2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 #ifndef CO_ROUTINE_H
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30 #define CO_ROUTINE_H
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32 #ifndef INC_FREERTOS_H
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33 #error "include FreeRTOS.h must appear in source files before include croutine.h"
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42 /* Used to hide the implementation of the co-routine control block. The
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43 control block structure however has to be included in the header due to
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44 the macro implementation of the co-routine functionality. */
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45 typedef void * CoRoutineHandle_t;
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47 /* Defines the prototype to which co-routine functions must conform. */
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48 typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
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50 typedef struct corCoRoutineControlBlock
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52 crCOROUTINE_CODE pxCoRoutineFunction;
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53 ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
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54 ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
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55 UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
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56 UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
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57 uint16_t uxState; /*< Used internally by the co-routine implementation. */
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58 } CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
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63 BaseType_t xCoRoutineCreate(
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64 crCOROUTINE_CODE pxCoRoutineCode,
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65 UBaseType_t uxPriority,
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69 * Create a new co-routine and add it to the list of co-routines that are
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72 * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
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73 * functions require special syntax - see the co-routine section of the WEB
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74 * documentation for more information.
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76 * @param uxPriority The priority with respect to other co-routines at which
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77 * the co-routine will run.
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79 * @param uxIndex Used to distinguish between different co-routines that
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80 * execute the same function. See the example below and the co-routine section
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81 * of the WEB documentation for further information.
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83 * @return pdPASS if the co-routine was successfully created and added to a ready
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84 * list, otherwise an error code defined with ProjDefs.h.
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88 // Co-routine to be created.
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89 void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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91 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
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92 // This may not be necessary for const variables.
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93 static const char cLedToFlash[ 2 ] = { 5, 6 };
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94 static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
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96 // Must start every co-routine with a call to crSTART();
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101 // This co-routine just delays for a fixed period, then toggles
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102 // an LED. Two co-routines are created using this function, so
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103 // the uxIndex parameter is used to tell the co-routine which
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104 // LED to flash and how int32_t to delay. This assumes xQueue has
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105 // already been created.
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106 vParTestToggleLED( cLedToFlash[ uxIndex ] );
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107 crDELAY( xHandle, uxFlashRates[ uxIndex ] );
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110 // Must end every co-routine with a call to crEND();
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114 // Function that creates two co-routines.
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115 void vOtherFunction( void )
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117 uint8_t ucParameterToPass;
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118 TaskHandle_t xHandle;
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120 // Create two co-routines at priority 0. The first is given index 0
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121 // so (from the code above) toggles LED 5 every 200 ticks. The second
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122 // is given index 1 so toggles LED 6 every 400 ticks.
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123 for( uxIndex = 0; uxIndex < 2; uxIndex++ )
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125 xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
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129 * \defgroup xCoRoutineCreate xCoRoutineCreate
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132 BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
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138 void vCoRoutineSchedule( void );</pre>
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140 * Run a co-routine.
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142 * vCoRoutineSchedule() executes the highest priority co-routine that is able
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143 * to run. The co-routine will execute until it either blocks, yields or is
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144 * preempted by a task. Co-routines execute cooperatively so one
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145 * co-routine cannot be preempted by another, but can be preempted by a task.
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147 * If an application comprises of both tasks and co-routines then
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148 * vCoRoutineSchedule should be called from the idle task (in an idle task
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153 // This idle task hook will schedule a co-routine each time it is called.
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154 // The rest of the idle task will execute between co-routine calls.
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155 void vApplicationIdleHook( void )
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157 vCoRoutineSchedule();
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160 // Alternatively, if you do not require any other part of the idle task to
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161 // execute, the idle task hook can call vCoRoutineScheduler() within an
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163 void vApplicationIdleHook( void )
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167 vCoRoutineSchedule();
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171 * \defgroup vCoRoutineSchedule vCoRoutineSchedule
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174 void vCoRoutineSchedule( void );
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179 crSTART( CoRoutineHandle_t xHandle );</pre>
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181 * This macro MUST always be called at the start of a co-routine function.
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185 // Co-routine to be created.
