720 lines
26 KiB
C
720 lines
26 KiB
C
/*
|
|
* FreeRTOS Kernel V10.2.1
|
|
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* http://www.FreeRTOS.org
|
|
* http://aws.amazon.com/freertos
|
|
*
|
|
* 1 tab == 4 spaces!
|
|
*/
|
|
|
|
#ifndef CO_ROUTINE_H
|
|
#define CO_ROUTINE_H
|
|
|
|
#ifndef INC_FREERTOS_H
|
|
#error "include FreeRTOS.h must appear in source files before include croutine.h"
|
|
#endif
|
|
|
|
#include "list.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/* Used to hide the implementation of the co-routine control block. The
|
|
control block structure however has to be included in the header due to
|
|
the macro implementation of the co-routine functionality. */
|
|
typedef void * CoRoutineHandle_t;
|
|
|
|
/* Defines the prototype to which co-routine functions must conform. */
|
|
typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
|
|
|
|
typedef struct corCoRoutineControlBlock
|
|
{
|
|
crCOROUTINE_CODE pxCoRoutineFunction;
|
|
ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
|
|
ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
|
|
UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
|
|
UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
|
|
uint16_t uxState; /*< Used internally by the co-routine implementation. */
|
|
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
|
|
|
|
/**
|
|
* croutine. h
|
|
*<pre>
|
|
BaseType_t xCoRoutineCreate(
|
|
crCOROUTINE_CODE pxCoRoutineCode,
|
|
UBaseType_t uxPriority,
|
|
UBaseType_t uxIndex
|
|
);</pre>
|
|
*
|
|
* Create a new co-routine and add it to the list of co-routines that are
|
|
* ready to run.
|
|
*
|
|
* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
|
|
* functions require special syntax - see the co-routine section of the WEB
|
|
* documentation for more information.
|
|
*
|
|
* @param uxPriority The priority with respect to other co-routines at which
|
|
* the co-routine will run.
|
|
*
|
|
* @param uxIndex Used to distinguish between different co-routines that
|
|
* execute the same function. See the example below and the co-routine section
|
|
* of the WEB documentation for further information.
|
|
*
|
|
* @return pdPASS if the co-routine was successfully created and added to a ready
|
|
* list, otherwise an error code defined with ProjDefs.h.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// Co-routine to be created.
|
|
void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
// This may not be necessary for const variables.
|
|
static const char cLedToFlash[ 2 ] = { 5, 6 };
|
|
static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
|
|
|
|
// Must start every co-routine with a call to crSTART();
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// This co-routine just delays for a fixed period, then toggles
|
|
// an LED. Two co-routines are created using this function, so
|
|
// the uxIndex parameter is used to tell the co-routine which
|
|
// LED to flash and how int32_t to delay. This assumes xQueue has
|
|
// already been created.
|
|
vParTestToggleLED( cLedToFlash[ uxIndex ] );
|
|
crDELAY( xHandle, uxFlashRates[ uxIndex ] );
|
|
}
|
|
|
|
// Must end every co-routine with a call to crEND();
|
|
crEND();
|
|
}
|
|
|
|
// Function that creates two co-routines.
|
|
void vOtherFunction( void )
|
|
{
|
|
uint8_t ucParameterToPass;
|
|
TaskHandle_t xHandle;
|
|
|
|
// Create two co-routines at priority 0. The first is given index 0
|
|
// so (from the code above) toggles LED 5 every 200 ticks. The second
|
|
// is given index 1 so toggles LED 6 every 400 ticks.
|
|
for( uxIndex = 0; uxIndex < 2; uxIndex++ )
|
|
{
|
|
xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup xCoRoutineCreate xCoRoutineCreate
|
|
* \ingroup Tasks
|
|
*/
|
|
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
|
|
|
|
|
|
/**
|
|
* croutine. h
|
|
*<pre>
|
|
void vCoRoutineSchedule( void );</pre>
|
|
*
|
|
* Run a co-routine.
|
|
*
|
|
* vCoRoutineSchedule() executes the highest priority co-routine that is able
|
|
* to run. The co-routine will execute until it either blocks, yields or is
|
|
* preempted by a task. Co-routines execute cooperatively so one
|
|
* co-routine cannot be preempted by another, but can be preempted by a task.
|
|
*
|
|
* If an application comprises of both tasks and co-routines then
|
|
* vCoRoutineSchedule should be called from the idle task (in an idle task
|
|
* hook).
