FreeRTOS_on_mbed_v1 - Please see my note book http://mbed.org/users/ken…

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Please see my note book http://mbed.org/users/kenjiArai/notebook/freertos-on-mbed-board-with-mbed-cloud-ide--never-/

This is too old.
Below is another FreeRTOS on mbed.
http://developer.mbed.org/users/rgrover1/code/FreeRTOS/
I don't know it works well or not.
I have not evaluated it.

FreeRTOS/Source/include/croutine.h@0:d4960fcea8ff, 2011-01-01 (annotated)

Committer:: kenjiArai
Date:: Sat Jan 01 11:17:45 2011 +0000
Revision:: 0:d4960fcea8ff

Who changed what in which revision?

User	Revision	Line number	New contents of line
kenjiArai	0:d4960fcea8ff	1	/*
kenjiArai	0:d4960fcea8ff	2	FreeRTOS V6.0.3 - Copyright (C) 2010 Real Time Engineers Ltd.
kenjiArai	0:d4960fcea8ff	3
kenjiArai	0:d4960fcea8ff	4	***************************************************************************
kenjiArai	0:d4960fcea8ff	5	* *
kenjiArai	0:d4960fcea8ff	6	* If you are: *
kenjiArai	0:d4960fcea8ff	7	* *
kenjiArai	0:d4960fcea8ff	8	* + New to FreeRTOS, *
kenjiArai	0:d4960fcea8ff	9	* + Wanting to learn FreeRTOS or multitasking in general quickly *
kenjiArai	0:d4960fcea8ff	10	* + Looking for basic training, *
kenjiArai	0:d4960fcea8ff	11	* + Wanting to improve your FreeRTOS skills and productivity *
kenjiArai	0:d4960fcea8ff	12	* *
kenjiArai	0:d4960fcea8ff	13	* then take a look at the FreeRTOS eBook *
kenjiArai	0:d4960fcea8ff	14	* *
kenjiArai	0:d4960fcea8ff	15	* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
kenjiArai	0:d4960fcea8ff	16	* http://www.FreeRTOS.org/Documentation *
kenjiArai	0:d4960fcea8ff	17	* *
kenjiArai	0:d4960fcea8ff	18	* A pdf reference manual is also available. Both are usually delivered *
kenjiArai	0:d4960fcea8ff	19	* to your inbox within 20 minutes to two hours when purchased between 8am *
kenjiArai	0:d4960fcea8ff	20	* and 8pm GMT (although please allow up to 24 hours in case of *
kenjiArai	0:d4960fcea8ff	21	* exceptional circumstances). Thank you for your support! *
kenjiArai	0:d4960fcea8ff	22	* *
kenjiArai	0:d4960fcea8ff	23	***************************************************************************
kenjiArai	0:d4960fcea8ff	24
kenjiArai	0:d4960fcea8ff	25	This file is part of the FreeRTOS distribution.
kenjiArai	0:d4960fcea8ff	26
kenjiArai	0:d4960fcea8ff	27	FreeRTOS is free software; you can redistribute it and/or modify it under
kenjiArai	0:d4960fcea8ff	28	the terms of the GNU General Public License (version 2) as published by the
kenjiArai	0:d4960fcea8ff	29	Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
kenjiArai	0:d4960fcea8ff	30	*NOTE* The exception to the GPL is included to allow you to distribute
kenjiArai	0:d4960fcea8ff	31	a combined work that includes FreeRTOS without being obliged to provide the
kenjiArai	0:d4960fcea8ff	32	source code for proprietary components outside of the FreeRTOS kernel.
kenjiArai	0:d4960fcea8ff	33	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
kenjiArai	0:d4960fcea8ff	34	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
kenjiArai	0:d4960fcea8ff	35	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
kenjiArai	0:d4960fcea8ff	36	more details. You should have received a copy of the GNU General Public
kenjiArai	0:d4960fcea8ff	37	License and the FreeRTOS license exception along with FreeRTOS; if not it
kenjiArai	0:d4960fcea8ff	38	can be viewed here: http://www.freertos.org/a00114.html and also obtained
kenjiArai	0:d4960fcea8ff	39	by writing to Richard Barry, contact details for whom are available on the
kenjiArai	0:d4960fcea8ff	40	FreeRTOS WEB site.
kenjiArai	0:d4960fcea8ff	41
kenjiArai	0:d4960fcea8ff	42	1 tab == 4 spaces!
kenjiArai	0:d4960fcea8ff	43
kenjiArai	0:d4960fcea8ff	44	http://www.FreeRTOS.org - Documentation, latest information, license and
kenjiArai	0:d4960fcea8ff	45	contact details.
kenjiArai	0:d4960fcea8ff	46
kenjiArai	0:d4960fcea8ff	47	http://www.SafeRTOS.com - A version that is certified for use in safety
kenjiArai	0:d4960fcea8ff	48	critical systems.
kenjiArai	0:d4960fcea8ff	49
kenjiArai	0:d4960fcea8ff	50	http://www.OpenRTOS.com - Commercial support, development, porting,
kenjiArai	0:d4960fcea8ff	51	licensing and training services.
kenjiArai	0:d4960fcea8ff	52	*/
kenjiArai	0:d4960fcea8ff	53
kenjiArai	0:d4960fcea8ff	54	#ifndef INC_FREERTOS_H
kenjiArai	0:d4960fcea8ff	55	#error "#include FreeRTOS.h" must appear in source files before "#include croutine.h"
kenjiArai	0:d4960fcea8ff	56	#endif
kenjiArai	0:d4960fcea8ff	57
kenjiArai	0:d4960fcea8ff	58
kenjiArai	0:d4960fcea8ff	59
kenjiArai	0:d4960fcea8ff	60
kenjiArai	0:d4960fcea8ff	61	#ifndef CO_ROUTINE_H
kenjiArai	0:d4960fcea8ff	62	#define CO_ROUTINE_H
kenjiArai	0:d4960fcea8ff	63
kenjiArai	0:d4960fcea8ff	64	#include "list.h"
kenjiArai	0:d4960fcea8ff	65
kenjiArai	0:d4960fcea8ff	66	#ifdef __cplusplus
kenjiArai	0:d4960fcea8ff	67	extern "C" {
kenjiArai	0:d4960fcea8ff	68	#endif
kenjiArai	0:d4960fcea8ff	69
kenjiArai	0:d4960fcea8ff	70	/* Used to hide the implementation of the co-routine control block. The
kenjiArai	0:d4960fcea8ff	71	control block structure however has to be included in the header due to
kenjiArai	0:d4960fcea8ff	72	the macro implementation of the co-routine functionality. */
kenjiArai	0:d4960fcea8ff	73	typedef void * xCoRoutineHandle;
kenjiArai	0:d4960fcea8ff	74
kenjiArai	0:d4960fcea8ff	75	/* Defines the prototype to which co-routine functions must conform. */
kenjiArai	0:d4960fcea8ff	76	typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE );
kenjiArai	0:d4960fcea8ff	77
kenjiArai	0:d4960fcea8ff	78	typedef struct corCoRoutineControlBlock
kenjiArai	0:d4960fcea8ff	79	{
kenjiArai	0:d4960fcea8ff	80	crCOROUTINE_CODE pxCoRoutineFunction;
kenjiArai	0:d4960fcea8ff	81	xListItem xGenericListItem; /< List item used to place the CRCB in ready and blocked queues. /
kenjiArai	0:d4960fcea8ff	82	xListItem xEventListItem; /< List item used to place the CRCB in event lists. /
kenjiArai	0:d4960fcea8ff	83	unsigned portBASE_TYPE uxPriority; /< The priority of the co-routine in relation to other co-routines. /
kenjiArai	0:d4960fcea8ff	84	unsigned portBASE_TYPE uxIndex; /< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. /
kenjiArai	0:d4960fcea8ff	85	unsigned short uxState; /< Used internally by the co-routine implementation. /
kenjiArai	0:d4960fcea8ff	86	} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */
kenjiArai	0:d4960fcea8ff	87
kenjiArai	0:d4960fcea8ff	88	/**
kenjiArai	0:d4960fcea8ff	89	* croutine. h
kenjiArai	0:d4960fcea8ff	90	*<pre>
kenjiArai	0:d4960fcea8ff	91	portBASE_TYPE xCoRoutineCreate(
kenjiArai	0:d4960fcea8ff	92	crCOROUTINE_CODE pxCoRoutineCode,
kenjiArai	0:d4960fcea8ff	93	unsigned portBASE_TYPE uxPriority,
kenjiArai	0:d4960fcea8ff	94	unsigned portBASE_TYPE uxIndex
kenjiArai	0:d4960fcea8ff	95	);</pre>
kenjiArai	0:d4960fcea8ff	96	*
kenjiArai	0:d4960fcea8ff	97	* Create a new co-routine and add it to the list of co-routines that are
kenjiArai	0:d4960fcea8ff	98	* ready to run.
