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572 |
jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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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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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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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 xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
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static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */
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static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
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static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */
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static xList * 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 xList 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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corCRCB * pxCurrentCoRoutine = NULL;
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static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0;
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static portTickType 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( ( xList * ) &( 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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signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex )
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{
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signed portBASE_TYPE xReturn;
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corCRCB *pxCoRoutine;
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/* Allocate the memory that will store the co-routine control block. */
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pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) );
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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 xListItem.
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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 ), configMAX_PRIORITIES - ( portTickType ) 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( portTickType xTicksToDelay, xList *pxEventList )
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{
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portTickType 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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vListRemove( ( xListItem * ) &( 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( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( 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( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( 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 ) )
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{
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corCRCB *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 = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
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vListRemove( &( pxUnblockedCRCB->xEventListItem ) );
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}
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portENABLE_INTERRUPTS();
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vListRemove( &( 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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corCRCB *pxCRCB;
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| 247 |
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xPassedTicks = xTaskGetTickCount() - xLastTickCount;
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while( xPassedTicks )
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{
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| 250 |
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xCoRoutineTickCount++;
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xPassedTicks--;
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| 253 |
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/* If the tick count has overflowed we need to swap the ready lists. */
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| 254 |
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if( xCoRoutineTickCount == 0 )
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{
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| 256 |
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xList * pxTemp;
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| 258 |
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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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| 261 |
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pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
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| 262 |
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pxOverflowDelayedCoRoutineList = pxTemp;
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}
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| 264 |
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| 265 |
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/* See if this tick has made a timeout expire. */
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while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL )
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| 267 |
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{
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| 268 |
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if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
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{
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| 270 |
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/* Timeout not yet expired. */
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| 271 |
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break;
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| 272 |
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}
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| 273 |
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| 274 |
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portDISABLE_INTERRUPTS();
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| 275 |
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{
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| 276 |
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/* The event could have occurred just before this critical
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| 277 |
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section. If this is the case then the generic list item will
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| 278 |
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have been moved to the pending ready list and the following
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| 279 |
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line is still valid. Also the pvContainer parameter will have
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| 280 |
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been set to NULL so the following lines are also valid. */
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| 281 |
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vListRemove( &( pxCRCB->xGenericListItem ) );
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| 282 |
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| 283 |
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/* Is the co-routine waiting on an event also? */
|
| 284 |
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if( pxCRCB->xEventListItem.pvContainer )
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| 285 |
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{
|
| 286 |
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vListRemove( &( pxCRCB->xEventListItem ) );
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| 287 |
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}
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| 288 |
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}
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| 289 |
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portENABLE_INTERRUPTS();
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| 290 |
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| 291 |
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prvAddCoRoutineToReadyQueue( pxCRCB );
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| 292 |
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}
|
| 293 |
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}
|
| 294 |
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| 295 |
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xLastTickCount = xCoRoutineTickCount;
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| 296 |
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}
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| 297 |
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/*-----------------------------------------------------------*/
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| 298 |
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| 299 |
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void vCoRoutineSchedule( void )
|
| 300 |
|
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{
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| 301 |
|
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/* See if any co-routines readied by events need moving to the ready lists. */
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| 302 |
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prvCheckPendingReadyList();
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| 303 |
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| 304 |
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/* See if any delayed co-routines have timed out. */
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| 305 |
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prvCheckDelayedList();
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| 306 |
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| 307 |
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/* Find the highest priority queue that contains ready co-routines. */
|
| 308 |
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while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
|
| 309 |
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{
|
| 310 |
|
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if( uxTopCoRoutineReadyPriority == 0 )
|
| 311 |
|
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{
|
| 312 |
|
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/* No more co-routines to check. */
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| 313 |
|
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return;
|
| 314 |
|
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}
|
| 315 |
|
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--uxTopCoRoutineReadyPriority;
|
| 316 |
|
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}
|
| 317 |
|
|
|
| 318 |
|
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/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
|
| 319 |
|
|
of the same priority get an equal share of the processor time. */
|
| 320 |
|
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
|
| 321 |
|
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|
| 322 |
|
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/* Call the co-routine. */
|
| 323 |
|
|
( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
|
| 324 |
|
|
|
| 325 |
|
|
return;
|
| 326 |
|
|
}
|
| 327 |
|
|
/*-----------------------------------------------------------*/
|
| 328 |
|
|
|
| 329 |
|
|
static void prvInitialiseCoRoutineLists( void )
|
| 330 |
|
|
{
|
| 331 |
|
|
unsigned portBASE_TYPE uxPriority;
|
| 332 |
|
|
|
| 333 |
|
|
for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
|
| 334 |
|
|
{
|
| 335 |
|
|
vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
|
| 336 |
|
|
}
|
| 337 |
|
|
|
| 338 |
|
|
vListInitialise( ( xList * ) &xDelayedCoRoutineList1 );
|
| 339 |
|
|
vListInitialise( ( xList * ) &xDelayedCoRoutineList2 );
|
| 340 |
|
|
vListInitialise( ( xList * ) &xPendingReadyCoRoutineList );
|
| 341 |
|
|
|
| 342 |
|
|
/* Start with pxDelayedCoRoutineList using list1 and the
|
| 343 |
|
|
pxOverflowDelayedCoRoutineList using list2. */
|
| 344 |
|
|
pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
|
| 345 |
|
|
pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
|
| 346 |
|
|
}
|
| 347 |
|
|
/*-----------------------------------------------------------*/
|
| 348 |
|
|
|
| 349 |
|
|
signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList )
|
| 350 |
|
|
{
|
| 351 |
|
|
corCRCB *pxUnblockedCRCB;
|
| 352 |
|
|
signed portBASE_TYPE xReturn;
|
| 353 |
|
|
|
| 354 |
|
|
/* This function is called from within an interrupt. It can only access
|
| 355 |
|
|
event lists and the pending ready list. */
|
| 356 |
|
|
pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
|
| 357 |
|
|
vListRemove( &( pxUnblockedCRCB->xEventListItem ) );
|
| 358 |
|
|
vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
|
| 359 |
|
|
|
| 360 |
|
|
if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
|
| 361 |
|
|
{
|
| 362 |
|
|
xReturn = pdTRUE;
|
| 363 |
|
|
}
|
| 364 |
|
|
else
|
| 365 |
|
|
{
|
| 366 |
|
|
xReturn = pdFALSE;
|
| 367 |
|
|
}
|
| 368 |
|
|
|
| 369 |
|
|
return xReturn;
|
| 370 |
|
|
}
|
| 371 |
|
|
|
