Francisco Paez
/
freertos-cm3
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependents: mbed_lpc1768_freertos_lib
src/croutine.c@0:5ff20db10a96, 2017-05-31 (annotated)
- Committer:
- fep
- Date:
- Wed May 31 02:36:43 2017 +0000
- Revision:
- 0:5ff20db10a96
FreeRTOS v9.0.0 for ARM Cortex-M3 based boards.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| fep | 0:5ff20db10a96 | 1 | /* |
| fep | 0:5ff20db10a96 | 2 | FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. |
| fep | 0:5ff20db10a96 | 3 | All rights reserved |
| fep | 0:5ff20db10a96 | 4 | |
| fep | 0:5ff20db10a96 | 5 | VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. |
| fep | 0:5ff20db10a96 | 6 | |
| fep | 0:5ff20db10a96 | 7 | This file is part of the FreeRTOS distribution. |
| fep | 0:5ff20db10a96 | 8 | |
| fep | 0:5ff20db10a96 | 9 | FreeRTOS is free software; you can redistribute it and/or modify it under |
| fep | 0:5ff20db10a96 | 10 | the terms of the GNU General Public License (version 2) as published by the |
| fep | 0:5ff20db10a96 | 11 | Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. |
| fep | 0:5ff20db10a96 | 12 | |
| fep | 0:5ff20db10a96 | 13 | *************************************************************************** |
| fep | 0:5ff20db10a96 | 14 | >>! NOTE: The modification to the GPL is included to allow you to !<< |
| fep | 0:5ff20db10a96 | 15 | >>! distribute a combined work that includes FreeRTOS without being !<< |
| fep | 0:5ff20db10a96 | 16 | >>! obliged to provide the source code for proprietary components !<< |
| fep | 0:5ff20db10a96 | 17 | >>! outside of the FreeRTOS kernel. !<< |
| fep | 0:5ff20db10a96 | 18 | *************************************************************************** |
| fep | 0:5ff20db10a96 | 19 | |
| fep | 0:5ff20db10a96 | 20 | FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY |
| fep | 0:5ff20db10a96 | 21 | WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS |
| fep | 0:5ff20db10a96 | 22 | FOR A PARTICULAR PURPOSE. Full license text is available on the following |
| fep | 0:5ff20db10a96 | 23 | link: http://www.freertos.org/a00114.html |
| fep | 0:5ff20db10a96 | 24 | |
| fep | 0:5ff20db10a96 | 25 | *************************************************************************** |
| fep | 0:5ff20db10a96 | 26 | * * |
| fep | 0:5ff20db10a96 | 27 | * FreeRTOS provides completely free yet professionally developed, * |
| fep | 0:5ff20db10a96 | 28 | * robust, strictly quality controlled, supported, and cross * |
| fep | 0:5ff20db10a96 | 29 | * platform software that is more than just the market leader, it * |
| fep | 0:5ff20db10a96 | 30 | * is the industry's de facto standard. * |
| fep | 0:5ff20db10a96 | 31 | * * |
| fep | 0:5ff20db10a96 | 32 | * Help yourself get started quickly while simultaneously helping * |
| fep | 0:5ff20db10a96 | 33 | * to support the FreeRTOS project by purchasing a FreeRTOS * |
| fep | 0:5ff20db10a96 | 34 | * tutorial book, reference manual, or both: * |
| fep | 0:5ff20db10a96 | 35 | * http://www.FreeRTOS.org/Documentation * |
| fep | 0:5ff20db10a96 | 36 | * * |
| fep | 0:5ff20db10a96 | 37 | *************************************************************************** |
| fep | 0:5ff20db10a96 | 38 | |