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// This idle task hook will schedule a co-routine each time it is called.
|
|
// The rest of the idle task will execute between co-routine calls.
|
|
void vApplicationIdleHook( void )
|
|
{
|
|
vCoRoutineSchedule();
|
|
}
|
|
|
|
// Alternatively, if you do not require any other part of the idle task to
|
|
// execute, the idle task hook can call vCoRoutineScheduler() within an
|
|
// infinite loop.
|
|
void vApplicationIdleHook( void )
|
|
{
|
|
for( ;; )
|
|
{
|
|
vCoRoutineSchedule();
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup vCoRoutineSchedule vCoRoutineSchedule
|
|
* \ingroup Tasks
|
|
*/
|
|
void vCoRoutineSchedule( void );
|
|
|
|
/**
|
|
* croutine. h
|
|
* <pre>
|
|
crSTART( CoRoutineHandle_t xHandle );</pre>
|
|
*
|
|
* This macro MUST always be called at the start of a co-routine function.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// Co-routine to be created.
|
|
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
static int32_t ulAVariable;
|
|
|
|
// Must start every co-routine with a call to crSTART();
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// Co-routine functionality goes here.
|
|
}
|
|
|
|
// Must end every co-routine with a call to crEND();
|
|
crEND();
|
|
}</pre>
|
|
* \defgroup crSTART crSTART
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
|
|
|
|
/**
|
|
* croutine. h
|
|
* <pre>
|
|
crEND();</pre>
|
|
*
|
|
* This macro MUST always be called at the end of a co-routine function.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// Co-routine to be created.
|
|
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
static int32_t ulAVariable;
|
|
|
|
// Must start every co-routine with a call to crSTART();
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// Co-routine functionality goes here.
|
|
}
|
|
|
|
// Must end every co-routine with a call to crEND();
|
|
crEND();
|
|
}</pre>
|
|
* \defgroup crSTART crSTART
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crEND() }
|
|
|
|
/*
|
|
* These macros are intended for internal use by the co-routine implementation
|
|
* only. The macros should not be used directly by application writers.
|
|
*/
|
|
#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
|
|
#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
|
|
|
|
/**
|
|
* croutine. h
|
|
*<pre>
|
|
crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
|
|
*
|
|
* Delay a co-routine for a fixed period of time.
|
|
*
|
|
* crDELAY can only be called from the co-routine function itself - not
|
|
* from within a function called by the co-routine function. This is because
|
|
* co-routines do not maintain their own stack.
|
|
*
|
|
* @param xHandle The handle of the co-routine to delay. This is the xHandle
|
|
* parameter of the co-routine function.
|
|
*
|
|
* @param xTickToDelay The number of ticks that the co-routine should delay
|
|
* for. The actual amount of time this equates to is defined by
|
|
* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
|
|
* can be used to convert ticks to milliseconds.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// Co-routine to be created.
|
|
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
// This may not be necessary for const variables.
|
|
// We are to delay for 200ms.
|
|
static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
|
|
|
|
// Must start every co-routine with a call to crSTART();
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// Delay for 200ms.
|
|
crDELAY( xHandle, xDelayTime );
|
|
|
|
// Do something here.
|
|
}
|
|
|
|
// Must end every co-routine with a call to crEND();
|
|
crEND();
|
|
}</pre>
|
|
* \defgroup crDELAY crDELAY
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crDELAY( xHandle, xTicksToDelay ) \
|
|
if( ( xTicksToDelay ) > 0 ) \
|
|
{ \
|
|
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
|
|
} \
|
|
crSET_STATE0( ( xHandle ) );
|
|
|
|
/**
|
|
* <pre>
|
|
crQUEUE_SEND(
|
|
CoRoutineHandle_t xHandle,
|
|
QueueHandle_t pxQueue,
|
|
void *pvItemToQueue,
|
|
TickType_t xTicksToWait,
|
|
BaseType_t *pxResult
|
|
)</pre>
|
|
*
|
|
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
|
|
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
|
|
*
|
|
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
|
|
* xQueueSend() and xQueueReceive() can only be used from tasks.
