 172 */
dflet 0:1e7b5dd9edb4 173 BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
dflet 0:1e7b5dd9edb4 174
dflet 0:1e7b5dd9edb4 175
dflet 0:1e7b5dd9edb4 176 /**
dflet 0:1e7b5dd9edb4 177 * croutine. h
dflet 0:1e7b5dd9edb4 178 *<pre>
dflet 0:1e7b5dd9edb4 179 void vCoRoutineSchedule( void );</pre>
dflet 0:1e7b5dd9edb4 180 *
dflet 0:1e7b5dd9edb4 181 * Run a co-routine.
dflet 0:1e7b5dd9edb4 182 *
dflet 0:1e7b5dd9edb4 183 * vCoRoutineSchedule() executes the highest priority co-routine that is able
dflet 0:1e7b5dd9edb4 184 * to run. The co-routine will execute until it either blocks, yields or is
dflet 0:1e7b5dd9edb4 185 * preempted by a task. Co-routines execute cooperatively so one
dflet 0:1e7b5dd9edb4 186 * co-routine cannot be preempted by another, but can be preempted by a task.
dflet 0:1e7b5dd9edb4 187 *
dflet 0:1e7b5dd9edb4 188 * If an application comprises of both tasks and co-routines then
dflet 0:1e7b5dd9edb4 189 * vCoRoutineSchedule should be called from the idle task (in an idle task
dflet 0:1e7b5dd9edb4 190 * hook).
dflet 0:1e7b5dd9edb4 191 *
dflet 0:1e7b5dd9edb4 192 * Example usage:
dflet 0:1e7b5dd9edb4 193 <pre>
dflet 0:1e7b5dd9edb4 194 // This idle task hook will schedule a co-routine each time it is called.
dflet 0:1e7b5dd9edb4 195 // The rest of the idle task will execute between co-routine calls.
dflet 0:1e7b5dd9edb4 196 void vApplicationIdleHook( void )
dflet 0:1e7b5dd9edb4 197 {
dflet 0:1e7b5dd9edb4 198 vCoRoutineSchedule();
dflet 0:1e7b5dd9edb4 199 }
dflet 0:1e7b5dd9edb4 200
dflet 0:1e7b5dd9edb4 201 // Alternatively, if you do not require any other part of the idle task to
dflet 0:1e7b5dd9edb4 202 // execute, the idle task hook can call vCoRoutineScheduler() within an
dflet 0:1e7b5dd9edb4 203 // infinite loop.
dflet 0:1e7b5dd9edb4 204 void vApplicationIdleHook( void )
dflet 0:1e7b5dd9edb4 205 {
dflet 0:1e7b5dd9edb4 206 for( ;; )
dflet 0:1e7b5dd9edb4 207 {
dflet 0:1e7b5dd9edb4 208 vCoRoutineSchedule();
dflet 0:1e7b5dd9edb4 209 }
dflet 0:1e7b5dd9edb4 210 }
dflet 0:1e7b5dd9edb4 211 </pre>
dflet 0:1e7b5dd9edb4 212 * \defgroup vCoRoutineSchedule vCoRoutineSchedule
dflet 0:1e7b5dd9edb4 213 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 214 */
dflet 0:1e7b5dd9edb4 215 void vCoRoutineSchedule( void );
dflet 0:1e7b5dd9edb4 216
dflet 0:1e7b5dd9edb4 217 /**
dflet 0:1e7b5dd9edb4 218 * croutine. h
dflet 0:1e7b5dd9edb4 219 * <pre>
dflet 0:1e7b5dd9edb4 220 crSTART( CoRoutineHandle_t xHandle );</pre>
dflet 0:1e7b5dd9edb4 221 *
dflet 0:1e7b5dd9edb4 222 * This macro MUST always be called at the start of a co-routine function.
dflet 0:1e7b5dd9edb4 223 *
dflet 0:1e7b5dd9edb4 224 * Example usage:
dflet 0:1e7b5dd9edb4 225 <pre>
dflet 0:1e7b5dd9edb4 226 // Co-routine to be created.
dflet 0:1e7b5dd9edb4 227 void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 228 {
dflet 0:1e7b5dd9edb4 229 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
dflet 0:1e7b5dd9edb4 230 static int32_t ulAVariable;
dflet 0:1e7b5dd9edb4 231
dflet 0:1e7b5dd9edb4 232 // Must start every co-routine with a call to crSTART();
dflet 0:1e7b5dd9edb4 233 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 234
dflet 0:1e7b5dd9edb4 235 for( ;; )
dflet 0:1e7b5dd9edb4 236 {
dflet 0:1e7b5dd9edb4 237 // Co-routine functionality goes here.
dflet 0:1e7b5dd9edb4 238 }
dflet 0:1e7b5dd9edb4 239
dflet 0:1e7b5dd9edb4 240 // Must end every co-routine with a call to crEND();
dflet 0:1e7b5dd9edb4 241 crEND();
dflet 0:1e7b5dd9edb4 242 }</pre>
dflet 0:1e7b5dd9edb4 243 * \defgroup crSTART crSTART
dflet 0:1e7b5dd9edb4 244 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 245 */
dflet 0:1e7b5dd9edb4 246 #define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
dflet 0:1e7b5dd9edb4 247
dflet 0:1e7b5dd9edb4 248 /**
dflet 0:1e7b5dd9edb4 249 * croutine. h
dflet 0:1e7b5dd9edb4 250 * <pre>
dflet 0:1e7b5dd9edb4 251 crEND();</pre>
dflet 0:1e7b5dd9edb4 252 *
dflet 0:1e7b5dd9edb4 253 * This macro MUST always be called at the end of a co-routine function.