| fep | 0:5ff20db10a96 | 39 | http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading |
| fep | 0:5ff20db10a96 | 40 | the FAQ page "My application does not run, what could be wrong?". Have you |
| fep | 0:5ff20db10a96 | 41 | defined configASSERT()? |
| fep | 0:5ff20db10a96 | 42 | |
| fep | 0:5ff20db10a96 | 43 | http://www.FreeRTOS.org/support - In return for receiving this top quality |
| fep | 0:5ff20db10a96 | 44 | embedded software for free we request you assist our global community by |
| fep | 0:5ff20db10a96 | 45 | participating in the support forum. |
| fep | 0:5ff20db10a96 | 46 | |
| fep | 0:5ff20db10a96 | 47 | http://www.FreeRTOS.org/training - Investing in training allows your team to |
| fep | 0:5ff20db10a96 | 48 | be as productive as possible as early as possible. Now you can receive |
| fep | 0:5ff20db10a96 | 49 | FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers |
| fep | 0:5ff20db10a96 | 50 | Ltd, and the world's leading authority on the world's leading RTOS. |
| fep | 0:5ff20db10a96 | 51 | |
| fep | 0:5ff20db10a96 | 52 | http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, |
| fep | 0:5ff20db10a96 | 53 | including FreeRTOS+Trace - an indispensable productivity tool, a DOS |
| fep | 0:5ff20db10a96 | 54 | compatible FAT file system, and our tiny thread aware UDP/IP stack. |
| fep | 0:5ff20db10a96 | 55 | |
| fep | 0:5ff20db10a96 | 56 | http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. |
| fep | 0:5ff20db10a96 | 57 | Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. |
| fep | 0:5ff20db10a96 | 58 | |
| fep | 0:5ff20db10a96 | 59 | http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High |
| fep | 0:5ff20db10a96 | 60 | Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS |
| fep | 0:5ff20db10a96 | 61 | licenses offer ticketed support, indemnification and commercial middleware. |
| fep | 0:5ff20db10a96 | 62 | |
| fep | 0:5ff20db10a96 | 63 | http://www.SafeRTOS.com - High Integrity Systems also provide a safety |
| fep | 0:5ff20db10a96 | 64 | engineered and independently SIL3 certified version for use in safety and |
| fep | 0:5ff20db10a96 | 65 | mission critical applications that require provable dependability. |
| fep | 0:5ff20db10a96 | 66 | |
| fep | 0:5ff20db10a96 | 67 | 1 tab == 4 spaces! |
| fep | 0:5ff20db10a96 | 68 | */ |
| fep | 0:5ff20db10a96 | 69 | |
| fep | 0:5ff20db10a96 | 70 | #include "FreeRTOS.h" |
| fep | 0:5ff20db10a96 | 71 | #include "task.h" |
| fep | 0:5ff20db10a96 | 72 | #include "croutine.h" |
| fep | 0:5ff20db10a96 | 73 | |
| fep | 0:5ff20db10a96 | 74 | /* Remove the whole file is co-routines are not being used. */ |
| fep | 0:5ff20db10a96 | 75 | #if( configUSE_CO_ROUTINES != 0 ) |
| fep | 0:5ff20db10a96 | 76 | |
| fep | 0:5ff20db10a96 | 77 | /* |
| fep | 0:5ff20db10a96 | 78 | * Some kernel aware debuggers require data to be viewed to be global, rather |
| fep | 0:5ff20db10a96 | 79 | * than file scope. |
| fep | 0:5ff20db10a96 | 80 | */ |
| fep | 0:5ff20db10a96 | 81 | #ifdef portREMOVE_STATIC_QUALIFIER |
| fep | 0:5ff20db10a96 | 82 | #define static |
| fep | 0:5ff20db10a96 | 83 | #endif |
| fep | 0:5ff20db10a96 | 84 | |
| fep | 0:5ff20db10a96 | 85 | |
| fep | 0:5ff20db10a96 | 86 | /* Lists for ready and blocked co-routines. --------------------*/ |