|
|
*
|
|
* crQUEUE_SEND can only be called from the co-routine function itself - not
|
|
* from within a function called by the co-routine function. This is because
|
|
* co-routines do not maintain their own stack.
|
|
*
|
|
* See the co-routine section of the WEB documentation for information on
|
|
* passing data between tasks and co-routines and between ISR's and
|
|
* co-routines.
|
|
*
|
|
* @param xHandle The handle of the calling co-routine. This is the xHandle
|
|
* parameter of the co-routine function.
|
|
*
|
|
* @param pxQueue The handle of the queue on which the data will be posted.
|
|
* The handle is obtained as the return value when the queue is created using
|
|
* the xQueueCreate() API function.
|
|
*
|
|
* @param pvItemToQueue A pointer to the data being posted onto the queue.
|
|
* The number of bytes of each queued item is specified when the queue is
|
|
* created. This number of bytes is copied from pvItemToQueue into the queue
|
|
* itself.
|
|
*
|
|
* @param xTickToDelay The number of ticks that the co-routine should block
|
|
* to wait for space to become available on the queue, should space not be
|
|
* available immediately. The actual amount of time this equates to is defined
|
|
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
|
|
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
|
|
* below).
|
|
*
|
|
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
|
|
* data was successfully posted onto the queue, otherwise it will be set to an
|
|
* error defined within ProjDefs.h.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// Co-routine function that blocks for a fixed period then posts a number onto
|
|
// a queue.
|
|
static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
static BaseType_t xNumberToPost = 0;
|
|
static BaseType_t xResult;
|
|
|
|
// Co-routines must begin with a call to crSTART().
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// This assumes the queue has already been created.
|
|
crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
|
|
|
|
if( xResult != pdPASS )
|
|
{
|
|
// The message was not posted!
|
|
}
|
|
|
|
// Increment the number to be posted onto the queue.
|
|
xNumberToPost++;
|
|
|
|
// Delay for 100 ticks.
|
|
crDELAY( xHandle, 100 );
|
|
}
|
|
|
|
// Co-routines must end with a call to crEND().
|
|
crEND();
|
|
}</pre>
|
|
* \defgroup crQUEUE_SEND crQUEUE_SEND
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
|
|
{ \
|
|
*( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \
|
|
if( *( pxResult ) == errQUEUE_BLOCKED ) \
|
|
{ \
|
|
crSET_STATE0( ( xHandle ) ); \
|
|
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
|
|
} \
|
|
if( *pxResult == errQUEUE_YIELD ) \
|
|
{ \
|
|
crSET_STATE1( ( xHandle ) ); \
|
|
*pxResult = pdPASS; \
|
|
} \
|
|
}
|
|
|
|
/**
|
|
* croutine. h
|
|
* <pre>
|
|
crQUEUE_RECEIVE(
|
|
CoRoutineHandle_t xHandle,
|
|
QueueHandle_t pxQueue,
|
|
void *pvBuffer,
|
|
TickType_t xTicksToWait,
|
|
BaseType_t *pxResult
|
|
)</pre>
|
|
*
|
|
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
|
|
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
|
|
*
|
|
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
|
|
* xQueueSend() and xQueueReceive() can only be used from tasks.
|
|
*
|
|
* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
|
|
* from within a function called by the co-routine function. This is because
|
|
* co-routines do not maintain their own stack.
|
|
*
|
|
* See the co-routine section of the WEB documentation for information on
|
|
* passing data between tasks and co-routines and between ISR's and
|
|
* co-routines.
|
|
*
|
|
* @param xHandle The handle of the calling co-routine. This is the xHandle
|
|
* parameter of the co-routine function.
|
|
*
|
|
* @param pxQueue The handle of the queue from which the data will be received.
|
|
* The handle is obtained as the return value when the queue is created using
|
|
* the xQueueCreate() API function.
|
|
*
|
|
* @param pvBuffer The buffer into which the received item is to be copied.
|
|
* The number of bytes of each queued item is specified when the queue is
|
|
* created. This number of bytes is copied into pvBuffer.
|
|
*
|
|
* @param xTickToDelay The number of ticks that the co-routine should block
|
|
* to wait for data to become available from the queue, should data not be
|
|
* available immediately. The actual amount of time this equates to is defined
|
|
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
|
|
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
|
|
* crQUEUE_SEND example).
|
|
*
|
|
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
|
|
* data was successfully retrieved from the queue, otherwise it will be set to
|
|
* an error code as defined within ProjDefs.h.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// A co-routine receives the number of an LED to flash from a queue. It
|
|
// blocks on the queue until the number is received.
|
|
static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
|
static BaseType_t xResult;
|
|
static UBaseType_t uxLEDToFlash;
|
|
|
|
// All co-routines must start with a call to crSTART().