kenjiArai	0:d4960fcea8ff	99	*
kenjiArai	0:d4960fcea8ff	100	* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
kenjiArai	0:d4960fcea8ff	101	* functions require special syntax - see the co-routine section of the WEB
kenjiArai	0:d4960fcea8ff	102	* documentation for more information.
kenjiArai	0:d4960fcea8ff	103	*
kenjiArai	0:d4960fcea8ff	104	* @param uxPriority The priority with respect to other co-routines at which
kenjiArai	0:d4960fcea8ff	105	* the co-routine will run.
kenjiArai	0:d4960fcea8ff	106	*
kenjiArai	0:d4960fcea8ff	107	* @param uxIndex Used to distinguish between different co-routines that
kenjiArai	0:d4960fcea8ff	108	* execute the same function. See the example below and the co-routine section
kenjiArai	0:d4960fcea8ff	109	* of the WEB documentation for further information.
kenjiArai	0:d4960fcea8ff	110	*
kenjiArai	0:d4960fcea8ff	111	* @return pdPASS if the co-routine was successfully created and added to a ready
kenjiArai	0:d4960fcea8ff	112	* list, otherwise an error code defined with ProjDefs.h.
kenjiArai	0:d4960fcea8ff	113	*
kenjiArai	0:d4960fcea8ff	114	* Example usage:
kenjiArai	0:d4960fcea8ff	115	<pre>
kenjiArai	0:d4960fcea8ff	116	// Co-routine to be created.
kenjiArai	0:d4960fcea8ff	117	void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	118	{
kenjiArai	0:d4960fcea8ff	119	// Variables in co-routines must be declared static if they must maintain value across a blocking call.
kenjiArai	0:d4960fcea8ff	120	// This may not be necessary for const variables.
kenjiArai	0:d4960fcea8ff	121	static const char cLedToFlash[ 2 ] = { 5, 6 };
kenjiArai	0:d4960fcea8ff	122	static const portTickType xTimeToDelay[ 2 ] = { 200, 400 };
kenjiArai	0:d4960fcea8ff	123
kenjiArai	0:d4960fcea8ff	124	// Must start every co-routine with a call to crSTART();
kenjiArai	0:d4960fcea8ff	125	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	126
kenjiArai	0:d4960fcea8ff	127	for( ;; )
kenjiArai	0:d4960fcea8ff	128	{
kenjiArai	0:d4960fcea8ff	129	// This co-routine just delays for a fixed period, then toggles
kenjiArai	0:d4960fcea8ff	130	// an LED. Two co-routines are created using this function, so
kenjiArai	0:d4960fcea8ff	131	// the uxIndex parameter is used to tell the co-routine which
kenjiArai	0:d4960fcea8ff	132	// LED to flash and how long to delay. This assumes xQueue has
kenjiArai	0:d4960fcea8ff	133	// already been created.
kenjiArai	0:d4960fcea8ff	134	vParTestToggleLED( cLedToFlash[ uxIndex ] );
kenjiArai	0:d4960fcea8ff	135	crDELAY( xHandle, uxFlashRates[ uxIndex ] );
kenjiArai	0:d4960fcea8ff	136	}
kenjiArai	0:d4960fcea8ff	137
kenjiArai	0:d4960fcea8ff	138	// Must end every co-routine with a call to crEND();
kenjiArai	0:d4960fcea8ff	139	crEND();
kenjiArai	0:d4960fcea8ff	140	}
kenjiArai	0:d4960fcea8ff	141
kenjiArai	0:d4960fcea8ff	142	// Function that creates two co-routines.
kenjiArai	0:d4960fcea8ff	143	void vOtherFunction( void )
kenjiArai	0:d4960fcea8ff	144	{
kenjiArai	0:d4960fcea8ff	145	unsigned char ucParameterToPass;
kenjiArai	0:d4960fcea8ff	146	xTaskHandle xHandle;
kenjiArai	0:d4960fcea8ff	147
kenjiArai	0:d4960fcea8ff	148	// Create two co-routines at priority 0. The first is given index 0
kenjiArai	0:d4960fcea8ff	149	// so (from the code above) toggles LED 5 every 200 ticks. The second
kenjiArai	0:d4960fcea8ff	150	// is given index 1 so toggles LED 6 every 400 ticks.
kenjiArai	0:d4960fcea8ff	151	for( uxIndex = 0; uxIndex < 2; uxIndex++ )
kenjiArai	0:d4960fcea8ff	152	{
kenjiArai	0:d4960fcea8ff	153	xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
kenjiArai	0:d4960fcea8ff	154	}
kenjiArai	0:d4960fcea8ff	155	}
kenjiArai	0:d4960fcea8ff	156	</pre>
kenjiArai	0:d4960fcea8ff	157	* \defgroup xCoRoutineCreate xCoRoutineCreate
kenjiArai	0:d4960fcea8ff	158	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	159	*/
kenjiArai	0:d4960fcea8ff	160	signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex );
kenjiArai	0:d4960fcea8ff	161
kenjiArai	0:d4960fcea8ff	162
kenjiArai	0:d4960fcea8ff	163	/**
kenjiArai	0:d4960fcea8ff	164	* croutine. h
kenjiArai	0:d4960fcea8ff	165	*<pre>
kenjiArai	0:d4960fcea8ff	166	void vCoRoutineSchedule( void );</pre>
kenjiArai	0:d4960fcea8ff	167	*
kenjiArai	0:d4960fcea8ff	168	* Run a co-routine.