| fep | 0:5ff20db10a96 | 87 | static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ |
| fep | 0:5ff20db10a96 | 88 | static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */ |
| fep | 0:5ff20db10a96 | 89 | static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ |
| fep | 0:5ff20db10a96 | 90 | static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ |
| fep | 0:5ff20db10a96 | 91 | static List_t * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ |
| fep | 0:5ff20db10a96 | 92 | 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. */ |
| fep | 0:5ff20db10a96 | 93 | |
| fep | 0:5ff20db10a96 | 94 | /* Other file private variables. --------------------------------*/ |
| fep | 0:5ff20db10a96 | 95 | CRCB_t * pxCurrentCoRoutine = NULL; |
| fep | 0:5ff20db10a96 | 96 | static UBaseType_t uxTopCoRoutineReadyPriority = 0; |
| fep | 0:5ff20db10a96 | 97 | static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; |
| fep | 0:5ff20db10a96 | 98 | |
| fep | 0:5ff20db10a96 | 99 | /* The initial state of the co-routine when it is created. */ |
| fep | 0:5ff20db10a96 | 100 | #define corINITIAL_STATE ( 0 ) |
| fep | 0:5ff20db10a96 | 101 | |
| fep | 0:5ff20db10a96 | 102 | /* |
| fep | 0:5ff20db10a96 | 103 | * Place the co-routine represented by pxCRCB into the appropriate ready queue |
| fep | 0:5ff20db10a96 | 104 | * for the priority. It is inserted at the end of the list. |
| fep | 0:5ff20db10a96 | 105 | * |
| fep | 0:5ff20db10a96 | 106 | * This macro accesses the co-routine ready lists and therefore must not be |
| fep | 0:5ff20db10a96 | 107 | * used from within an ISR. |
| fep | 0:5ff20db10a96 | 108 | */ |
| fep | 0:5ff20db10a96 | 109 | #define prvAddCoRoutineToReadyQueue( pxCRCB ) \ |
| fep | 0:5ff20db10a96 | 110 | { \ |
| fep | 0:5ff20db10a96 | 111 | if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ |
| fep | 0:5ff20db10a96 | 112 | { \ |
| fep | 0:5ff20db10a96 | 113 | uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ |
| fep | 0:5ff20db10a96 | 114 | } \ |
| fep | 0:5ff20db10a96 | 115 | vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ |
| fep | 0:5ff20db10a96 | 116 | } |
| fep | 0:5ff20db10a96 | 117 | |
| fep | 0:5ff20db10a96 | 118 | /* |
| fep | 0:5ff20db10a96 | 119 | * Utility to ready all the lists used by the scheduler. This is called |
| fep | 0:5ff20db10a96 | 120 | * automatically upon the creation of the first co-routine. |
| fep | 0:5ff20db10a96 | 121 | */ |
| fep | 0:5ff20db10a96 | 122 | static void prvInitialiseCoRoutineLists( void ); |
| fep | 0:5ff20db10a96 | 123 | |
| fep | 0:5ff20db10a96 | 124 | /* |
| fep | 0:5ff20db10a96 | 125 | * Co-routines that are readied by an interrupt cannot be placed directly into |
| fep | 0:5ff20db10a96 | 126 | * the ready lists (there is no mutual exclusion). Instead they are placed in |
| fep | 0:5ff20db10a96 | 127 | * in the pending ready list in order that they can later be moved to the ready |
| fep | 0:5ff20db10a96 | 128 | * list by the co-routine scheduler. |
| fep | 0:5ff20db10a96 | 129 | */ |
| fep | 0:5ff20db10a96 | 130 | static void prvCheckPendingReadyList( void ); |
| fep | 0:5ff20db10a96 | 131 | |
| fep | 0:5ff20db10a96 | 132 | /* |