dflet 0:1e7b5dd9edb4 254 *
dflet 0:1e7b5dd9edb4 255 * Example usage:
dflet 0:1e7b5dd9edb4 256 <pre>
dflet 0:1e7b5dd9edb4 257 // Co-routine to be created.
dflet 0:1e7b5dd9edb4 258 void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 259 {
dflet 0:1e7b5dd9edb4 260 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
dflet 0:1e7b5dd9edb4 261 static int32_t ulAVariable;
dflet 0:1e7b5dd9edb4 262
dflet 0:1e7b5dd9edb4 263 // Must start every co-routine with a call to crSTART();
dflet 0:1e7b5dd9edb4 264 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 265
dflet 0:1e7b5dd9edb4 266 for( ;; )
dflet 0:1e7b5dd9edb4 267 {
dflet 0:1e7b5dd9edb4 268 // Co-routine functionality goes here.
dflet 0:1e7b5dd9edb4 269 }
dflet 0:1e7b5dd9edb4 270
dflet 0:1e7b5dd9edb4 271 // Must end every co-routine with a call to crEND();
dflet 0:1e7b5dd9edb4 272 crEND();
dflet 0:1e7b5dd9edb4 273 }</pre>
dflet 0:1e7b5dd9edb4 274 * \defgroup crSTART crSTART
dflet 0:1e7b5dd9edb4 275 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 276 */
dflet 0:1e7b5dd9edb4 277 #define crEND() }
dflet 0:1e7b5dd9edb4 278
dflet 0:1e7b5dd9edb4 279 /*
dflet 0:1e7b5dd9edb4 280 * These macros are intended for internal use by the co-routine implementation
dflet 0:1e7b5dd9edb4 281 * only. The macros should not be used directly by application writers.
dflet 0:1e7b5dd9edb4 282 */
dflet 0:1e7b5dd9edb4 283 #define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
dflet 0:1e7b5dd9edb4 284 #define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
dflet 0:1e7b5dd9edb4 285
dflet 0:1e7b5dd9edb4 286 /**
dflet 0:1e7b5dd9edb4 287 * croutine. h
dflet 0:1e7b5dd9edb4 288 *<pre>
dflet 0:1e7b5dd9edb4 289 crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
dflet 0:1e7b5dd9edb4 290 *
dflet 0:1e7b5dd9edb4 291 * Delay a co-routine for a fixed period of time.
dflet 0:1e7b5dd9edb4 292 *
dflet 0:1e7b5dd9edb4 293 * crDELAY can only be called from the co-routine function itself - not
dflet 0:1e7b5dd9edb4 294 * from within a function called by the co-routine function. This is because
dflet 0:1e7b5dd9edb4 295 * co-routines do not maintain their own stack.
dflet 0:1e7b5dd9edb4 296 *
dflet 0:1e7b5dd9edb4 297 * @param xHandle The handle of the co-routine to delay. This is the xHandle
dflet 0:1e7b5dd9edb4 298 * parameter of the co-routine function.
dflet 0:1e7b5dd9edb4 299 *
dflet 0:1e7b5dd9edb4 300 * @param xTickToDelay The number of ticks that the co-routine should delay
dflet 0:1e7b5dd9edb4 301 * for. The actual amount of time this equates to is defined by
dflet 0:1e7b5dd9edb4 302 * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
dflet 0:1e7b5dd9edb4 303 * can be used to convert ticks to milliseconds.
dflet 0:1e7b5dd9edb4 304 *
dflet 0:1e7b5dd9edb4 305 * Example usage:
dflet 0:1e7b5dd9edb4 306 <pre>
dflet 0:1e7b5dd9edb4 307 // Co-routine to be created.
dflet 0:1e7b5dd9edb4 308 void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 309 {
dflet 0:1e7b5dd9edb4 310 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
dflet 0:1e7b5dd9edb4 311 // This may not be necessary for const variables.
dflet 0:1e7b5dd9edb4 312 // We are to delay for 200ms.
dflet 0:1e7b5dd9edb4 313 static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
dflet 0:1e7b5dd9edb4 314
dflet 0:1e7b5dd9edb4 315 // Must start every co-routine with a call to crSTART();
dflet 0:1e7b5dd9edb4 316 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 317
dflet 0:1e7b5dd9edb4 318 for( ;; )
dflet 0:1e7b5dd9edb4 319 {
dflet 0:1e7b5dd9edb4 320 // Delay for 200ms.
dflet 0:1e7b5dd9edb4 321 crDELAY( xHandle, xDelayTime );
dflet 0:1e7b5dd9edb4 322
dflet 0:1e7b5dd9edb4 323 // Do something here.