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186 void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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188 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
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189 static int32_t ulAVariable;
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191 // Must start every co-routine with a call to crSTART();
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192 crSTART( xHandle );
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196 // Co-routine functionality goes here.
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199 // Must end every co-routine with a call to crEND();
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202 * \defgroup crSTART crSTART
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205 #define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
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212 * This macro MUST always be called at the end of a co-routine function.
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216 // Co-routine to be created.
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217 void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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219 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
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220 static int32_t ulAVariable;
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222 // Must start every co-routine with a call to crSTART();
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223 crSTART( xHandle );
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227 // Co-routine functionality goes here.
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230 // Must end every co-routine with a call to crEND();
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233 * \defgroup crSTART crSTART
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239 * These macros are intended for internal use by the co-routine implementation
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240 * only. The macros should not be used directly by application writers.
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242 #define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
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243 #define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
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248 crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
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250 * Delay a co-routine for a fixed period of time.
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252 * crDELAY can only be called from the co-routine function itself - not
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253 * from within a function called by the co-routine function. This is because
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254 * co-routines do not maintain their own stack.
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256 * @param xHandle The handle of the co-routine to delay. This is the xHandle
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257 * parameter of the co-routine function.
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259 * @param xTickToDelay The number of ticks that the co-routine should delay
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260 * for. The actual amount of time this equates to is defined by
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261 * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
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262 * can be used to convert ticks to milliseconds.
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266 // Co-routine to be created.
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267 void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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269 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
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270 // This may not be necessary for const variables.
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271 // We are to delay for 200ms.
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272 static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
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274 // Must start every co-routine with a call to crSTART();
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275 crSTART( xHandle );
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279 // Delay for 200ms.
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280 crDELAY( xHandle, xDelayTime );
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282 // Do something here.
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285 // Must end every co-routine with a call to crEND();
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288 * \defgroup crDELAY crDELAY
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291 #define crDELAY( xHandle, xTicksToDelay ) \
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292 if( ( xTicksToDelay ) > 0 ) \
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294 vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
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296 crSET_STATE0( ( xHandle ) );
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301 CoRoutineHandle_t xHandle,
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302 QueueHandle_t pxQueue,
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303 void *pvItemToQueue,
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304 TickType_t xTicksToWait,
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305 BaseType_t *pxResult
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308 * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
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309 * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
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311 * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
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312 * xQueueSend() and xQueueReceive() can only be used from tasks.
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314 * crQUEUE_SEND can only be called from the co-routine function itself - not
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315 * from within a function called by the co-routine function. This is because
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316 * co-routines do not maintain their own stack.
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318 * See the co-routine section of the WEB documentation for information on
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319 * passing data between tasks and co-routines and between ISR's and
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322 * @param xHandle The handle of the calling co-routine. This is the xHandle
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323 * parameter of the co-routine function.
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325 * @param pxQueue The handle of the queue on which the data will be posted.
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326 * The handle is obtained as the return value when the queue is created using
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327 * the xQueueCreate() API function.
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329 * @param pvItemToQueue A pointer to the data being posted onto the queue.
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330 * The number of bytes of each queued item is specified when the queue is
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331 * created. This number of bytes is copied from pvItemToQueue into the queue
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334 * @param xTickToDelay The number of ticks that the co-routine should block
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335 * to wait for space to become available on the queue, should space not be
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336 * available immediately. The actual amount of time this equates to is defined
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337 * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
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338 * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
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341 * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
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342 * data was successfully posted onto the queue, otherwise it will be set to an
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343 * error defined within ProjDefs.h.
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347 // Co-routine function that blocks for a fixed period then posts a number onto
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349 static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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351 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
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352 static BaseType_t xNumberToPost = 0;
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353 static BaseType_t xResult;
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355 // Co-routines must begin with a call to crSTART().
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356 crSTART( xHandle );
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360 // This assumes the queue has already been created.
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361 crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
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363 if( xResult != pdPASS )
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365 // The message was not posted!
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368 // Increment the number to be posted onto the queue.
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371 // Delay for 100 ticks.
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372 crDELAY( xHandle, 100 );
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375 // Co-routines must end with a call to crEND().