| fep | 0:5ff20db10a96 | 133 | * Macro that looks at the list of co-routines that are currently delayed to |
| fep | 0:5ff20db10a96 | 134 | * see if any require waking. |
| fep | 0:5ff20db10a96 | 135 | * |
| fep | 0:5ff20db10a96 | 136 | * Co-routines are stored in the queue in the order of their wake time - |
| fep | 0:5ff20db10a96 | 137 | * meaning once one co-routine has been found whose timer has not expired |
| fep | 0:5ff20db10a96 | 138 | * we need not look any further down the list. |
| fep | 0:5ff20db10a96 | 139 | */ |
| fep | 0:5ff20db10a96 | 140 | static void prvCheckDelayedList( void ); |
| fep | 0:5ff20db10a96 | 141 | |
| fep | 0:5ff20db10a96 | 142 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 143 | |
| fep | 0:5ff20db10a96 | 144 | BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ) |
| fep | 0:5ff20db10a96 | 145 | { |
| fep | 0:5ff20db10a96 | 146 | BaseType_t xReturn; |
| fep | 0:5ff20db10a96 | 147 | CRCB_t *pxCoRoutine; |
| fep | 0:5ff20db10a96 | 148 | |
| fep | 0:5ff20db10a96 | 149 | /* Allocate the memory that will store the co-routine control block. */ |
| fep | 0:5ff20db10a96 | 150 | pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); |
| fep | 0:5ff20db10a96 | 151 | if( pxCoRoutine ) |
| fep | 0:5ff20db10a96 | 152 | { |
| fep | 0:5ff20db10a96 | 153 | /* If pxCurrentCoRoutine is NULL then this is the first co-routine to |
| fep | 0:5ff20db10a96 | 154 | be created and the co-routine data structures need initialising. */ |
| fep | 0:5ff20db10a96 | 155 | if( pxCurrentCoRoutine == NULL ) |
| fep | 0:5ff20db10a96 | 156 | { |
| fep | 0:5ff20db10a96 | 157 | pxCurrentCoRoutine = pxCoRoutine; |
| fep | 0:5ff20db10a96 | 158 | prvInitialiseCoRoutineLists(); |
| fep | 0:5ff20db10a96 | 159 | } |
| fep | 0:5ff20db10a96 | 160 | |
| fep | 0:5ff20db10a96 | 161 | /* Check the priority is within limits. */ |
| fep | 0:5ff20db10a96 | 162 | if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) |
| fep | 0:5ff20db10a96 | 163 | { |
| fep | 0:5ff20db10a96 | 164 | uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; |
| fep | 0:5ff20db10a96 | 165 | } |
| fep | 0:5ff20db10a96 | 166 | |
| fep | 0:5ff20db10a96 | 167 | /* Fill out the co-routine control block from the function parameters. */ |
| fep | 0:5ff20db10a96 | 168 | pxCoRoutine->uxState = corINITIAL_STATE; |
| fep | 0:5ff20db10a96 | 169 | pxCoRoutine->uxPriority = uxPriority; |
| fep | 0:5ff20db10a96 | 170 | pxCoRoutine->uxIndex = uxIndex; |
| fep | 0:5ff20db10a96 | 171 | pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; |
| fep | 0:5ff20db10a96 | 172 | |
| fep | 0:5ff20db10a96 | 173 | /* Initialise all the other co-routine control block parameters. */ |
| fep | 0:5ff20db10a96 | 174 | vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); |
| fep | 0:5ff20db10a96 | 175 | vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); |
| fep | 0:5ff20db10a96 | 176 | |
| fep | 0:5ff20db10a96 | 177 | /* Set the co-routine control block as a link back from the ListItem_t. |
| fep | 0:5ff20db10a96 | 178 | This is so we can get back to the containing CRCB from a generic item |
| fep | 0:5ff20db10a96 | 179 | in a list. */ |
| fep | 0:5ff20db10a96 | 180 | listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); |