dflet 0:1e7b5dd9edb4 324 }
dflet 0:1e7b5dd9edb4 325
dflet 0:1e7b5dd9edb4 326 // Must end every co-routine with a call to crEND();
dflet 0:1e7b5dd9edb4 327 crEND();
dflet 0:1e7b5dd9edb4 328 }</pre>
dflet 0:1e7b5dd9edb4 329 * \defgroup crDELAY crDELAY
dflet 0:1e7b5dd9edb4 330 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 331 */
dflet 0:1e7b5dd9edb4 332 #define crDELAY( xHandle, xTicksToDelay ) \
dflet 0:1e7b5dd9edb4 333 if( ( xTicksToDelay ) > 0 ) \
dflet 0:1e7b5dd9edb4 334 { \
dflet 0:1e7b5dd9edb4 335 vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
dflet 0:1e7b5dd9edb4 336 } \
dflet 0:1e7b5dd9edb4 337 crSET_STATE0( ( xHandle ) );
dflet 0:1e7b5dd9edb4 338
dflet 0:1e7b5dd9edb4 339 /**
dflet 0:1e7b5dd9edb4 340 * <pre>
dflet 0:1e7b5dd9edb4 341 crQUEUE_SEND(
dflet 0:1e7b5dd9edb4 342 CoRoutineHandle_t xHandle,
dflet 0:1e7b5dd9edb4 343 QueueHandle_t pxQueue,
dflet 0:1e7b5dd9edb4 344 void *pvItemToQueue,
dflet 0:1e7b5dd9edb4 345 TickType_t xTicksToWait,
dflet 0:1e7b5dd9edb4 346 BaseType_t *pxResult
dflet 0:1e7b5dd9edb4 347 )</pre>
dflet 0:1e7b5dd9edb4 348 *
dflet 0:1e7b5dd9edb4 349 * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
dflet 0:1e7b5dd9edb4 350 * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
dflet 0:1e7b5dd9edb4 351 *
dflet 0:1e7b5dd9edb4 352 * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
dflet 0:1e7b5dd9edb4 353 * xQueueSend() and xQueueReceive() can only be used from tasks.
dflet 0:1e7b5dd9edb4 354 *
dflet 0:1e7b5dd9edb4 355 * crQUEUE_SEND can only be called from the co-routine function itself - not
dflet 0:1e7b5dd9edb4 356 * from within a function called by the co-routine function. This is because
dflet 0:1e7b5dd9edb4 357 * co-routines do not maintain their own stack.
dflet 0:1e7b5dd9edb4 358 *
dflet 0:1e7b5dd9edb4 359 * See the co-routine section of the WEB documentation for information on
dflet 0:1e7b5dd9edb4 360 * passing data between tasks and co-routines and between ISR's and
dflet 0:1e7b5dd9edb4 361 * co-routines.
dflet 0:1e7b5dd9edb4 362 *
dflet 0:1e7b5dd9edb4 363 * @param xHandle The handle of the calling co-routine. This is the xHandle
dflet 0:1e7b5dd9edb4 364 * parameter of the co-routine function.
dflet 0:1e7b5dd9edb4 365 *
dflet 0:1e7b5dd9edb4 366 * @param pxQueue The handle of the queue on which the data will be posted.
dflet 0:1e7b5dd9edb4 367 * The handle is obtained as the return value when the queue is created using
dflet 0:1e7b5dd9edb4 368 * the xQueueCreate() API function.
dflet 0:1e7b5dd9edb4 369 *
dflet 0:1e7b5dd9edb4 370 * @param pvItemToQueue A pointer to the data being posted onto the queue.
dflet 0:1e7b5dd9edb4 371 * The number of bytes of each queued item is specified when the queue is
dflet 0:1e7b5dd9edb4 372 * created. This number of bytes is copied from pvItemToQueue into the queue
dflet 0:1e7b5dd9edb4 373 * itself.
dflet 0:1e7b5dd9edb4 374 *
dflet 0:1e7b5dd9edb4 375 * @param xTickToDelay The number of ticks that the co-routine should block
dflet 0:1e7b5dd9edb4 376 * to wait for space to become available on the queue, should space not be
dflet 0:1e7b5dd9edb4 377 * available immediately. The actual amount of time this equates to is defined
dflet 0:1e7b5dd9edb4 378 * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
dflet 0:1e7b5dd9edb4 379 * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
dflet 0:1e7b5dd9edb4 380 * below).
dflet 0:1e7b5dd9edb4 381 *
dflet 0:1e7b5dd9edb4 382 * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
dflet 0:1e7b5dd9edb4 383 * data was successfully posted onto the queue, otherwise it will be set to an
dflet 0:1e7b5dd9edb4 384 * error defined within ProjDefs.h.
dflet 0:1e7b5dd9edb4 385 *
dflet 0:1e7b5dd9edb4 386 * Example usage:
dflet 0:1e7b5dd9edb4 387 <pre>
dflet 0:1e7b5dd9edb4 388 // Co-routine function that blocks for a fixed period then posts a number onto
dflet 0:1e7b5dd9edb4 389 // a queue.
dflet 0:1e7b5dd9edb4 390 static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 391 {
dflet 0:1e7b5dd9edb4 392 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
dflet 0:1e7b5dd9edb4 393 static BaseType_t xNumberToPost = 0;
dflet 0:1e7b5dd9edb4 394 static BaseType_t xResult;
dflet 0:1e7b5dd9edb4 395
dflet 0:1e7b5dd9edb4 396 // Co-routines must begin with a call to crSTART().
