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353 lines
13 KiB
353 lines
13 KiB
/* |
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* FreeRTOS Kernel V10.3.1 |
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. |
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* |
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* Permission is hereby granted, free of charge, to any person obtaining a copy of |
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* this software and associated documentation files (the "Software"), to deal in |
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* the Software without restriction, including without limitation the rights to |
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of |
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* the Software, and to permit persons to whom the Software is furnished to do so, |
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* subject to the following conditions: |
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* |
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* The above copyright notice and this permission notice shall be included in all |
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* copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS |
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR |
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER |
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN |
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
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* |
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* http://www.FreeRTOS.org |
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* http://aws.amazon.com/freertos |
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* |
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* 1 tab == 4 spaces! |
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*/ |
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#include "FreeRTOS.h" |
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#include "task.h" |
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#include "croutine.h" |
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/* Remove the whole file is co-routines are not being used. */ |
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#if( configUSE_CO_ROUTINES != 0 ) |
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/* |
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* Some kernel aware debuggers require data to be viewed to be global, rather |
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* than file scope. |
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*/ |
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#ifdef portREMOVE_STATIC_QUALIFIER |
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#define static |
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#endif |
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/* Lists for ready and blocked co-routines. --------------------*/ |
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static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ |
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static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */ |
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static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ |
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static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ |
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static List_t * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ |
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static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ |
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/* Other file private variables. --------------------------------*/ |
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CRCB_t * pxCurrentCoRoutine = NULL; |
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static UBaseType_t uxTopCoRoutineReadyPriority = 0; |
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static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; |
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/* The initial state of the co-routine when it is created. */ |
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#define corINITIAL_STATE ( 0 ) |
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/* |
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* Place the co-routine represented by pxCRCB into the appropriate ready queue |
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* for the priority. It is inserted at the end of the list. |
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* |
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* This macro accesses the co-routine ready lists and therefore must not be |
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* used from within an ISR. |
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*/ |
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#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ |
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{ \ |
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if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ |
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{ \ |
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uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ |
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} \ |
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vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ |
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} |
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/* |
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* Utility to ready all the lists used by the scheduler. This is called |
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* automatically upon the creation of the first co-routine. |
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*/ |
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static void prvInitialiseCoRoutineLists( void ); |
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/* |
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* Co-routines that are readied by an interrupt cannot be placed directly into |
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* the ready lists (there is no mutual exclusion). Instead they are placed in |
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* in the pending ready list in order that they can later be moved to the ready |
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* list by the co-routine scheduler. |
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*/ |
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static void prvCheckPendingReadyList( void ); |
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/* |
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* Macro that looks at the list of co-routines that are currently delayed to |
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* see if any require waking. |
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* |
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* Co-routines are stored in the queue in the order of their wake time - |
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* meaning once one co-routine has been found whose timer has not expired |
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* we need not look any further down the list. |
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*/ |
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static void prvCheckDelayedList( void ); |
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/*-----------------------------------------------------------*/ |
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BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ) |
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{ |
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BaseType_t xReturn; |
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CRCB_t *pxCoRoutine; |
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/* Allocate the memory that will store the co-routine control block. */ |
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pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); |
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if( pxCoRoutine ) |
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{ |
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/* If pxCurrentCoRoutine is NULL then this is the first co-routine to |
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be created and the co-routine data structures need initialising. */ |
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if( pxCurrentCoRoutine == NULL ) |
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{ |
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pxCurrentCoRoutine = pxCoRoutine; |
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prvInitialiseCoRoutineLists(); |
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} |
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/* Check the priority is within limits. */ |
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if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) |
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{ |
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uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; |
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} |
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/* Fill out the co-routine control block from the function parameters. */ |
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pxCoRoutine->uxState = corINITIAL_STATE; |
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pxCoRoutine->uxPriority = uxPriority; |
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pxCoRoutine->uxIndex = uxIndex; |
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pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; |
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/* Initialise all the other co-routine control block parameters. */ |
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vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); |
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vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); |
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/* Set the co-routine control block as a link back from the ListItem_t. |
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This is so we can get back to the containing CRCB from a generic item |
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in a list. */ |
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listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); |
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listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); |
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/* Event lists are always in priority order. */ |
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listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); |
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/* Now the co-routine has been initialised it can be added to the ready |
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list at the correct priority. */ |
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prvAddCoRoutineToReadyQueue( pxCoRoutine ); |
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xReturn = pdPASS; |
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} |
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else |
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{ |
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xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; |
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} |
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return xReturn; |
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} |
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/*-----------------------------------------------------------*/ |
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void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ) |
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{ |
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TickType_t xTimeToWake; |
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/* Calculate the time to wake - this may overflow but this is |
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not a problem. */ |
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xTimeToWake = xCoRoutineTickCount + xTicksToDelay; |
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/* We must remove ourselves from the ready list before adding |
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ourselves to the blocked list as the same list item is used for |
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both lists. */ |
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( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); |
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/* The list item will be inserted in wake time order. */ |