kenjiArai	0:d4960fcea8ff	169	*
kenjiArai	0:d4960fcea8ff	170	* vCoRoutineSchedule() executes the highest priority co-routine that is able
kenjiArai	0:d4960fcea8ff	171	* to run. The co-routine will execute until it either blocks, yields or is
kenjiArai	0:d4960fcea8ff	172	* preempted by a task. Co-routines execute cooperatively so one
kenjiArai	0:d4960fcea8ff	173	* co-routine cannot be preempted by another, but can be preempted by a task.
kenjiArai	0:d4960fcea8ff	174	*
kenjiArai	0:d4960fcea8ff	175	* If an application comprises of both tasks and co-routines then
kenjiArai	0:d4960fcea8ff	176	* vCoRoutineSchedule should be called from the idle task (in an idle task
kenjiArai	0:d4960fcea8ff	177	* hook).
kenjiArai	0:d4960fcea8ff	178	*
kenjiArai	0:d4960fcea8ff	179	* Example usage:
kenjiArai	0:d4960fcea8ff	180	<pre>
kenjiArai	0:d4960fcea8ff	181	// This idle task hook will schedule a co-routine each time it is called.
kenjiArai	0:d4960fcea8ff	182	// The rest of the idle task will execute between co-routine calls.
kenjiArai	0:d4960fcea8ff	183	void vApplicationIdleHook( void )
kenjiArai	0:d4960fcea8ff	184	{
kenjiArai	0:d4960fcea8ff	185	vCoRoutineSchedule();
kenjiArai	0:d4960fcea8ff	186	}
kenjiArai	0:d4960fcea8ff	187
kenjiArai	0:d4960fcea8ff	188	// Alternatively, if you do not require any other part of the idle task to
kenjiArai	0:d4960fcea8ff	189	// execute, the idle task hook can call vCoRoutineScheduler() within an
kenjiArai	0:d4960fcea8ff	190	// infinite loop.
kenjiArai	0:d4960fcea8ff	191	void vApplicationIdleHook( void )
kenjiArai	0:d4960fcea8ff	192	{
kenjiArai	0:d4960fcea8ff	193	for( ;; )
kenjiArai	0:d4960fcea8ff	194	{
kenjiArai	0:d4960fcea8ff	195	vCoRoutineSchedule();
kenjiArai	0:d4960fcea8ff	196	}
kenjiArai	0:d4960fcea8ff	197	}
kenjiArai	0:d4960fcea8ff	198	</pre>
kenjiArai	0:d4960fcea8ff	199	* \defgroup vCoRoutineSchedule vCoRoutineSchedule
kenjiArai	0:d4960fcea8ff	200	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	201	*/
kenjiArai	0:d4960fcea8ff	202	void vCoRoutineSchedule( void );
kenjiArai	0:d4960fcea8ff	203
kenjiArai	0:d4960fcea8ff	204	/**
kenjiArai	0:d4960fcea8ff	205	* croutine. h
kenjiArai	0:d4960fcea8ff	206	* <pre>
kenjiArai	0:d4960fcea8ff	207	crSTART( xCoRoutineHandle xHandle );</pre>
kenjiArai	0:d4960fcea8ff	208	*
kenjiArai	0:d4960fcea8ff	209	* This macro MUST always be called at the start of a co-routine function.
kenjiArai	0:d4960fcea8ff	210	*
kenjiArai	0:d4960fcea8ff	211	* Example usage:
kenjiArai	0:d4960fcea8ff	212	<pre>
kenjiArai	0:d4960fcea8ff	213	// Co-routine to be created.
kenjiArai	0:d4960fcea8ff	214	void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	215	{
kenjiArai	0:d4960fcea8ff	216	// Variables in co-routines must be declared static if they must maintain value across a blocking call.
kenjiArai	0:d4960fcea8ff	217	static long ulAVariable;
kenjiArai	0:d4960fcea8ff	218
kenjiArai	0:d4960fcea8ff	219	// Must start every co-routine with a call to crSTART();
kenjiArai	0:d4960fcea8ff	220	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	221
kenjiArai	0:d4960fcea8ff	222	for( ;; )
kenjiArai	0:d4960fcea8ff	223	{
kenjiArai	0:d4960fcea8ff	224	// Co-routine functionality goes here.
kenjiArai	0:d4960fcea8ff	225	}
kenjiArai	0:d4960fcea8ff	226
kenjiArai	0:d4960fcea8ff	227	// Must end every co-routine with a call to crEND();
kenjiArai	0:d4960fcea8ff	228	crEND();
kenjiArai	0:d4960fcea8ff	229	}</pre>
kenjiArai	0:d4960fcea8ff	230	* \defgroup crSTART crSTART
kenjiArai	0:d4960fcea8ff	231	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	232	*/
kenjiArai	0:d4960fcea8ff	233	#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0:
kenjiArai	0:d4960fcea8ff	234
kenjiArai	0:d4960fcea8ff	235	/**
kenjiArai	0:d4960fcea8ff	236	* croutine. h
kenjiArai	0:d4960fcea8ff	237	* <pre>
kenjiArai	0:d4960fcea8ff	238	crEND();</pre>
kenjiArai	0:d4960fcea8ff	239	*
kenjiArai	0:d4960fcea8ff	240	* This macro MUST always be called at the end of a co-routine function.
kenjiArai	0:d4960fcea8ff	241	*
kenjiArai	0:d4960fcea8ff	242	* Example usage:
kenjiArai	0:d4960fcea8ff	243	<pre>
kenjiArai	0:d4960fcea8ff	244	// Co-routine to be created.
kenjiArai	0:d4960fcea8ff	245	void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	246	{
kenjiArai	0:d4960fcea8ff	247	// Variables in co-routines must be declared static if they must maintain value across a blocking call.
kenjiArai	0:d4960fcea8ff	248	static long ulAVariable;
kenjiArai	0:d4960fcea8ff	249
kenjiArai	0:d4960fcea8ff	250	// Must start every co-routine with a call to crSTART();
kenjiArai	0:d4960fcea8ff	251	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	252
kenjiArai	0:d4960fcea8ff	253	for( ;; )
kenjiArai	0:d4960fcea8ff	254	{
kenjiArai	0:d4960fcea8ff	255	// Co-routine functionality goes here.
kenjiArai	0:d4960fcea8ff	256	}
kenjiArai	0:d4960fcea8ff	257
kenjiArai	0:d4960fcea8ff	258	// Must end every co-routine with a call to crEND();
kenjiArai	0:d4960fcea8ff	259	crEND();
kenjiArai	0:d4960fcea8ff	260	}</pre>
kenjiArai	0:d4960fcea8ff	261	* \defgroup crSTART crSTART
kenjiArai	0:d4960fcea8ff	262	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	263	*/
kenjiArai	0:d4960fcea8ff	264	#define crEND() }
kenjiArai	0:d4960fcea8ff	265
kenjiArai	0:d4960fcea8ff	266	/*
kenjiArai	0:d4960fcea8ff	267	* These macros are intended for internal use by the co-routine implementation
kenjiArai	0:d4960fcea8ff	268	* only. The macros should not be used directly by application writers.