dflet 0:1e7b5dd9edb4 397 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 398
dflet 0:1e7b5dd9edb4 399 for( ;; )
dflet 0:1e7b5dd9edb4 400 {
dflet 0:1e7b5dd9edb4 401 // This assumes the queue has already been created.
dflet 0:1e7b5dd9edb4 402 crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
dflet 0:1e7b5dd9edb4 403
dflet 0:1e7b5dd9edb4 404 if( xResult != pdPASS )
dflet 0:1e7b5dd9edb4 405 {
dflet 0:1e7b5dd9edb4 406 // The message was not posted!
dflet 0:1e7b5dd9edb4 407 }
dflet 0:1e7b5dd9edb4 408
dflet 0:1e7b5dd9edb4 409 // Increment the number to be posted onto the queue.
dflet 0:1e7b5dd9edb4 410 xNumberToPost++;
dflet 0:1e7b5dd9edb4 411
dflet 0:1e7b5dd9edb4 412 // Delay for 100 ticks.
dflet 0:1e7b5dd9edb4 413 crDELAY( xHandle, 100 );
dflet 0:1e7b5dd9edb4 414 }
dflet 0:1e7b5dd9edb4 415
dflet 0:1e7b5dd9edb4 416 // Co-routines must end with a call to crEND().
dflet 0:1e7b5dd9edb4 417 crEND();
dflet 0:1e7b5dd9edb4 418 }</pre>
dflet 0:1e7b5dd9edb4 419 * \defgroup crQUEUE_SEND crQUEUE_SEND
dflet 0:1e7b5dd9edb4 420 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 421 */
dflet 0:1e7b5dd9edb4 422 #define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
dflet 0:1e7b5dd9edb4 423 { \
dflet 0:1e7b5dd9edb4 424 *( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \
dflet 0:1e7b5dd9edb4 425 if( *( pxResult ) == errQUEUE_BLOCKED ) \
dflet 0:1e7b5dd9edb4 426 { \
dflet 0:1e7b5dd9edb4 427 crSET_STATE0( ( xHandle ) ); \
dflet 0:1e7b5dd9edb4 428 *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
dflet 0:1e7b5dd9edb4 429 } \
dflet 0:1e7b5dd9edb4 430 if( *pxResult == errQUEUE_YIELD ) \
dflet 0:1e7b5dd9edb4 431 { \
dflet 0:1e7b5dd9edb4 432 crSET_STATE1( ( xHandle ) ); \
dflet 0:1e7b5dd9edb4 433 *pxResult = pdPASS; \
dflet 0:1e7b5dd9edb4 434 } \
dflet 0:1e7b5dd9edb4 435 }
dflet 0:1e7b5dd9edb4 436
dflet 0:1e7b5dd9edb4 437 /**
dflet 0:1e7b5dd9edb4 438 * croutine. h
dflet 0:1e7b5dd9edb4 439 * <pre>
dflet 0:1e7b5dd9edb4 440 crQUEUE_RECEIVE(
dflet 0:1e7b5dd9edb4 441 CoRoutineHandle_t xHandle,
dflet 0:1e7b5dd9edb4 442 QueueHandle_t pxQueue,
dflet 0:1e7b5dd9edb4 443 void *pvBuffer,
dflet 0:1e7b5dd9edb4 444 TickType_t xTicksToWait,
dflet 0:1e7b5dd9edb4 445 BaseType_t *pxResult
dflet 0:1e7b5dd9edb4 446 )</pre>
dflet 0:1e7b5dd9edb4 447 *
dflet 0:1e7b5dd9edb4 448 * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
dflet 0:1e7b5dd9edb4 449 * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
dflet 0:1e7b5dd9edb4 450 *
dflet 0:1e7b5dd9edb4 451 * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
dflet 0:1e7b5dd9edb4 452 * xQueueSend() and xQueueReceive() can only be used from tasks.
dflet 0:1e7b5dd9edb4 453 *
dflet 0:1e7b5dd9edb4 454 * crQUEUE_RECEIVE can only be called from the co-routine function itself - not
dflet 0:1e7b5dd9edb4 455 * from within a function called by the co-routine function. This is because
dflet 0:1e7b5dd9edb4 456 * co-routines do not maintain their own stack.
dflet 0:1e7b5dd9edb4 457 *
dflet 0:1e7b5dd9edb4 458 * See the co-routine section of the WEB documentation for information on
dflet 0:1e7b5dd9edb4 459 * passing data between tasks and co-routines and between ISR's and
dflet 0:1e7b5dd9edb4 460 * co-routines.
dflet 0:1e7b5dd9edb4 461 *
dflet 0:1e7b5dd9edb4 462 * @param xHandle The handle of the calling co-routine. This is the xHandle
dflet 0:1e7b5dd9edb4 463 * parameter of the co-routine function.
dflet 0:1e7b5dd9edb4 464 *
dflet 0:1e7b5dd9edb4 465 * @param pxQueue The handle of the queue from which the data will be received.
dflet 0:1e7b5dd9edb4 466 * The handle is obtained as the return value when the queue is created using
dflet 0:1e7b5dd9edb4 467 * the xQueueCreate() API function.
dflet 0:1e7b5dd9edb4 468 *
dflet 0:1e7b5dd9edb4 469 * @param pvBuffer The buffer into which the received item is to be copied.