| fep | 0:5ff20db10a96 | 181 | listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); |
| fep | 0:5ff20db10a96 | 182 | |
| fep | 0:5ff20db10a96 | 183 | /* Event lists are always in priority order. */ |
| fep | 0:5ff20db10a96 | 184 | listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); |
| fep | 0:5ff20db10a96 | 185 | |
| fep | 0:5ff20db10a96 | 186 | /* Now the co-routine has been initialised it can be added to the ready |
| fep | 0:5ff20db10a96 | 187 | list at the correct priority. */ |
| fep | 0:5ff20db10a96 | 188 | prvAddCoRoutineToReadyQueue( pxCoRoutine ); |
| fep | 0:5ff20db10a96 | 189 | |
| fep | 0:5ff20db10a96 | 190 | xReturn = pdPASS; |
| fep | 0:5ff20db10a96 | 191 | } |
| fep | 0:5ff20db10a96 | 192 | else |
| fep | 0:5ff20db10a96 | 193 | { |
| fep | 0:5ff20db10a96 | 194 | xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; |
| fep | 0:5ff20db10a96 | 195 | } |
| fep | 0:5ff20db10a96 | 196 | |
| fep | 0:5ff20db10a96 | 197 | return xReturn; |
| fep | 0:5ff20db10a96 | 198 | } |
| fep | 0:5ff20db10a96 | 199 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 200 | |
| fep | 0:5ff20db10a96 | 201 | void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ) |
| fep | 0:5ff20db10a96 | 202 | { |
| fep | 0:5ff20db10a96 | 203 | TickType_t xTimeToWake; |
| fep | 0:5ff20db10a96 | 204 | |
| fep | 0:5ff20db10a96 | 205 | /* Calculate the time to wake - this may overflow but this is |
| fep | 0:5ff20db10a96 | 206 | not a problem. */ |
| fep | 0:5ff20db10a96 | 207 | xTimeToWake = xCoRoutineTickCount + xTicksToDelay; |
| fep | 0:5ff20db10a96 | 208 | |
| fep | 0:5ff20db10a96 | 209 | /* We must remove ourselves from the ready list before adding |
| fep | 0:5ff20db10a96 | 210 | ourselves to the blocked list as the same list item is used for |
| fep | 0:5ff20db10a96 | 211 | both lists. */ |
| fep | 0:5ff20db10a96 | 212 | ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); |
| fep | 0:5ff20db10a96 | 213 | |
| fep | 0:5ff20db10a96 | 214 | /* The list item will be inserted in wake time order. */ |
| fep | 0:5ff20db10a96 | 215 | listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); |
| fep | 0:5ff20db10a96 | 216 | |
| fep | 0:5ff20db10a96 | 217 | if( xTimeToWake < xCoRoutineTickCount ) |
| fep | 0:5ff20db10a96 | 218 | { |
| fep | 0:5ff20db10a96 | 219 | /* Wake time has overflowed. Place this item in the |
| fep | 0:5ff20db10a96 | 220 | overflow list. */ |
| fep | 0:5ff20db10a96 | 221 | vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); |
| fep | 0:5ff20db10a96 | 222 | } |
| fep | 0:5ff20db10a96 | 223 | else |
| fep | 0:5ff20db10a96 | 224 | { |
| fep | 0:5ff20db10a96 | 225 | /* The wake time has not overflowed, so we can use the |
| fep | 0:5ff20db10a96 | 226 | current block list. */ |
| fep | 0:5ff20db10a96 | 227 | vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); |
| fep | 0:5ff20db10a96 | 228 | } |
| fep | 0:5ff20db10a96 | 229 | |
| fep | 0:5ff20db10a96 | 230 | if( pxEventList ) |
| fep | 0:5ff20db10a96 | 231 | { |
| fep | 0:5ff20db10a96 | 232 | /* Also add the co-routine to an event list. If this is done then the |
| fep | 0:5ff20db10a96 | 233 | function must be called with interrupts disabled. */ |