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378 * \defgroup crQUEUE_SEND crQUEUE_SEND
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381 #define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
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383 *( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \
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384 if( *( pxResult ) == errQUEUE_BLOCKED ) \
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386 crSET_STATE0( ( xHandle ) ); \
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387 *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
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389 if( *pxResult == errQUEUE_YIELD ) \
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391 crSET_STATE1( ( xHandle ) ); \
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392 *pxResult = pdPASS; \
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400 CoRoutineHandle_t xHandle,
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401 QueueHandle_t pxQueue,
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403 TickType_t xTicksToWait,
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404 BaseType_t *pxResult
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407 * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
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408 * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
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410 * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
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411 * xQueueSend() and xQueueReceive() can only be used from tasks.
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413 * crQUEUE_RECEIVE can only be called from the co-routine function itself - not
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414 * from within a function called by the co-routine function. This is because
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415 * co-routines do not maintain their own stack.
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417 * See the co-routine section of the WEB documentation for information on
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418 * passing data between tasks and co-routines and between ISR's and
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421 * @param xHandle The handle of the calling co-routine. This is the xHandle
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422 * parameter of the co-routine function.
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424 * @param pxQueue The handle of the queue from which the data will be received.
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425 * The handle is obtained as the return value when the queue is created using
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426 * the xQueueCreate() API function.
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428 * @param pvBuffer The buffer into which the received item is to be copied.
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429 * The number of bytes of each queued item is specified when the queue is
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430 * created. This number of bytes is copied into pvBuffer.
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432 * @param xTickToDelay The number of ticks that the co-routine should block
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433 * to wait for data to become available from the queue, should data not be
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434 * available immediately. The actual amount of time this equates to is defined
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435 * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
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436 * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
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437 * crQUEUE_SEND example).
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439 * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
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440 * data was successfully retrieved from the queue, otherwise it will be set to
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441 * an error code as defined within ProjDefs.h.
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445 // A co-routine receives the number of an LED to flash from a queue. It
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446 // blocks on the queue until the number is received.
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447 static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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449 // Variables in co-routines must be declared static if they must maintain value across a blocking call.
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450 static BaseType_t xResult;
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451 static UBaseType_t uxLEDToFlash;
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453 // All co-routines must start with a call to crSTART().
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454 crSTART( xHandle );
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458 // Wait for data to become available on the queue.
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459 crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
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461 if( xResult == pdPASS )
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463 // We received the LED to flash - flash it!
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464 vParTestToggleLED( uxLEDToFlash );
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470 * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
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473 #define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
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475 *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \
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476 if( *( pxResult ) == errQUEUE_BLOCKED ) \
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478 crSET_STATE0( ( xHandle ) ); \
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479 *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \
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481 if( *( pxResult ) == errQUEUE_YIELD ) \
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483 crSET_STATE1( ( xHandle ) ); \
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484 *( pxResult ) = pdPASS; \
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491 crQUEUE_SEND_FROM_ISR(
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492 QueueHandle_t pxQueue,
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493 void *pvItemToQueue,
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494 BaseType_t xCoRoutinePreviouslyWoken
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497 * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
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498 * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
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499 * functions used by tasks.
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501 * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
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502 * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
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503 * xQueueReceiveFromISR() can only be used to pass data between a task and and
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506 * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
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507 * that is being used from within a co-routine.
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509 * See the co-routine section of the WEB documentation for information on
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510 * passing data between tasks and co-routines and between ISR's and
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513 * @param xQueue The handle to the queue on which the item is to be posted.
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515 * @param pvItemToQueue A pointer to the item that is to be placed on the
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516 * queue. The size of the items the queue will hold was defined when the
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517 * queue was created, so this many bytes will be copied from pvItemToQueue
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518 * into the queue storage area.
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520 * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
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521 * the same queue multiple times from a single interrupt. The first call
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522 * should always pass in pdFALSE. Subsequent calls should pass in
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523 * the value returned from the previous call.
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525 * @return pdTRUE if a co-routine was woken by posting onto the queue. This is
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526 * used by the ISR to determine if a context switch may be required following
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531 // A co-routine that blocks on a queue waiting for characters to be received.
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532 static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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535 BaseType_t xResult;
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537 // All co-routines must start with a call to crSTART().
