391 lines
15 KiB
C
391 lines
15 KiB
C
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/*
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FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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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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/*
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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.pvContainer )
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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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