kenjiArai	0:d4960fcea8ff	269	*/
kenjiArai	0:d4960fcea8ff	270	#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
kenjiArai	0:d4960fcea8ff	271	#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
kenjiArai	0:d4960fcea8ff	272
kenjiArai	0:d4960fcea8ff	273	/**
kenjiArai	0:d4960fcea8ff	274	* croutine. h
kenjiArai	0:d4960fcea8ff	275	*<pre>
kenjiArai	0:d4960fcea8ff	276	crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );</pre>
kenjiArai	0:d4960fcea8ff	277	*
kenjiArai	0:d4960fcea8ff	278	* Delay a co-routine for a fixed period of time.
kenjiArai	0:d4960fcea8ff	279	*
kenjiArai	0:d4960fcea8ff	280	* crDELAY can only be called from the co-routine function itself - not
kenjiArai	0:d4960fcea8ff	281	* from within a function called by the co-routine function. This is because
kenjiArai	0:d4960fcea8ff	282	* co-routines do not maintain their own stack.
kenjiArai	0:d4960fcea8ff	283	*
kenjiArai	0:d4960fcea8ff	284	* @param xHandle The handle of the co-routine to delay. This is the xHandle
kenjiArai	0:d4960fcea8ff	285	* parameter of the co-routine function.
kenjiArai	0:d4960fcea8ff	286	*
kenjiArai	0:d4960fcea8ff	287	* @param xTickToDelay The number of ticks that the co-routine should delay
kenjiArai	0:d4960fcea8ff	288	* for. The actual amount of time this equates to is defined by
kenjiArai	0:d4960fcea8ff	289	* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS
kenjiArai	0:d4960fcea8ff	290	* can be used to convert ticks to milliseconds.
kenjiArai	0:d4960fcea8ff	291	*
kenjiArai	0:d4960fcea8ff	292	* Example usage:
kenjiArai	0:d4960fcea8ff	293	<pre>
kenjiArai	0:d4960fcea8ff	294	// Co-routine to be created.
kenjiArai	0:d4960fcea8ff	295	void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	296	{
kenjiArai	0:d4960fcea8ff	297	// Variables in co-routines must be declared static if they must maintain value across a blocking call.
kenjiArai	0:d4960fcea8ff	298	// This may not be necessary for const variables.
kenjiArai	0:d4960fcea8ff	299	// We are to delay for 200ms.
kenjiArai	0:d4960fcea8ff	300	static const xTickType xDelayTime = 200 / portTICK_RATE_MS;
kenjiArai	0:d4960fcea8ff	301
kenjiArai	0:d4960fcea8ff	302	// Must start every co-routine with a call to crSTART();
kenjiArai	0:d4960fcea8ff	303	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	304
kenjiArai	0:d4960fcea8ff	305	for( ;; )
kenjiArai	0:d4960fcea8ff	306	{
kenjiArai	0:d4960fcea8ff	307	// Delay for 200ms.
kenjiArai	0:d4960fcea8ff	308	crDELAY( xHandle, xDelayTime );
kenjiArai	0:d4960fcea8ff	309
kenjiArai	0:d4960fcea8ff	310	// Do something here.
kenjiArai	0:d4960fcea8ff	311	}
kenjiArai	0:d4960fcea8ff	312
kenjiArai	0:d4960fcea8ff	313	// Must end every co-routine with a call to crEND();
kenjiArai	0:d4960fcea8ff	314	crEND();
kenjiArai	0:d4960fcea8ff	315	}</pre>
kenjiArai	0:d4960fcea8ff	316	* \defgroup crDELAY crDELAY
kenjiArai	0:d4960fcea8ff	317	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	318	*/
kenjiArai	0:d4960fcea8ff	319	#define crDELAY( xHandle, xTicksToDelay ) \
kenjiArai	0:d4960fcea8ff	320	if( xTicksToDelay > 0 ) \
kenjiArai	0:d4960fcea8ff	321	{ \
kenjiArai	0:d4960fcea8ff	322	vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \
kenjiArai	0:d4960fcea8ff	323	} \
kenjiArai	0:d4960fcea8ff	324	crSET_STATE0( xHandle );
kenjiArai	0:d4960fcea8ff	325
kenjiArai	0:d4960fcea8ff	326	/**
kenjiArai	0:d4960fcea8ff	327	* <pre>
kenjiArai	0:d4960fcea8ff	328	crQUEUE_SEND(
kenjiArai	0:d4960fcea8ff	329	xCoRoutineHandle xHandle,
kenjiArai	0:d4960fcea8ff	330	xQueueHandle pxQueue,
kenjiArai	0:d4960fcea8ff	331	void *pvItemToQueue,
kenjiArai	0:d4960fcea8ff	332	portTickType xTicksToWait,
kenjiArai	0:d4960fcea8ff	333	portBASE_TYPE *pxResult
kenjiArai	0:d4960fcea8ff	334	)</pre>
kenjiArai	0:d4960fcea8ff	335	*
kenjiArai	0:d4960fcea8ff	336	* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
kenjiArai	0:d4960fcea8ff	337	* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
kenjiArai	0:d4960fcea8ff	338	*
kenjiArai	0:d4960fcea8ff	339	* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
kenjiArai	0:d4960fcea8ff	340	* xQueueSend() and xQueueReceive() can only be used from tasks.
kenjiArai	0:d4960fcea8ff	341	*
kenjiArai	0:d4960fcea8ff	342	* crQUEUE_SEND can only be called from the co-routine function itself - not
kenjiArai	0:d4960fcea8ff	343	* from within a function called by the co-routine function. This is because
kenjiArai	0:d4960fcea8ff	344	* co-routines do not maintain their own stack.
kenjiArai	0:d4960fcea8ff	345	*
kenjiArai	0:d4960fcea8ff	346	* See the co-routine section of the WEB documentation for information on
kenjiArai	0:d4960fcea8ff	347	* passing data between tasks and co-routines and between ISR's and
kenjiArai	0:d4960fcea8ff	348	* co-routines.
kenjiArai	0:d4960fcea8ff	349	*
kenjiArai	0:d4960fcea8ff	350	* @param xHandle The handle of the calling co-routine. This is the xHandle
kenjiArai	0:d4960fcea8ff	351	* parameter of the co-routine function.
kenjiArai	0:d4960fcea8ff	352	*
kenjiArai	0:d4960fcea8ff	353	* @param pxQueue The handle of the queue on which the data will be posted.
kenjiArai	0:d4960fcea8ff	354	* The handle is obtained as the return value when the queue is created using
kenjiArai	0:d4960fcea8ff	355	* the xQueueCreate() API function.
kenjiArai	0:d4960fcea8ff	356	*
kenjiArai	0:d4960fcea8ff	357	* @param pvItemToQueue A pointer to the data being posted onto the queue.
kenjiArai	0:d4960fcea8ff	358	* The number of bytes of each queued item is specified when the queue is
kenjiArai	0:d4960fcea8ff	359	* created. This number of bytes is copied from pvItemToQueue into the queue
kenjiArai	0:d4960fcea8ff	360	* itself.
kenjiArai	0:d4960fcea8ff	361	*
kenjiArai	0:d4960fcea8ff	362	* @param xTickToDelay The number of ticks that the co-routine should block
kenjiArai	0:d4960fcea8ff	363	* to wait for space to become available on the queue, should space not be
kenjiArai	0:d4960fcea8ff	364	* available immediately. The actual amount of time this equates to is defined
kenjiArai	0:d4960fcea8ff	365	* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
kenjiArai	0:d4960fcea8ff	366	* portTICK_RATE_MS can be used to convert ticks to milliseconds (see example
kenjiArai	0:d4960fcea8ff	367	* below).