| fep | 0:5ff20db10a96 | 234 | vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); |
| fep | 0:5ff20db10a96 | 235 | } |
| fep | 0:5ff20db10a96 | 236 | } |
| fep | 0:5ff20db10a96 | 237 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 238 | |
| fep | 0:5ff20db10a96 | 239 | static void prvCheckPendingReadyList( void ) |
| fep | 0:5ff20db10a96 | 240 | { |
| fep | 0:5ff20db10a96 | 241 | /* Are there any co-routines waiting to get moved to the ready list? These |
| fep | 0:5ff20db10a96 | 242 | are co-routines that have been readied by an ISR. The ISR cannot access |
| fep | 0:5ff20db10a96 | 243 | the ready lists itself. */ |
| fep | 0:5ff20db10a96 | 244 | while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) |
| fep | 0:5ff20db10a96 | 245 | { |
| fep | 0:5ff20db10a96 | 246 | CRCB_t *pxUnblockedCRCB; |
| fep | 0:5ff20db10a96 | 247 | |
| fep | 0:5ff20db10a96 | 248 | /* The pending ready list can be accessed by an ISR. */ |
| fep | 0:5ff20db10a96 | 249 | portDISABLE_INTERRUPTS(); |
| fep | 0:5ff20db10a96 | 250 | { |
| fep | 0:5ff20db10a96 | 251 | pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); |
| fep | 0:5ff20db10a96 | 252 | ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); |
| fep | 0:5ff20db10a96 | 253 | } |
| fep | 0:5ff20db10a96 | 254 | portENABLE_INTERRUPTS(); |
| fep | 0:5ff20db10a96 | 255 | |
| fep | 0:5ff20db10a96 | 256 | ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); |
| fep | 0:5ff20db10a96 | 257 | prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); |
| fep | 0:5ff20db10a96 | 258 | } |
| fep | 0:5ff20db10a96 | 259 | } |
| fep | 0:5ff20db10a96 | 260 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 261 | |
| fep | 0:5ff20db10a96 | 262 | static void prvCheckDelayedList( void ) |
| fep | 0:5ff20db10a96 | 263 | { |
| fep | 0:5ff20db10a96 | 264 | CRCB_t *pxCRCB; |
| fep | 0:5ff20db10a96 | 265 | |
| fep | 0:5ff20db10a96 | 266 | xPassedTicks = xTaskGetTickCount() - xLastTickCount; |
| fep | 0:5ff20db10a96 | 267 | while( xPassedTicks ) |
| fep | 0:5ff20db10a96 | 268 | { |
| fep | 0:5ff20db10a96 | 269 | xCoRoutineTickCount++; |
| fep | 0:5ff20db10a96 | 270 | xPassedTicks--; |
| fep | 0:5ff20db10a96 | 271 | |
| fep | 0:5ff20db10a96 | 272 | /* If the tick count has overflowed we need to swap the ready lists. */ |
| fep | 0:5ff20db10a96 | 273 | if( xCoRoutineTickCount == 0 ) |
| fep | 0:5ff20db10a96 | 274 | { |
| fep | 0:5ff20db10a96 | 275 | List_t * pxTemp; |
| fep | 0:5ff20db10a96 | 276 | |
| fep | 0:5ff20db10a96 | 277 | /* Tick count has overflowed so we need to swap the delay lists. If there are |
| fep | 0:5ff20db10a96 | 278 | any items in pxDelayedCoRoutineList here then there is an error! */ |
| fep | 0:5ff20db10a96 | 279 | pxTemp = pxDelayedCoRoutineList; |
| fep | 0:5ff20db10a96 | 280 | pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; |
| fep | 0:5ff20db10a96 | 281 | pxOverflowDelayedCoRoutineList = pxTemp; |
| fep | 0:5ff20db10a96 | 282 | } |
| fep | 0:5ff20db10a96 | 283 | |
| fep | 0:5ff20db10a96 | 284 | /* See if this tick has made a timeout expire. */ |
| fep | 0:5ff20db10a96 | 285 | while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) |
| fep | 0:5ff20db10a96 | 286 | { |
| fep | 0:5ff20db10a96 | 287 | pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); |