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// Wait for data to become available on the queue.
|
|
crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
|
|
|
if( xResult == pdPASS )
|
|
{
|
|
// We received the LED to flash - flash it!
|
|
vParTestToggleLED( uxLEDToFlash );
|
|
}
|
|
}
|
|
|
|
crEND();
|
|
}</pre>
|
|
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
|
|
{ \
|
|
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \
|
|
if( *( pxResult ) == errQUEUE_BLOCKED ) \
|
|
{ \
|
|
crSET_STATE0( ( xHandle ) ); \
|
|
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \
|
|
} \
|
|
if( *( pxResult ) == errQUEUE_YIELD ) \
|
|
{ \
|
|
crSET_STATE1( ( xHandle ) ); \
|
|
*( pxResult ) = pdPASS; \
|
|
} \
|
|
}
|
|
|
|
/**
|
|
* croutine. h
|
|
* <pre>
|
|
crQUEUE_SEND_FROM_ISR(
|
|
QueueHandle_t pxQueue,
|
|
void *pvItemToQueue,
|
|
BaseType_t xCoRoutinePreviouslyWoken
|
|
)</pre>
|
|
*
|
|
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
|
|
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
|
|
* functions used by tasks.
|
|
*
|
|
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
|
|
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
|
|
* xQueueReceiveFromISR() can only be used to pass data between a task and and
|
|
* ISR.
|
|
*
|
|
* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
|
|
* that is being used from within a co-routine.
|
|
*
|
|
* See the co-routine section of the WEB documentation for information on
|
|
* passing data between tasks and co-routines and between ISR's and
|
|
* co-routines.
|
|
*
|
|
* @param xQueue The handle to the queue on which the item is to be posted.
|
|
*
|
|
* @param pvItemToQueue A pointer to the item that is to be placed on the
|
|
* queue. The size of the items the queue will hold was defined when the
|
|
* queue was created, so this many bytes will be copied from pvItemToQueue
|
|
* into the queue storage area.
|
|
*
|
|
* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
|
|
* the same queue multiple times from a single interrupt. The first call
|
|
* should always pass in pdFALSE. Subsequent calls should pass in
|
|
* the value returned from the previous call.
|
|
*
|
|
* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
|
|
* used by the ISR to determine if a context switch may be required following
|
|
* the ISR.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// A co-routine that blocks on a queue waiting for characters to be received.
|
|
static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
char cRxedChar;
|
|
BaseType_t xResult;
|
|
|
|
// All co-routines must start with a call to crSTART().
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// Wait for data to become available on the queue. This assumes the
|
|
// queue xCommsRxQueue has already been created!
|
|
crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
|
|
|
// Was a character received?
|
|
if( xResult == pdPASS )
|
|
{
|
|
// Process the character here.
|
|
}
|
|
}
|
|
|
|
// All co-routines must end with a call to crEND().
|
|
crEND();
|
|
}
|
|
|
|
// An ISR that uses a queue to send characters received on a serial port to
|
|
// a co-routine.
|
|
void vUART_ISR( void )
|
|
{
|
|
char cRxedChar;
|
|
BaseType_t xCRWokenByPost = pdFALSE;
|
|
|
|
// We loop around reading characters until there are none left in the UART.
|
|
while( UART_RX_REG_NOT_EMPTY() )
|
|
{
|
|
// Obtain the character from the UART.
|
|
cRxedChar = UART_RX_REG;
|
|
|
|
// Post the character onto a queue. xCRWokenByPost will be pdFALSE
|
|
// the first time around the loop. If the post causes a co-routine
|
|
// to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
|
|
// In this manner we can ensure that if more than one co-routine is
|
|
// blocked on the queue only one is woken by this ISR no matter how
|
|
// many characters are posted to the queue.