kenjiArai	0:d4960fcea8ff	368	*
kenjiArai	0:d4960fcea8ff	369	* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
kenjiArai	0:d4960fcea8ff	370	* data was successfully posted onto the queue, otherwise it will be set to an
kenjiArai	0:d4960fcea8ff	371	* error defined within ProjDefs.h.
kenjiArai	0:d4960fcea8ff	372	*
kenjiArai	0:d4960fcea8ff	373	* Example usage:
kenjiArai	0:d4960fcea8ff	374	<pre>
kenjiArai	0:d4960fcea8ff	375	// Co-routine function that blocks for a fixed period then posts a number onto
kenjiArai	0:d4960fcea8ff	376	// a queue.
kenjiArai	0:d4960fcea8ff	377	static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	378	{
kenjiArai	0:d4960fcea8ff	379	// Variables in co-routines must be declared static if they must maintain value across a blocking call.
kenjiArai	0:d4960fcea8ff	380	static portBASE_TYPE xNumberToPost = 0;
kenjiArai	0:d4960fcea8ff	381	static portBASE_TYPE xResult;
kenjiArai	0:d4960fcea8ff	382
kenjiArai	0:d4960fcea8ff	383	// Co-routines must begin with a call to crSTART().
kenjiArai	0:d4960fcea8ff	384	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	385
kenjiArai	0:d4960fcea8ff	386	for( ;; )
kenjiArai	0:d4960fcea8ff	387	{
kenjiArai	0:d4960fcea8ff	388	// This assumes the queue has already been created.
kenjiArai	0:d4960fcea8ff	389	crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
kenjiArai	0:d4960fcea8ff	390
kenjiArai	0:d4960fcea8ff	391	if( xResult != pdPASS )
kenjiArai	0:d4960fcea8ff	392	{
kenjiArai	0:d4960fcea8ff	393	// The message was not posted!
kenjiArai	0:d4960fcea8ff	394	}
kenjiArai	0:d4960fcea8ff	395
kenjiArai	0:d4960fcea8ff	396	// Increment the number to be posted onto the queue.
kenjiArai	0:d4960fcea8ff	397	xNumberToPost++;
kenjiArai	0:d4960fcea8ff	398
kenjiArai	0:d4960fcea8ff	399	// Delay for 100 ticks.
kenjiArai	0:d4960fcea8ff	400	crDELAY( xHandle, 100 );
kenjiArai	0:d4960fcea8ff	401	}
kenjiArai	0:d4960fcea8ff	402
kenjiArai	0:d4960fcea8ff	403	// Co-routines must end with a call to crEND().
kenjiArai	0:d4960fcea8ff	404	crEND();
kenjiArai	0:d4960fcea8ff	405	}</pre>
kenjiArai	0:d4960fcea8ff	406	* \defgroup crQUEUE_SEND crQUEUE_SEND
kenjiArai	0:d4960fcea8ff	407	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	408	*/
kenjiArai	0:d4960fcea8ff	409	#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
kenjiArai	0:d4960fcea8ff	410	{ \
kenjiArai	0:d4960fcea8ff	411	*pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait ); \
kenjiArai	0:d4960fcea8ff	412	if( *pxResult == errQUEUE_BLOCKED ) \
kenjiArai	0:d4960fcea8ff	413	{ \
kenjiArai	0:d4960fcea8ff	414	crSET_STATE0( xHandle ); \
kenjiArai	0:d4960fcea8ff	415	*pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 ); \
kenjiArai	0:d4960fcea8ff	416	} \
kenjiArai	0:d4960fcea8ff	417	if( *pxResult == errQUEUE_YIELD ) \
kenjiArai	0:d4960fcea8ff	418	{ \
kenjiArai	0:d4960fcea8ff	419	crSET_STATE1( xHandle ); \
kenjiArai	0:d4960fcea8ff	420	*pxResult = pdPASS; \
kenjiArai	0:d4960fcea8ff	421	} \
kenjiArai	0:d4960fcea8ff	422	}
kenjiArai	0:d4960fcea8ff	423
kenjiArai	0:d4960fcea8ff	424	/**
kenjiArai	0:d4960fcea8ff	425	* croutine. h
kenjiArai	0:d4960fcea8ff	426	* <pre>
kenjiArai	0:d4960fcea8ff	427	crQUEUE_RECEIVE(
kenjiArai	0:d4960fcea8ff	428	xCoRoutineHandle xHandle,
kenjiArai	0:d4960fcea8ff	429	xQueueHandle pxQueue,
kenjiArai	0:d4960fcea8ff	430	void *pvBuffer,
kenjiArai	0:d4960fcea8ff	431	portTickType xTicksToWait,
kenjiArai	0:d4960fcea8ff	432	portBASE_TYPE *pxResult
kenjiArai	0:d4960fcea8ff	433	)</pre>
kenjiArai	0:d4960fcea8ff	434	*
kenjiArai	0:d4960fcea8ff	435	* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
kenjiArai	0:d4960fcea8ff	436	* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
kenjiArai	0:d4960fcea8ff	437	*
kenjiArai	0:d4960fcea8ff	438	* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
kenjiArai	0:d4960fcea8ff	439	* xQueueSend() and xQueueReceive() can only be used from tasks.
kenjiArai	0:d4960fcea8ff	440	*
kenjiArai	0:d4960fcea8ff	441	* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
kenjiArai	0:d4960fcea8ff	442	* from within a function called by the co-routine function. This is because
kenjiArai	0:d4960fcea8ff	443	* co-routines do not maintain their own stack.
kenjiArai	0:d4960fcea8ff	444	*
kenjiArai	0:d4960fcea8ff	445	* See the co-routine section of the WEB documentation for information on
kenjiArai	0:d4960fcea8ff	446	* passing data between tasks and co-routines and between ISR's and
kenjiArai	0:d4960fcea8ff	447	* co-routines.
kenjiArai	0:d4960fcea8ff	448	*
kenjiArai	0:d4960fcea8ff	449	* @param xHandle The handle of the calling co-routine. This is the xHandle
kenjiArai	0:d4960fcea8ff	450	* parameter of the co-routine function.
kenjiArai	0:d4960fcea8ff	451	*
kenjiArai	0:d4960fcea8ff	452	* @param pxQueue The handle of the queue from which the data will be received.
kenjiArai	0:d4960fcea8ff	453	* The handle is obtained as the return value when the queue is created using
kenjiArai	0:d4960fcea8ff	454	* the xQueueCreate() API function.
kenjiArai	0:d4960fcea8ff	455	*
kenjiArai	0:d4960fcea8ff	456	* @param pvBuffer The buffer into which the received item is to be copied.
kenjiArai	0:d4960fcea8ff	457	* The number of bytes of each queued item is specified when the queue is
kenjiArai	0:d4960fcea8ff	458	* created. This number of bytes is copied into pvBuffer.