dflet 0:1e7b5dd9edb4 470 * The number of bytes of each queued item is specified when the queue is
dflet 0:1e7b5dd9edb4 471 * created. This number of bytes is copied into pvBuffer.
dflet 0:1e7b5dd9edb4 472 *
dflet 0:1e7b5dd9edb4 473 * @param xTickToDelay The number of ticks that the co-routine should block
dflet 0:1e7b5dd9edb4 474 * to wait for data to become available from the queue, should data not be
dflet 0:1e7b5dd9edb4 475 * available immediately. The actual amount of time this equates to is defined
dflet 0:1e7b5dd9edb4 476 * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
dflet 0:1e7b5dd9edb4 477 * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
dflet 0:1e7b5dd9edb4 478 * crQUEUE_SEND example).
dflet 0:1e7b5dd9edb4 479 *
dflet 0:1e7b5dd9edb4 480 * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
dflet 0:1e7b5dd9edb4 481 * data was successfully retrieved from the queue, otherwise it will be set to
dflet 0:1e7b5dd9edb4 482 * an error code as defined within ProjDefs.h.
dflet 0:1e7b5dd9edb4 483 *
dflet 0:1e7b5dd9edb4 484 * Example usage:
dflet 0:1e7b5dd9edb4 485 <pre>
dflet 0:1e7b5dd9edb4 486 // A co-routine receives the number of an LED to flash from a queue. It
dflet 0:1e7b5dd9edb4 487 // blocks on the queue until the number is received.
dflet 0:1e7b5dd9edb4 488 static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 489 {
dflet 0:1e7b5dd9edb4 490 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
dflet 0:1e7b5dd9edb4 491 static BaseType_t xResult;
dflet 0:1e7b5dd9edb4 492 static UBaseType_t uxLEDToFlash;
dflet 0:1e7b5dd9edb4 493
dflet 0:1e7b5dd9edb4 494 // All co-routines must start with a call to crSTART().
dflet 0:1e7b5dd9edb4 495 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 496
dflet 0:1e7b5dd9edb4 497 for( ;; )
dflet 0:1e7b5dd9edb4 498 {
dflet 0:1e7b5dd9edb4 499 // Wait for data to become available on the queue.
dflet 0:1e7b5dd9edb4 500 crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
dflet 0:1e7b5dd9edb4 501
dflet 0:1e7b5dd9edb4 502 if( xResult == pdPASS )
dflet 0:1e7b5dd9edb4 503 {
dflet 0:1e7b5dd9edb4 504 // We received the LED to flash - flash it!
dflet 0:1e7b5dd9edb4 505 vParTestToggleLED( uxLEDToFlash );
dflet 0:1e7b5dd9edb4 506 }
dflet 0:1e7b5dd9edb4 507 }
dflet 0:1e7b5dd9edb4 508
dflet 0:1e7b5dd9edb4 509 crEND();
dflet 0:1e7b5dd9edb4 510 }</pre>
dflet 0:1e7b5dd9edb4 511 * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
dflet 0:1e7b5dd9edb4 512 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 513 */
dflet 0:1e7b5dd9edb4 514 #define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
dflet 0:1e7b5dd9edb4 515 { \
dflet 0:1e7b5dd9edb4 516 *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \
dflet 0:1e7b5dd9edb4 517 if( *( pxResult ) == errQUEUE_BLOCKED ) \
dflet 0:1e7b5dd9edb4 518 { \
dflet 0:1e7b5dd9edb4 519 crSET_STATE0( ( xHandle ) ); \
dflet 0:1e7b5dd9edb4 520 *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \
dflet 0:1e7b5dd9edb4 521 } \
dflet 0:1e7b5dd9edb4 522 if( *( pxResult ) == errQUEUE_YIELD ) \
dflet 0:1e7b5dd9edb4 523 { \
dflet 0:1e7b5dd9edb4 524 crSET_STATE1( ( xHandle ) ); \
dflet 0:1e7b5dd9edb4 525 *( pxResult ) = pdPASS; \
dflet 0:1e7b5dd9edb4 526 } \
dflet 0:1e7b5dd9edb4 527 }
dflet 0:1e7b5dd9edb4 528
dflet 0:1e7b5dd9edb4 529 /**
dflet 0:1e7b5dd9edb4 530 * croutine. h
dflet 0:1e7b5dd9edb4 531 * <pre>
dflet 0:1e7b5dd9edb4 532 crQUEUE_SEND_FROM_ISR(
dflet 0:1e7b5dd9edb4 533 QueueHandle_t pxQueue,
dflet 0:1e7b5dd9edb4 534 void *pvItemToQueue,
dflet 0:1e7b5dd9edb4 535 BaseType_t xCoRoutinePreviouslyWoken
dflet 0:1e7b5dd9edb4 536 )</pre>
dflet 0:1e7b5dd9edb4 537 *
dflet 0:1e7b5dd9edb4 538 * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
dflet 0:1e7b5dd9edb4 539 * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
dflet 0:1e7b5dd9edb4 540 * functions used by tasks.
dflet 0:1e7b5dd9edb4 541 *
dflet 0:1e7b5dd9edb4 542 * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
dflet 0:1e7b5dd9edb4 543 * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
dflet 0:1e7b5dd9edb4 544 * xQueueReceiveFromISR() can only be used to pass data between a task and and
dflet 0:1e7b5dd9edb4 545 * ISR.