| fep | 0:5ff20db10a96 | 288 | |
| fep | 0:5ff20db10a96 | 289 | if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) |
| fep | 0:5ff20db10a96 | 290 | { |
| fep | 0:5ff20db10a96 | 291 | /* Timeout not yet expired. */ |
| fep | 0:5ff20db10a96 | 292 | break; |
| fep | 0:5ff20db10a96 | 293 | } |
| fep | 0:5ff20db10a96 | 294 | |
| fep | 0:5ff20db10a96 | 295 | portDISABLE_INTERRUPTS(); |
| fep | 0:5ff20db10a96 | 296 | { |
| fep | 0:5ff20db10a96 | 297 | /* The event could have occurred just before this critical |
| fep | 0:5ff20db10a96 | 298 | section. If this is the case then the generic list item will |
| fep | 0:5ff20db10a96 | 299 | have been moved to the pending ready list and the following |
| fep | 0:5ff20db10a96 | 300 | line is still valid. Also the pvContainer parameter will have |
| fep | 0:5ff20db10a96 | 301 | been set to NULL so the following lines are also valid. */ |
| fep | 0:5ff20db10a96 | 302 | ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); |
| fep | 0:5ff20db10a96 | 303 | |
| fep | 0:5ff20db10a96 | 304 | /* Is the co-routine waiting on an event also? */ |
| fep | 0:5ff20db10a96 | 305 | if( pxCRCB->xEventListItem.pvContainer ) |
| fep | 0:5ff20db10a96 | 306 | { |
| fep | 0:5ff20db10a96 | 307 | ( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); |
| fep | 0:5ff20db10a96 | 308 | } |
| fep | 0:5ff20db10a96 | 309 | } |
| fep | 0:5ff20db10a96 | 310 | portENABLE_INTERRUPTS(); |
| fep | 0:5ff20db10a96 | 311 | |
| fep | 0:5ff20db10a96 | 312 | prvAddCoRoutineToReadyQueue( pxCRCB ); |
| fep | 0:5ff20db10a96 | 313 | } |
| fep | 0:5ff20db10a96 | 314 | } |
| fep | 0:5ff20db10a96 | 315 | |
| fep | 0:5ff20db10a96 | 316 | xLastTickCount = xCoRoutineTickCount; |
| fep | 0:5ff20db10a96 | 317 | } |
| fep | 0:5ff20db10a96 | 318 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 319 | |
| fep | 0:5ff20db10a96 | 320 | void vCoRoutineSchedule( void ) |
| fep | 0:5ff20db10a96 | 321 | { |
| fep | 0:5ff20db10a96 | 322 | /* See if any co-routines readied by events need moving to the ready lists. */ |
| fep | 0:5ff20db10a96 | 323 | prvCheckPendingReadyList(); |
| fep | 0:5ff20db10a96 | 324 | |
| fep | 0:5ff20db10a96 | 325 | /* See if any delayed co-routines have timed out. */ |
| fep | 0:5ff20db10a96 | 326 | prvCheckDelayedList(); |
| fep | 0:5ff20db10a96 | 327 | |
| fep | 0:5ff20db10a96 | 328 | /* Find the highest priority queue that contains ready co-routines. */ |
| fep | 0:5ff20db10a96 | 329 | while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) |
| fep | 0:5ff20db10a96 | 330 | { |
| fep | 0:5ff20db10a96 | 331 | if( uxTopCoRoutineReadyPriority == 0 ) |
| fep | 0:5ff20db10a96 | 332 | { |
| fep | 0:5ff20db10a96 | 333 | /* No more co-routines to check. */ |
| fep | 0:5ff20db10a96 | 334 | return; |
| fep | 0:5ff20db10a96 | 335 | } |
| fep | 0:5ff20db10a96 | 336 | --uxTopCoRoutineReadyPriority; |
| fep | 0:5ff20db10a96 | 337 | } |
| fep | 0:5ff20db10a96 | 338 | |
| fep | 0:5ff20db10a96 | 339 | /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines |
| fep | 0:5ff20db10a96 | 340 | of the same priority get an equal share of the processor time. */ |
| fep | 0:5ff20db10a96 | 341 | listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); |