kenjiArai	0:d4960fcea8ff	459	*
kenjiArai	0:d4960fcea8ff	460	* @param xTickToDelay The number of ticks that the co-routine should block
kenjiArai	0:d4960fcea8ff	461	* to wait for data to become available from the queue, should data not be
kenjiArai	0:d4960fcea8ff	462	* available immediately. The actual amount of time this equates to is defined
kenjiArai	0:d4960fcea8ff	463	* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
kenjiArai	0:d4960fcea8ff	464	* portTICK_RATE_MS can be used to convert ticks to milliseconds (see the
kenjiArai	0:d4960fcea8ff	465	* crQUEUE_SEND example).
kenjiArai	0:d4960fcea8ff	466	*
kenjiArai	0:d4960fcea8ff	467	* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
kenjiArai	0:d4960fcea8ff	468	* data was successfully retrieved from the queue, otherwise it will be set to
kenjiArai	0:d4960fcea8ff	469	* an error code as defined within ProjDefs.h.
kenjiArai	0:d4960fcea8ff	470	*
kenjiArai	0:d4960fcea8ff	471	* Example usage:
kenjiArai	0:d4960fcea8ff	472	<pre>
kenjiArai	0:d4960fcea8ff	473	// A co-routine receives the number of an LED to flash from a queue. It
kenjiArai	0:d4960fcea8ff	474	// blocks on the queue until the number is received.
kenjiArai	0:d4960fcea8ff	475	static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	476	{
kenjiArai	0:d4960fcea8ff	477	// Variables in co-routines must be declared static if they must maintain value across a blocking call.
kenjiArai	0:d4960fcea8ff	478	static portBASE_TYPE xResult;
kenjiArai	0:d4960fcea8ff	479	static unsigned portBASE_TYPE uxLEDToFlash;
kenjiArai	0:d4960fcea8ff	480
kenjiArai	0:d4960fcea8ff	481	// All co-routines must start with a call to crSTART().
kenjiArai	0:d4960fcea8ff	482	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	483
kenjiArai	0:d4960fcea8ff	484	for( ;; )
kenjiArai	0:d4960fcea8ff	485	{
kenjiArai	0:d4960fcea8ff	486	// Wait for data to become available on the queue.
kenjiArai	0:d4960fcea8ff	487	crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
kenjiArai	0:d4960fcea8ff	488
kenjiArai	0:d4960fcea8ff	489	if( xResult == pdPASS )
kenjiArai	0:d4960fcea8ff	490	{
kenjiArai	0:d4960fcea8ff	491	// We received the LED to flash - flash it!
kenjiArai	0:d4960fcea8ff	492	vParTestToggleLED( uxLEDToFlash );
kenjiArai	0:d4960fcea8ff	493	}
kenjiArai	0:d4960fcea8ff	494	}
kenjiArai	0:d4960fcea8ff	495
kenjiArai	0:d4960fcea8ff	496	crEND();
kenjiArai	0:d4960fcea8ff	497	}</pre>
kenjiArai	0:d4960fcea8ff	498	* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
kenjiArai	0:d4960fcea8ff	499	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	500	*/
kenjiArai	0:d4960fcea8ff	501	#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
kenjiArai	0:d4960fcea8ff	502	{ \
kenjiArai	0:d4960fcea8ff	503	*pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait ); \
kenjiArai	0:d4960fcea8ff	504	if( *pxResult == errQUEUE_BLOCKED ) \
kenjiArai	0:d4960fcea8ff	505	{ \
kenjiArai	0:d4960fcea8ff	506	crSET_STATE0( xHandle ); \
kenjiArai	0:d4960fcea8ff	507	*pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 ); \
kenjiArai	0:d4960fcea8ff	508	} \
kenjiArai	0:d4960fcea8ff	509	if( *pxResult == errQUEUE_YIELD ) \
kenjiArai	0:d4960fcea8ff	510	{ \
kenjiArai	0:d4960fcea8ff	511	crSET_STATE1( xHandle ); \
kenjiArai	0:d4960fcea8ff	512	*pxResult = pdPASS; \
kenjiArai	0:d4960fcea8ff	513	} \
kenjiArai	0:d4960fcea8ff	514	}
kenjiArai	0:d4960fcea8ff	515
kenjiArai	0:d4960fcea8ff	516	/**
kenjiArai	0:d4960fcea8ff	517	* croutine. h
kenjiArai	0:d4960fcea8ff	518	* <pre>
kenjiArai	0:d4960fcea8ff	519	crQUEUE_SEND_FROM_ISR(
kenjiArai	0:d4960fcea8ff	520	xQueueHandle pxQueue,
kenjiArai	0:d4960fcea8ff	521	void *pvItemToQueue,
kenjiArai	0:d4960fcea8ff	522	portBASE_TYPE xCoRoutinePreviouslyWoken
kenjiArai	0:d4960fcea8ff	523	)</pre>
kenjiArai	0:d4960fcea8ff	524	*
kenjiArai	0:d4960fcea8ff	525	* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
kenjiArai	0:d4960fcea8ff	526	* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
kenjiArai	0:d4960fcea8ff	527	* functions used by tasks.
kenjiArai	0:d4960fcea8ff	528	*
kenjiArai	0:d4960fcea8ff	529	* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
kenjiArai	0:d4960fcea8ff	530	* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
kenjiArai	0:d4960fcea8ff	531	* xQueueReceiveFromISR() can only be used to pass data between a task and and
kenjiArai	0:d4960fcea8ff	532	* ISR.
kenjiArai	0:d4960fcea8ff	533	*
kenjiArai	0:d4960fcea8ff	534	* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
kenjiArai	0:d4960fcea8ff	535	* that is being used from within a co-routine.
kenjiArai	0:d4960fcea8ff	536	*
kenjiArai	0:d4960fcea8ff	537	* See the co-routine section of the WEB documentation for information on
kenjiArai	0:d4960fcea8ff	538	* passing data between tasks and co-routines and between ISR's and
kenjiArai	0:d4960fcea8ff	539	* co-routines.
kenjiArai	0:d4960fcea8ff	540	*
kenjiArai	0:d4960fcea8ff	541	* @param xQueue The handle to the queue on which the item is to be posted.
kenjiArai	0:d4960fcea8ff	542	*
kenjiArai	0:d4960fcea8ff	543	* @param pvItemToQueue A pointer to the item that is to be placed on the
kenjiArai	0:d4960fcea8ff	544	* queue. The size of the items the queue will hold was defined when the
kenjiArai	0:d4960fcea8ff	545	* queue was created, so this many bytes will be copied from pvItemToQueue
kenjiArai	0:d4960fcea8ff	546	* into the queue storage area.
kenjiArai	0:d4960fcea8ff	547	*
kenjiArai	0:d4960fcea8ff	548	* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
kenjiArai	0:d4960fcea8ff	549	* the same queue multiple times from a single interrupt. The first call
kenjiArai	0:d4960fcea8ff	550	* should always pass in pdFALSE. Subsequent calls should pass in
kenjiArai	0:d4960fcea8ff	551	* the value returned from the previous call.
kenjiArai	0:d4960fcea8ff	552	*
kenjiArai	0:d4960fcea8ff	553	* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
kenjiArai	0:d4960fcea8ff	554	* used by the ISR to determine if a context switch may be required following
kenjiArai	0:d4960fcea8ff	555	* the ISR.
kenjiArai	0:d4960fcea8ff	556	*
kenjiArai	0:d4960fcea8ff	557	* Example usage:
kenjiArai	0:d4960fcea8ff	558	<pre>
kenjiArai	0:d4960fcea8ff	559	// A co-routine that blocks on a queue waiting for characters to be received.