dflet 0:1e7b5dd9edb4 546 *
dflet 0:1e7b5dd9edb4 547 * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
dflet 0:1e7b5dd9edb4 548 * that is being used from within a co-routine.
dflet 0:1e7b5dd9edb4 549 *
dflet 0:1e7b5dd9edb4 550 * See the co-routine section of the WEB documentation for information on
dflet 0:1e7b5dd9edb4 551 * passing data between tasks and co-routines and between ISR's and
dflet 0:1e7b5dd9edb4 552 * co-routines.
dflet 0:1e7b5dd9edb4 553 *
dflet 0:1e7b5dd9edb4 554 * @param xQueue The handle to the queue on which the item is to be posted.
dflet 0:1e7b5dd9edb4 555 *
dflet 0:1e7b5dd9edb4 556 * @param pvItemToQueue A pointer to the item that is to be placed on the
dflet 0:1e7b5dd9edb4 557 * queue. The size of the items the queue will hold was defined when the
dflet 0:1e7b5dd9edb4 558 * queue was created, so this many bytes will be copied from pvItemToQueue
dflet 0:1e7b5dd9edb4 559 * into the queue storage area.
dflet 0:1e7b5dd9edb4 560 *
dflet 0:1e7b5dd9edb4 561 * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
dflet 0:1e7b5dd9edb4 562 * the same queue multiple times from a single interrupt. The first call
dflet 0:1e7b5dd9edb4 563 * should always pass in pdFALSE. Subsequent calls should pass in
dflet 0:1e7b5dd9edb4 564 * the value returned from the previous call.
dflet 0:1e7b5dd9edb4 565 *
dflet 0:1e7b5dd9edb4 566 * @return pdTRUE if a co-routine was woken by posting onto the queue. This is
dflet 0:1e7b5dd9edb4 567 * used by the ISR to determine if a context switch may be required following
dflet 0:1e7b5dd9edb4 568 * the ISR.
dflet 0:1e7b5dd9edb4 569 *
dflet 0:1e7b5dd9edb4 570 * Example usage:
dflet 0:1e7b5dd9edb4 571 <pre>
dflet 0:1e7b5dd9edb4 572 // A co-routine that blocks on a queue waiting for characters to be received.
dflet 0:1e7b5dd9edb4 573 static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 574 {
dflet 0:1e7b5dd9edb4 575 char cRxedChar;
dflet 0:1e7b5dd9edb4 576 BaseType_t xResult;
dflet 0:1e7b5dd9edb4 577
dflet 0:1e7b5dd9edb4 578 // All co-routines must start with a call to crSTART().
dflet 0:1e7b5dd9edb4 579 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 580
dflet 0:1e7b5dd9edb4 581 for( ;; )
dflet 0:1e7b5dd9edb4 582 {
dflet 0:1e7b5dd9edb4 583 // Wait for data to become available on the queue. This assumes the
dflet 0:1e7b5dd9edb4 584 // queue xCommsRxQueue has already been created!
dflet 0:1e7b5dd9edb4 585 crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
dflet 0:1e7b5dd9edb4 586
dflet 0:1e7b5dd9edb4 587 // Was a character received?
dflet 0:1e7b5dd9edb4 588 if( xResult == pdPASS )
dflet 0:1e7b5dd9edb4 589 {
dflet 0:1e7b5dd9edb4 590 // Process the character here.
dflet 0:1e7b5dd9edb4 591 }
dflet 0:1e7b5dd9edb4 592 }
dflet 0:1e7b5dd9edb4 593
dflet 0:1e7b5dd9edb4 594 // All co-routines must end with a call to crEND().
dflet 0:1e7b5dd9edb4 595 crEND();
dflet 0:1e7b5dd9edb4 596 }
dflet 0:1e7b5dd9edb4 597
dflet 0:1e7b5dd9edb4 598 // An ISR that uses a queue to send characters received on a serial port to
dflet 0:1e7b5dd9edb4 599 // a co-routine.
dflet 0:1e7b5dd9edb4 600 void vUART_ISR( void )
dflet 0:1e7b5dd9edb4 601 {
dflet 0:1e7b5dd9edb4 602 char cRxedChar;
dflet 0:1e7b5dd9edb4 603 BaseType_t xCRWokenByPost = pdFALSE;
dflet 0:1e7b5dd9edb4 604
dflet 0:1e7b5dd9edb4 605 // We loop around reading characters until there are none left in the UART.
dflet 0:1e7b5dd9edb4 606 while( UART_RX_REG_NOT_EMPTY() )
dflet 0:1e7b5dd9edb4 607 {
dflet 0:1e7b5dd9edb4 608 // Obtain the character from the UART.
dflet 0:1e7b5dd9edb4 609 cRxedChar = UART_RX_REG;
dflet 0:1e7b5dd9edb4 610
dflet 0:1e7b5dd9edb4 611 // Post the character onto a queue. xCRWokenByPost will be pdFALSE
dflet 0:1e7b5dd9edb4 612 // the first time around the loop. If the post causes a co-routine
dflet 0:1e7b5dd9edb4 613 // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
dflet 0:1e7b5dd9edb4 614 // In this manner we can ensure that if more than one co-routine is
dflet 0:1e7b5dd9edb4 615 // blocked on the queue only one is woken by this ISR no matter how
dflet 0:1e7b5dd9edb4 616 // many characters are posted to the queue.