| fep | 0:5ff20db10a96 | 342 | |
| fep | 0:5ff20db10a96 | 343 | /* Call the co-routine. */ |
| fep | 0:5ff20db10a96 | 344 | ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); |
| fep | 0:5ff20db10a96 | 345 | |
| fep | 0:5ff20db10a96 | 346 | return; |
| fep | 0:5ff20db10a96 | 347 | } |
| fep | 0:5ff20db10a96 | 348 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 349 | |
| fep | 0:5ff20db10a96 | 350 | static void prvInitialiseCoRoutineLists( void ) |
| fep | 0:5ff20db10a96 | 351 | { |
| fep | 0:5ff20db10a96 | 352 | UBaseType_t uxPriority; |
| fep | 0:5ff20db10a96 | 353 | |
| fep | 0:5ff20db10a96 | 354 | for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) |
| fep | 0:5ff20db10a96 | 355 | { |
| fep | 0:5ff20db10a96 | 356 | vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); |
| fep | 0:5ff20db10a96 | 357 | } |
| fep | 0:5ff20db10a96 | 358 | |
| fep | 0:5ff20db10a96 | 359 | vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 ); |
| fep | 0:5ff20db10a96 | 360 | vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); |
| fep | 0:5ff20db10a96 | 361 | vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); |
| fep | 0:5ff20db10a96 | 362 | |
| fep | 0:5ff20db10a96 | 363 | /* Start with pxDelayedCoRoutineList using list1 and the |
| fep | 0:5ff20db10a96 | 364 | pxOverflowDelayedCoRoutineList using list2. */ |
| fep | 0:5ff20db10a96 | 365 | pxDelayedCoRoutineList = &xDelayedCoRoutineList1; |
| fep | 0:5ff20db10a96 | 366 | pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; |
| fep | 0:5ff20db10a96 | 367 | } |
| fep | 0:5ff20db10a96 | 368 | /*-----------------------------------------------------------*/ |
| fep | 0:5ff20db10a96 | 369 | |
| fep | 0:5ff20db10a96 | 370 | BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ) |
| fep | 0:5ff20db10a96 | 371 | { |
| fep | 0:5ff20db10a96 | 372 | CRCB_t *pxUnblockedCRCB; |
| fep | 0:5ff20db10a96 | 373 | BaseType_t xReturn; |
| fep | 0:5ff20db10a96 | 374 | |
| fep | 0:5ff20db10a96 | 375 | /* This function is called from within an interrupt. It can only access |
| fep | 0:5ff20db10a96 | 376 | event lists and the pending ready list. This function assumes that a |
| fep | 0:5ff20db10a96 | 377 | check has already been made to ensure pxEventList is not empty. */ |
| fep | 0:5ff20db10a96 | 378 | pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); |
| fep | 0:5ff20db10a96 | 379 | ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); |
| fep | 0:5ff20db10a96 | 380 | vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); |
| fep | 0:5ff20db10a96 | 381 | |
| fep | 0:5ff20db10a96 | 382 | if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) |
| fep | 0:5ff20db10a96 | 383 | { |
| fep | 0:5ff20db10a96 | 384 | xReturn = pdTRUE; |
| fep | 0:5ff20db10a96 | 385 | } |
| fep | 0:5ff20db10a96 | 386 | else |
| fep | 0:5ff20db10a96 | 387 | { |
| fep | 0:5ff20db10a96 | 388 | xReturn = pdFALSE; |
| fep | 0:5ff20db10a96 | 389 | } |
| fep | 0:5ff20db10a96 | 390 | |
| fep | 0:5ff20db10a96 | 391 | return xReturn; |
| fep | 0:5ff20db10a96 | 392 | } |
| fep | 0:5ff20db10a96 | 393 | |
| fep | 0:5ff20db10a96 | 394 | #endif /* configUSE_CO_ROUTINES == 0 */ |
| fep | 0:5ff20db10a96 | 395 | |
| fep | 0:5ff20db10a96 | 396 |