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listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); |
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if( xTimeToWake < xCoRoutineTickCount ) |
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{ |
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/* Wake time has overflowed. Place this item in the |
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overflow list. */ |
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vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); |
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} |
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else |
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{ |
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/* The wake time has not overflowed, so we can use the |
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current block list. */ |
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vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); |
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} |
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if( pxEventList ) |
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{ |
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/* Also add the co-routine to an event list. If this is done then the |
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function must be called with interrupts disabled. */ |
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vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); |
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} |
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} |
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/*-----------------------------------------------------------*/ |
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static void prvCheckPendingReadyList( void ) |
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{ |
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/* Are there any co-routines waiting to get moved to the ready list? These |
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are co-routines that have been readied by an ISR. The ISR cannot access |
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the ready lists itself. */ |
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while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) |
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{ |
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CRCB_t *pxUnblockedCRCB; |
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/* The pending ready list can be accessed by an ISR. */ |
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portDISABLE_INTERRUPTS(); |
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{ |
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pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); |
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( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); |
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} |
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portENABLE_INTERRUPTS(); |
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( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); |
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prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); |
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} |
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} |
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/*-----------------------------------------------------------*/ |
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static void prvCheckDelayedList( void ) |
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{ |
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CRCB_t *pxCRCB; |
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xPassedTicks = xTaskGetTickCount() - xLastTickCount; |
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while( xPassedTicks ) |
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{ |
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xCoRoutineTickCount++; |
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xPassedTicks--; |
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/* If the tick count has overflowed we need to swap the ready lists. */ |
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if( xCoRoutineTickCount == 0 ) |
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{ |
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List_t * pxTemp; |
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/* Tick count has overflowed so we need to swap the delay lists. If there are |
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any items in pxDelayedCoRoutineList here then there is an error! */ |
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pxTemp = pxDelayedCoRoutineList; |
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pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; |
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pxOverflowDelayedCoRoutineList = pxTemp; |
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} |
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/* See if this tick has made a timeout expire. */ |
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while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) |
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{ |
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pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); |
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if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) |
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{ |
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/* Timeout not yet expired. */ |
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break; |
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} |
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portDISABLE_INTERRUPTS(); |
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{ |
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/* The event could have occurred just before this critical |
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section. If this is the case then the generic list item will |
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have been moved to the pending ready list and the following |
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line is still valid. Also the pvContainer parameter will have |
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been set to NULL so the following lines are also valid. */ |
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( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); |
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/* Is the co-routine waiting on an event also? */ |
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if( pxCRCB->xEventListItem.pxContainer ) |
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{ |
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( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); |
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} |
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} |
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portENABLE_INTERRUPTS(); |
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prvAddCoRoutineToReadyQueue( pxCRCB ); |
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} |
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} |
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xLastTickCount = xCoRoutineTickCount; |
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} |
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/*-----------------------------------------------------------*/ |
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void vCoRoutineSchedule( void ) |
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{ |
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/* See if any co-routines readied by events need moving to the ready lists. */ |
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prvCheckPendingReadyList(); |
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/* See if any delayed co-routines have timed out. */ |
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prvCheckDelayedList(); |
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/* Find the highest priority queue that contains ready co-routines. */ |
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while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) |
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{ |
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if( uxTopCoRoutineReadyPriority == 0 ) |
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{ |
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/* No more co-routines to check. */ |
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return; |
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} |
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--uxTopCoRoutineReadyPriority; |
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} |
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/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines |
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of the same priority get an equal share of the processor time. */ |
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); |
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/* Call the co-routine. */ |
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( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); |
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return; |
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} |
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/*-----------------------------------------------------------*/ |
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static void prvInitialiseCoRoutineLists( void ) |
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{ |
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UBaseType_t uxPriority; |
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for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) |
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{ |
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vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); |
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} |
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vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 ); |
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vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); |
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vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); |
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/* Start with pxDelayedCoRoutineList using list1 and the |
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pxOverflowDelayedCoRoutineList using list2. */ |
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pxDelayedCoRoutineList = &xDelayedCoRoutineList1; |
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pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; |
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} |
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/*-----------------------------------------------------------*/ |
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BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ) |
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{ |
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CRCB_t *pxUnblockedCRCB; |
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BaseType_t xReturn; |
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/* This function is called from within an interrupt. It can only access |
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event lists and the pending ready list. This function assumes that a |
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check has already been made to ensure pxEventList is not empty. */ |
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pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); |
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( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); |
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vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); |
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if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) |
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{ |
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xReturn = pdTRUE; |
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} |
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else |
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{ |
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xReturn = pdFALSE; |
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} |
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return xReturn; |
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} |
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#endif /* configUSE_CO_ROUTINES == 0 */ |
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