dflet 0:1e7b5dd9edb4 617 xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
dflet 0:1e7b5dd9edb4 618 }
dflet 0:1e7b5dd9edb4 619 }</pre>
dflet 0:1e7b5dd9edb4 620 * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
dflet 0:1e7b5dd9edb4 621 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 622 */
dflet 0:1e7b5dd9edb4 623 #define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
dflet 0:1e7b5dd9edb4 624
dflet 0:1e7b5dd9edb4 625
dflet 0:1e7b5dd9edb4 626 /**
dflet 0:1e7b5dd9edb4 627 * croutine. h
dflet 0:1e7b5dd9edb4 628 * <pre>
dflet 0:1e7b5dd9edb4 629 crQUEUE_SEND_FROM_ISR(
dflet 0:1e7b5dd9edb4 630 QueueHandle_t pxQueue,
dflet 0:1e7b5dd9edb4 631 void *pvBuffer,
dflet 0:1e7b5dd9edb4 632 BaseType_t * pxCoRoutineWoken
dflet 0:1e7b5dd9edb4 633 )</pre>
dflet 0:1e7b5dd9edb4 634 *
dflet 0:1e7b5dd9edb4 635 * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
dflet 0:1e7b5dd9edb4 636 * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
dflet 0:1e7b5dd9edb4 637 * functions used by tasks.
dflet 0:1e7b5dd9edb4 638 *
dflet 0:1e7b5dd9edb4 639 * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
dflet 0:1e7b5dd9edb4 640 * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
dflet 0:1e7b5dd9edb4 641 * xQueueReceiveFromISR() can only be used to pass data between a task and and
dflet 0:1e7b5dd9edb4 642 * ISR.
dflet 0:1e7b5dd9edb4 643 *
dflet 0:1e7b5dd9edb4 644 * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
dflet 0:1e7b5dd9edb4 645 * from a queue that is being used from within a co-routine (a co-routine
dflet 0:1e7b5dd9edb4 646 * posted to the queue).
dflet 0:1e7b5dd9edb4 647 *
dflet 0:1e7b5dd9edb4 648 * See the co-routine section of the WEB documentation for information on
dflet 0:1e7b5dd9edb4 649 * passing data between tasks and co-routines and between ISR's and
dflet 0:1e7b5dd9edb4 650 * co-routines.
dflet 0:1e7b5dd9edb4 651 *
dflet 0:1e7b5dd9edb4 652 * @param xQueue The handle to the queue on which the item is to be posted.
dflet 0:1e7b5dd9edb4 653 *
dflet 0:1e7b5dd9edb4 654 * @param pvBuffer A pointer to a buffer into which the received item will be
dflet 0:1e7b5dd9edb4 655 * placed. The size of the items the queue will hold was defined when the
dflet 0:1e7b5dd9edb4 656 * queue was created, so this many bytes will be copied from the queue into
dflet 0:1e7b5dd9edb4 657 * pvBuffer.
dflet 0:1e7b5dd9edb4 658 *
dflet 0:1e7b5dd9edb4 659 * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
dflet 0:1e7b5dd9edb4 660 * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
dflet 0:1e7b5dd9edb4 661 * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
dflet 0:1e7b5dd9edb4 662 * *pxCoRoutineWoken will remain unchanged.
dflet 0:1e7b5dd9edb4 663 *
dflet 0:1e7b5dd9edb4 664 * @return pdTRUE an item was successfully received from the queue, otherwise
dflet 0:1e7b5dd9edb4 665 * pdFALSE.
dflet 0:1e7b5dd9edb4 666 *
dflet 0:1e7b5dd9edb4 667 * Example usage:
dflet 0:1e7b5dd9edb4 668 <pre>
dflet 0:1e7b5dd9edb4 669 // A co-routine that posts a character to a queue then blocks for a fixed
dflet 0:1e7b5dd9edb4 670 // period. The character is incremented each time.
dflet 0:1e7b5dd9edb4 671 static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
dflet 0:1e7b5dd9edb4 672 {
dflet 0:1e7b5dd9edb4 673 // cChar holds its value while this co-routine is blocked and must therefore
dflet 0:1e7b5dd9edb4 674 // be declared static.
dflet 0:1e7b5dd9edb4 675 static char cCharToTx = 'a';
dflet 0:1e7b5dd9edb4 676 BaseType_t xResult;
dflet 0:1e7b5dd9edb4 677
dflet 0:1e7b5dd9edb4 678 // All co-routines must start with a call to crSTART().
dflet 0:1e7b5dd9edb4 679 crSTART( xHandle );
dflet 0:1e7b5dd9edb4 680
dflet 0:1e7b5dd9edb4 681 for( ;; )
dflet 0:1e7b5dd9edb4 682 {
dflet 0:1e7b5dd9edb4 683 // Send the next character to the queue.
dflet 0:1e7b5dd9edb4 684 crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
dflet 0:1e7b5dd9edb4 685
dflet 0:1e7b5dd9edb4 686 if( xResult == pdPASS )
dflet 0:1e7b5dd9edb4 687 {
dflet 0:1e7b5dd9edb4 688 // The character was successfully posted to the queue.