kenjiArai	0:d4960fcea8ff	560	static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	561	{
kenjiArai	0:d4960fcea8ff	562	char cRxedChar;
kenjiArai	0:d4960fcea8ff	563	portBASE_TYPE xResult;
kenjiArai	0:d4960fcea8ff	564
kenjiArai	0:d4960fcea8ff	565	// All co-routines must start with a call to crSTART().
kenjiArai	0:d4960fcea8ff	566	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	567
kenjiArai	0:d4960fcea8ff	568	for( ;; )
kenjiArai	0:d4960fcea8ff	569	{
kenjiArai	0:d4960fcea8ff	570	// Wait for data to become available on the queue. This assumes the
kenjiArai	0:d4960fcea8ff	571	// queue xCommsRxQueue has already been created!
kenjiArai	0:d4960fcea8ff	572	crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
kenjiArai	0:d4960fcea8ff	573
kenjiArai	0:d4960fcea8ff	574	// Was a character received?
kenjiArai	0:d4960fcea8ff	575	if( xResult == pdPASS )
kenjiArai	0:d4960fcea8ff	576	{
kenjiArai	0:d4960fcea8ff	577	// Process the character here.
kenjiArai	0:d4960fcea8ff	578	}
kenjiArai	0:d4960fcea8ff	579	}
kenjiArai	0:d4960fcea8ff	580
kenjiArai	0:d4960fcea8ff	581	// All co-routines must end with a call to crEND().
kenjiArai	0:d4960fcea8ff	582	crEND();
kenjiArai	0:d4960fcea8ff	583	}
kenjiArai	0:d4960fcea8ff	584
kenjiArai	0:d4960fcea8ff	585	// An ISR that uses a queue to send characters received on a serial port to
kenjiArai	0:d4960fcea8ff	586	// a co-routine.
kenjiArai	0:d4960fcea8ff	587	void vUART_ISR( void )
kenjiArai	0:d4960fcea8ff	588	{
kenjiArai	0:d4960fcea8ff	589	char cRxedChar;
kenjiArai	0:d4960fcea8ff	590	portBASE_TYPE xCRWokenByPost = pdFALSE;
kenjiArai	0:d4960fcea8ff	591
kenjiArai	0:d4960fcea8ff	592	// We loop around reading characters until there are none left in the UART.
kenjiArai	0:d4960fcea8ff	593	while( UART_RX_REG_NOT_EMPTY() )
kenjiArai	0:d4960fcea8ff	594	{
kenjiArai	0:d4960fcea8ff	595	// Obtain the character from the UART.
kenjiArai	0:d4960fcea8ff	596	cRxedChar = UART_RX_REG;
kenjiArai	0:d4960fcea8ff	597
kenjiArai	0:d4960fcea8ff	598	// Post the character onto a queue. xCRWokenByPost will be pdFALSE
kenjiArai	0:d4960fcea8ff	599	// the first time around the loop. If the post causes a co-routine
kenjiArai	0:d4960fcea8ff	600	// to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
kenjiArai	0:d4960fcea8ff	601	// In this manner we can ensure that if more than one co-routine is
kenjiArai	0:d4960fcea8ff	602	// blocked on the queue only one is woken by this ISR no matter how
kenjiArai	0:d4960fcea8ff	603	// many characters are posted to the queue.
kenjiArai	0:d4960fcea8ff	604	xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
kenjiArai	0:d4960fcea8ff	605	}
kenjiArai	0:d4960fcea8ff	606	}</pre>
kenjiArai	0:d4960fcea8ff	607	* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
kenjiArai	0:d4960fcea8ff	608	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	609	*/
kenjiArai	0:d4960fcea8ff	610	#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken )
kenjiArai	0:d4960fcea8ff	611
kenjiArai	0:d4960fcea8ff	612
kenjiArai	0:d4960fcea8ff	613	/**
kenjiArai	0:d4960fcea8ff	614	* croutine. h
kenjiArai	0:d4960fcea8ff	615	* <pre>
kenjiArai	0:d4960fcea8ff	616	crQUEUE_SEND_FROM_ISR(
kenjiArai	0:d4960fcea8ff	617	xQueueHandle pxQueue,
kenjiArai	0:d4960fcea8ff	618	void *pvBuffer,
kenjiArai	0:d4960fcea8ff	619	portBASE_TYPE * pxCoRoutineWoken
kenjiArai	0:d4960fcea8ff	620	)</pre>
kenjiArai	0:d4960fcea8ff	621	*
kenjiArai	0:d4960fcea8ff	622	* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
kenjiArai	0:d4960fcea8ff	623	* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
kenjiArai	0:d4960fcea8ff	624	* functions used by tasks.
kenjiArai	0:d4960fcea8ff	625	*
kenjiArai	0:d4960fcea8ff	626	* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
kenjiArai	0:d4960fcea8ff	627	* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
kenjiArai	0:d4960fcea8ff	628	* xQueueReceiveFromISR() can only be used to pass data between a task and and
kenjiArai	0:d4960fcea8ff	629	* ISR.
kenjiArai	0:d4960fcea8ff	630	*
kenjiArai	0:d4960fcea8ff	631	* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
kenjiArai	0:d4960fcea8ff	632	* from a queue that is being used from within a co-routine (a co-routine
kenjiArai	0:d4960fcea8ff	633	* posted to the queue).
kenjiArai	0:d4960fcea8ff	634	*
kenjiArai	0:d4960fcea8ff	635	* See the co-routine section of the WEB documentation for information on
kenjiArai	0:d4960fcea8ff	636	* passing data between tasks and co-routines and between ISR's and
kenjiArai	0:d4960fcea8ff	637	* co-routines.
kenjiArai	0:d4960fcea8ff	638	*
kenjiArai	0:d4960fcea8ff	639	* @param xQueue The handle to the queue on which the item is to be posted.
kenjiArai	0:d4960fcea8ff	640	*
kenjiArai	0:d4960fcea8ff	641	* @param pvBuffer A pointer to a buffer into which the received item will be
kenjiArai	0:d4960fcea8ff	642	* placed. The size of the items the queue will hold was defined when the
kenjiArai	0:d4960fcea8ff	643	* queue was created, so this many bytes will be copied from the queue into
kenjiArai	0:d4960fcea8ff	644	* pvBuffer.
kenjiArai	0:d4960fcea8ff	645	*
kenjiArai	0:d4960fcea8ff	646	* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
kenjiArai	0:d4960fcea8ff	647	* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
kenjiArai	0:d4960fcea8ff	648	* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
kenjiArai	0:d4960fcea8ff	649	* *pxCoRoutineWoken will remain unchanged.
kenjiArai	0:d4960fcea8ff	650	*
kenjiArai	0:d4960fcea8ff	651	* @return pdTRUE an item was successfully received from the queue, otherwise
kenjiArai	0:d4960fcea8ff	652	* pdFALSE.
kenjiArai	0:d4960fcea8ff	653	*
kenjiArai	0:d4960fcea8ff	654	* Example usage:
kenjiArai	0:d4960fcea8ff	655	<pre>
kenjiArai	0:d4960fcea8ff	656	// A co-routine that posts a character to a queue then blocks for a fixed
kenjiArai	0:d4960fcea8ff	657	// period. The character is incremented each time.