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538 crSTART( xHandle );
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542 // Wait for data to become available on the queue. This assumes the
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543 // queue xCommsRxQueue has already been created!
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544 crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
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546 // Was a character received?
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547 if( xResult == pdPASS )
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549 // Process the character here.
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553 // All co-routines must end with a call to crEND().
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557 // An ISR that uses a queue to send characters received on a serial port to
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559 void vUART_ISR( void )
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562 BaseType_t xCRWokenByPost = pdFALSE;
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564 // We loop around reading characters until there are none left in the UART.
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565 while( UART_RX_REG_NOT_EMPTY() )
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567 // Obtain the character from the UART.
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568 cRxedChar = UART_RX_REG;
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570 // Post the character onto a queue. xCRWokenByPost will be pdFALSE
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571 // the first time around the loop. If the post causes a co-routine
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572 // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
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573 // In this manner we can ensure that if more than one co-routine is
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574 // blocked on the queue only one is woken by this ISR no matter how
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575 // many characters are posted to the queue.
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576 xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
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579 * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
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582 #define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
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588 crQUEUE_SEND_FROM_ISR(
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589 QueueHandle_t pxQueue,
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591 BaseType_t * pxCoRoutineWoken
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594 * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
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595 * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
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596 * functions used by tasks.
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598 * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
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599 * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
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600 * xQueueReceiveFromISR() can only be used to pass data between a task and and
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603 * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
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604 * from a queue that is being used from within a co-routine (a co-routine
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605 * posted to the queue).
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607 * See the co-routine section of the WEB documentation for information on
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608 * passing data between tasks and co-routines and between ISR's and
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611 * @param xQueue The handle to the queue on which the item is to be posted.
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613 * @param pvBuffer A pointer to a buffer into which the received item will be
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614 * placed. The size of the items the queue will hold was defined when the
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615 * queue was created, so this many bytes will be copied from the queue into
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618 * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
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619 * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
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620 * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
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621 * *pxCoRoutineWoken will remain unchanged.
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623 * @return pdTRUE an item was successfully received from the queue, otherwise
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628 // A co-routine that posts a character to a queue then blocks for a fixed
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629 // period. The character is incremented each time.
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630 static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
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632 // cChar holds its value while this co-routine is blocked and must therefore
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633 // be declared static.
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634 static char cCharToTx = 'a';
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635 BaseType_t xResult;
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637 // All co-routines must start with a call to crSTART().
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638 crSTART( xHandle );
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642 // Send the next character to the queue.
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643 crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
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645 if( xResult == pdPASS )
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647 // The character was successfully posted to the queue.
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651 // Could not post the character to the queue.
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654 // Enable the UART Tx interrupt to cause an interrupt in this
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655 // hypothetical UART. The interrupt will obtain the character
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656 // from the queue and send it.
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657 ENABLE_RX_INTERRUPT();
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659 // Increment to the next character then block for a fixed period.
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660 // cCharToTx will maintain its value across the delay as it is
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661 // declared static.
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663 if( cCharToTx > 'x' )
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670 // All co-routines must end with a call to crEND().
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674 // An ISR that uses a queue to receive characters to send on a UART.
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675 void vUART_ISR( void )
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678 BaseType_t xCRWokenByPost = pdFALSE;
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680 while( UART_TX_REG_EMPTY() )
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682 // Are there any characters in the queue waiting to be sent?
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683 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
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684 // is woken by the post - ensuring that only a single co-routine is
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685 // woken no matter how many times we go around this loop.
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686 if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
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688 SEND_CHARACTER( cCharToTx );
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692 * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
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695 #define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
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698 * This function is intended for internal use by the co-routine macros only.
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699 * The macro nature of the co-routine implementation requires that the
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700 * prototype appears here. The function should not be used by application
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703 * Removes the current co-routine from its ready list and places it in the
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704 * appropriate delayed list.
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706 void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
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709 * This function is intended for internal use by the queue implementation only.
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710 * The function should not be used by application writers.
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712 * Removes the highest priority co-routine from the event list and places it in
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713 * the pending ready list.
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715 BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
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721 #endif /* CO_ROUTINE_H */
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