dflet 0:1e7b5dd9edb4 689 }
dflet 0:1e7b5dd9edb4 690 else
dflet 0:1e7b5dd9edb4 691 {
dflet 0:1e7b5dd9edb4 692 // Could not post the character to the queue.
dflet 0:1e7b5dd9edb4 693 }
dflet 0:1e7b5dd9edb4 694
dflet 0:1e7b5dd9edb4 695 // Enable the UART Tx interrupt to cause an interrupt in this
dflet 0:1e7b5dd9edb4 696 // hypothetical UART. The interrupt will obtain the character
dflet 0:1e7b5dd9edb4 697 // from the queue and send it.
dflet 0:1e7b5dd9edb4 698 ENABLE_RX_INTERRUPT();
dflet 0:1e7b5dd9edb4 699
dflet 0:1e7b5dd9edb4 700 // Increment to the next character then block for a fixed period.
dflet 0:1e7b5dd9edb4 701 // cCharToTx will maintain its value across the delay as it is
dflet 0:1e7b5dd9edb4 702 // declared static.
dflet 0:1e7b5dd9edb4 703 cCharToTx++;
dflet 0:1e7b5dd9edb4 704 if( cCharToTx > 'x' )
dflet 0:1e7b5dd9edb4 705 {
dflet 0:1e7b5dd9edb4 706 cCharToTx = 'a';
dflet 0:1e7b5dd9edb4 707 }
dflet 0:1e7b5dd9edb4 708 crDELAY( 100 );
dflet 0:1e7b5dd9edb4 709 }
dflet 0:1e7b5dd9edb4 710
dflet 0:1e7b5dd9edb4 711 // All co-routines must end with a call to crEND().
dflet 0:1e7b5dd9edb4 712 crEND();
dflet 0:1e7b5dd9edb4 713 }
dflet 0:1e7b5dd9edb4 714
dflet 0:1e7b5dd9edb4 715 // An ISR that uses a queue to receive characters to send on a UART.
dflet 0:1e7b5dd9edb4 716 void vUART_ISR( void )
dflet 0:1e7b5dd9edb4 717 {
dflet 0:1e7b5dd9edb4 718 char cCharToTx;
dflet 0:1e7b5dd9edb4 719 BaseType_t xCRWokenByPost = pdFALSE;
dflet 0:1e7b5dd9edb4 720
dflet 0:1e7b5dd9edb4 721 while( UART_TX_REG_EMPTY() )
dflet 0:1e7b5dd9edb4 722 {
dflet 0:1e7b5dd9edb4 723 // Are there any characters in the queue waiting to be sent?
dflet 0:1e7b5dd9edb4 724 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
dflet 0:1e7b5dd9edb4 725 // is woken by the post - ensuring that only a single co-routine is
dflet 0:1e7b5dd9edb4 726 // woken no matter how many times we go around this loop.
dflet 0:1e7b5dd9edb4 727 if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
dflet 0:1e7b5dd9edb4 728 {
dflet 0:1e7b5dd9edb4 729 SEND_CHARACTER( cCharToTx );
dflet 0:1e7b5dd9edb4 730 }
dflet 0:1e7b5dd9edb4 731 }
dflet 0:1e7b5dd9edb4 732 }</pre>
dflet 0:1e7b5dd9edb4 733 * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
dflet 0:1e7b5dd9edb4 734 * \ingroup Tasks
dflet 0:1e7b5dd9edb4 735 */
dflet 0:1e7b5dd9edb4 736 #define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
dflet 0:1e7b5dd9edb4 737
dflet 0:1e7b5dd9edb4 738 /*
dflet 0:1e7b5dd9edb4 739 * This function is intended for internal use by the co-routine macros only.
dflet 0:1e7b5dd9edb4 740 * The macro nature of the co-routine implementation requires that the
dflet 0:1e7b5dd9edb4 741 * prototype appears here. The function should not be used by application
dflet 0:1e7b5dd9edb4 742 * writers.
dflet 0:1e7b5dd9edb4 743 *
dflet 0:1e7b5dd9edb4 744 * Removes the current co-routine from its ready list and places it in the
dflet 0:1e7b5dd9edb4 745 * appropriate delayed list.
dflet 0:1e7b5dd9edb4 746 */
dflet 0:1e7b5dd9edb4 747 void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
dflet 0:1e7b5dd9edb4 748
dflet 0:1e7b5dd9edb4 749 /*
dflet 0:1e7b5dd9edb4 750 * This function is intended for internal use by the queue implementation only.
dflet 0:1e7b5dd9edb4 751 * The function should not be used by application writers.
dflet 0:1e7b5dd9edb4 752 *
dflet 0:1e7b5dd9edb4 753 * Removes the highest priority co-routine from the event list and places it in
dflet 0:1e7b5dd9edb4 754 * the pending ready list.
dflet 0:1e7b5dd9edb4 755 */
dflet 0:1e7b5dd9edb4 756 BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
dflet 0:1e7b5dd9edb4 757
dflet 0:1e7b5dd9edb4 758 #ifdef __cplusplus
dflet 0:1e7b5dd9edb4 759 }
dflet 0:1e7b5dd9edb4 760 #endif
dflet 0:1e7b5dd9edb4 761
dflet 0:1e7b5dd9edb4 762 #endif /* CO_ROUTINE_H */
dflet 0:1e7b5dd9edb4 763