kenjiArai	0:d4960fcea8ff	658	static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
kenjiArai	0:d4960fcea8ff	659	{
kenjiArai	0:d4960fcea8ff	660	// cChar holds its value while this co-routine is blocked and must therefore
kenjiArai	0:d4960fcea8ff	661	// be declared static.
kenjiArai	0:d4960fcea8ff	662	static char cCharToTx = 'a';
kenjiArai	0:d4960fcea8ff	663	portBASE_TYPE xResult;
kenjiArai	0:d4960fcea8ff	664
kenjiArai	0:d4960fcea8ff	665	// All co-routines must start with a call to crSTART().
kenjiArai	0:d4960fcea8ff	666	crSTART( xHandle );
kenjiArai	0:d4960fcea8ff	667
kenjiArai	0:d4960fcea8ff	668	for( ;; )
kenjiArai	0:d4960fcea8ff	669	{
kenjiArai	0:d4960fcea8ff	670	// Send the next character to the queue.
kenjiArai	0:d4960fcea8ff	671	crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
kenjiArai	0:d4960fcea8ff	672
kenjiArai	0:d4960fcea8ff	673	if( xResult == pdPASS )
kenjiArai	0:d4960fcea8ff	674	{
kenjiArai	0:d4960fcea8ff	675	// The character was successfully posted to the queue.
kenjiArai	0:d4960fcea8ff	676	}
kenjiArai	0:d4960fcea8ff	677	else
kenjiArai	0:d4960fcea8ff	678	{
kenjiArai	0:d4960fcea8ff	679	// Could not post the character to the queue.
kenjiArai	0:d4960fcea8ff	680	}
kenjiArai	0:d4960fcea8ff	681
kenjiArai	0:d4960fcea8ff	682	// Enable the UART Tx interrupt to cause an interrupt in this
kenjiArai	0:d4960fcea8ff	683	// hypothetical UART. The interrupt will obtain the character
kenjiArai	0:d4960fcea8ff	684	// from the queue and send it.
kenjiArai	0:d4960fcea8ff	685	ENABLE_RX_INTERRUPT();
kenjiArai	0:d4960fcea8ff	686
kenjiArai	0:d4960fcea8ff	687	// Increment to the next character then block for a fixed period.
kenjiArai	0:d4960fcea8ff	688	// cCharToTx will maintain its value across the delay as it is
kenjiArai	0:d4960fcea8ff	689	// declared static.
kenjiArai	0:d4960fcea8ff	690	cCharToTx++;
kenjiArai	0:d4960fcea8ff	691	if( cCharToTx > 'x' )
kenjiArai	0:d4960fcea8ff	692	{
kenjiArai	0:d4960fcea8ff	693	cCharToTx = 'a';
kenjiArai	0:d4960fcea8ff	694	}
kenjiArai	0:d4960fcea8ff	695	crDELAY( 100 );
kenjiArai	0:d4960fcea8ff	696	}
kenjiArai	0:d4960fcea8ff	697
kenjiArai	0:d4960fcea8ff	698	// All co-routines must end with a call to crEND().
kenjiArai	0:d4960fcea8ff	699	crEND();
kenjiArai	0:d4960fcea8ff	700	}
kenjiArai	0:d4960fcea8ff	701
kenjiArai	0:d4960fcea8ff	702	// An ISR that uses a queue to receive characters to send on a UART.
kenjiArai	0:d4960fcea8ff	703	void vUART_ISR( void )
kenjiArai	0:d4960fcea8ff	704	{
kenjiArai	0:d4960fcea8ff	705	char cCharToTx;
kenjiArai	0:d4960fcea8ff	706	portBASE_TYPE xCRWokenByPost = pdFALSE;
kenjiArai	0:d4960fcea8ff	707
kenjiArai	0:d4960fcea8ff	708	while( UART_TX_REG_EMPTY() )
kenjiArai	0:d4960fcea8ff	709	{
kenjiArai	0:d4960fcea8ff	710	// Are there any characters in the queue waiting to be sent?
kenjiArai	0:d4960fcea8ff	711	// xCRWokenByPost will automatically be set to pdTRUE if a co-routine
kenjiArai	0:d4960fcea8ff	712	// is woken by the post - ensuring that only a single co-routine is
kenjiArai	0:d4960fcea8ff	713	// woken no matter how many times we go around this loop.
kenjiArai	0:d4960fcea8ff	714	if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
kenjiArai	0:d4960fcea8ff	715	{
kenjiArai	0:d4960fcea8ff	716	SEND_CHARACTER( cCharToTx );
kenjiArai	0:d4960fcea8ff	717	}
kenjiArai	0:d4960fcea8ff	718	}
kenjiArai	0:d4960fcea8ff	719	}</pre>
kenjiArai	0:d4960fcea8ff	720	* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
kenjiArai	0:d4960fcea8ff	721	* \ingroup Tasks
kenjiArai	0:d4960fcea8ff	722	*/
kenjiArai	0:d4960fcea8ff	723	#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken )
kenjiArai	0:d4960fcea8ff	724
kenjiArai	0:d4960fcea8ff	725	/*
kenjiArai	0:d4960fcea8ff	726	* This function is intended for internal use by the co-routine macros only.
kenjiArai	0:d4960fcea8ff	727	* The macro nature of the co-routine implementation requires that the
kenjiArai	0:d4960fcea8ff	728	* prototype appears here. The function should not be used by application
kenjiArai	0:d4960fcea8ff	729	* writers.
kenjiArai	0:d4960fcea8ff	730	*
kenjiArai	0:d4960fcea8ff	731	* Removes the current co-routine from its ready list and places it in the
kenjiArai	0:d4960fcea8ff	732	* appropriate delayed list.
kenjiArai	0:d4960fcea8ff	733	*/
kenjiArai	0:d4960fcea8ff	734	void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList );
kenjiArai	0:d4960fcea8ff	735
kenjiArai	0:d4960fcea8ff	736	/*
kenjiArai	0:d4960fcea8ff	737	* This function is intended for internal use by the queue implementation only.
kenjiArai	0:d4960fcea8ff	738	* The function should not be used by application writers.
kenjiArai	0:d4960fcea8ff	739	*
kenjiArai	0:d4960fcea8ff	740	* Removes the highest priority co-routine from the event list and places it in
kenjiArai	0:d4960fcea8ff	741	* the pending ready list.
kenjiArai	0:d4960fcea8ff	742	*/
kenjiArai	0:d4960fcea8ff	743	signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList );
kenjiArai	0:d4960fcea8ff	744
kenjiArai	0:d4960fcea8ff	745	#ifdef __cplusplus
kenjiArai	0:d4960fcea8ff	746	}
kenjiArai	0:d4960fcea8ff	747	#endif
kenjiArai	0:d4960fcea8ff	748
kenjiArai	0:d4960fcea8ff	749	#endif /* CO_ROUTINE_H */

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Type:	Program
Created:	01 Jan 2011
Imports:	289
Forks:	1
Commits:	1
Dependents:	0
Dependencies:	0
Followers:	14

FreeRTOS/Source/include/croutine.h@0:d4960fcea8ff, 2011-01-01 (annotated)

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