|
|
xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
|
|
}
|
|
}</pre>
|
|
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
|
|
|
|
|
|
/**
|
|
* croutine. h
|
|
* <pre>
|
|
crQUEUE_SEND_FROM_ISR(
|
|
QueueHandle_t pxQueue,
|
|
void *pvBuffer,
|
|
BaseType_t * pxCoRoutineWoken
|
|
)</pre>
|
|
*
|
|
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
|
|
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
|
|
* functions used by tasks.
|
|
*
|
|
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
|
|
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
|
|
* xQueueReceiveFromISR() can only be used to pass data between a task and and
|
|
* ISR.
|
|
*
|
|
* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
|
|
* from a queue that is being used from within a co-routine (a co-routine
|
|
* posted to the queue).
|
|
*
|
|
* See the co-routine section of the WEB documentation for information on
|
|
* passing data between tasks and co-routines and between ISR's and
|
|
* co-routines.
|
|
*
|
|
* @param xQueue The handle to the queue on which the item is to be posted.
|
|
*
|
|
* @param pvBuffer A pointer to a buffer into which the received item will be
|
|
* placed. The size of the items the queue will hold was defined when the
|
|
* queue was created, so this many bytes will be copied from the queue into
|
|
* pvBuffer.
|
|
*
|
|
* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
|
|
* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
|
|
* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
|
|
* *pxCoRoutineWoken will remain unchanged.
|
|
*
|
|
* @return pdTRUE an item was successfully received from the queue, otherwise
|
|
* pdFALSE.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
// A co-routine that posts a character to a queue then blocks for a fixed
|
|
// period. The character is incremented each time.
|
|
static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
|
{
|
|
// cChar holds its value while this co-routine is blocked and must therefore
|
|
// be declared static.
|
|
static char cCharToTx = 'a';
|
|
BaseType_t xResult;
|
|
|
|
// All co-routines must start with a call to crSTART().
|
|
crSTART( xHandle );
|
|
|
|
for( ;; )
|
|
{
|
|
// Send the next character to the queue.
|
|
crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
|
|
|
|
if( xResult == pdPASS )
|
|
{
|
|
// The character was successfully posted to the queue.
|
|
}
|
|
else
|
|
{
|
|
// Could not post the character to the queue.
|
|
}
|
|
|
|
// Enable the UART Tx interrupt to cause an interrupt in this
|
|
// hypothetical UART. The interrupt will obtain the character
|
|
// from the queue and send it.
|
|
ENABLE_RX_INTERRUPT();
|
|
|
|
// Increment to the next character then block for a fixed period.
|
|
// cCharToTx will maintain its value across the delay as it is
|
|
// declared static.
|
|
cCharToTx++;
|
|
if( cCharToTx > 'x' )
|
|
{
|
|
cCharToTx = 'a';
|
|
}
|
|
crDELAY( 100 );
|
|
}
|
|
|
|
// All co-routines must end with a call to crEND().
|
|
crEND();
|
|
}
|
|
|
|
// An ISR that uses a queue to receive characters to send on a UART.
|
|
void vUART_ISR( void )
|
|
{
|
|
char cCharToTx;
|
|
BaseType_t xCRWokenByPost = pdFALSE;
|
|
|
|
while( UART_TX_REG_EMPTY() )
|
|
{
|
|
// Are there any characters in the queue waiting to be sent?
|
|
// xCRWokenByPost will automatically be set to pdTRUE if a co-routine
|
|
// is woken by the post - ensuring that only a single co-routine is
|
|
// woken no matter how many times we go around this loop.
|
|
if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
|
|
{
|
|
SEND_CHARACTER( cCharToTx );
|
|
}
|
|
}
|
|
}</pre>
|
|
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
|
|
* \ingroup Tasks
|
|
*/
|
|
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
|
|
|
|
/*
|
|
* This function is intended for internal use by the co-routine macros only.
|
|
* The macro nature of the co-routine implementation requires that the
|
|
* prototype appears here. The function should not be used by application
|
|
* writers.
|
|
*
|
|
* Removes the current co-routine from its ready list and places it in the
|
|
* appropriate delayed list.
|
|
*/
|
|
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
|
|
|
|
/*
|
|
* This function is intended for internal use by the queue implementation only.
|
|
* The function should not be used by application writers.
|
|
*
|
|
* Removes the highest priority co-routine from the event list and places it in
|
|
* the pending ready list.
|
|
*/
|
|
BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* CO_ROUTINE_H */
|