[1] | 1 | /*
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| 2 | * FreeRTOS Kernel V10.3.1
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| 3 | * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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| 4 | *
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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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| 11 | *
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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.
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| 14 | *
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| 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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| 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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| 17 | * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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| 18 | * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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| 19 | * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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| 20 | * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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| 21 | *
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| 22 | * http://www.FreeRTOS.org
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| 23 | * http://aws.amazon.com/freertos
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| 24 | *
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| 25 | * 1 tab == 4 spaces!
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| 26 | */
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| 27 |
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| 28 | #include "FreeRTOS.h"
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| 29 | #include "task.h"
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| 30 | #include "croutine.h"
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| 31 |
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| 32 | /* Remove the whole file is co-routines are not being used. */
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| 33 | #if( configUSE_CO_ROUTINES != 0 )
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| 34 |
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| 35 | /*
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| 36 | * Some kernel aware debuggers require data to be viewed to be global, rather
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| 37 | * than file scope.
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| 38 | */
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| 39 | #ifdef portREMOVE_STATIC_QUALIFIER
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| 40 | #define static
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| 41 | #endif
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| 42 |
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| 43 |
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| 44 | /* Lists for ready and blocked co-routines. --------------------*/
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| 45 | static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
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| 46 | static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
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| 47 | 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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| 48 | static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */
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| 49 | 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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| 50 | 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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| 51 |
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| 52 | /* Other file private variables. --------------------------------*/
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| 53 | CRCB_t * pxCurrentCoRoutine = NULL;
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| 54 | static UBaseType_t uxTopCoRoutineReadyPriority = 0;
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| 55 | static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
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| 56 |
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| 57 | /* The initial state of the co-routine when it is created. */
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| 58 | #define corINITIAL_STATE ( 0 )
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| 59 |
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| 60 | /*
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| 61 | * Place the co-routine represented by pxCRCB into the appropriate ready queue
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| 62 | * for the priority. It is inserted at the end of the list.
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| 63 | *
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| 64 | * This macro accesses the co-routine ready lists and therefore must not be
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| 65 | * used from within an ISR.
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| 66 | */
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| 67 | #define prvAddCoRoutineToReadyQueue( pxCRCB ) \
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| 68 | { \
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| 69 | if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \
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| 70 | { \
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| 71 | uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \
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| 72 | } \
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| 73 | vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \
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| 74 | }
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| 75 |
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| 76 | /*
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| 77 | * Utility to ready all the lists used by the scheduler. This is called
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| 78 | * automatically upon the creation of the first co-routine.
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| 79 | */
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| 80 | static void prvInitialiseCoRoutineLists( void );
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| 81 |
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| 82 | /*
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| 83 | * Co-routines that are readied by an interrupt cannot be placed directly into
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| 84 | * the ready lists (there is no mutual exclusion). Instead they are placed in
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| 85 | * in the pending ready list in order that they can later be moved to the ready
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| 86 | * list by the co-routine scheduler.
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| 87 | */
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| 88 | static void prvCheckPendingReadyList( void );
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| 89 |
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| 90 | /*
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| 91 | * Macro that looks at the list of co-routines that are currently delayed to
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| 92 | * see if any require waking.
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| 93 | *
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| 94 | * Co-routines are stored in the queue in the order of their wake time -
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| 95 | * meaning once one co-routine has been found whose timer has not expired
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| 96 | * we need not look any further down the list.
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| 97 | */
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| 98 | static void prvCheckDelayedList( void );
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| 99 |
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| 100 | /*-----------------------------------------------------------*/
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| 101 |
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| 102 | BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
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| 103 | {
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| 104 | BaseType_t xReturn;
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| 105 | CRCB_t *pxCoRoutine;
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| 106 |
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| 107 | /* Allocate the memory that will store the co-routine control block. */
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| 108 | pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
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| 109 | if( pxCoRoutine )
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| 110 | {
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| 111 | /* If pxCurrentCoRoutine is NULL then this is the first co-routine to
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| 112 | be created and the co-routine data structures need initialising. */
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| 113 | if( pxCurrentCoRoutine == NULL )
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| 114 | {
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| 115 | pxCurrentCoRoutine = pxCoRoutine;
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| 116 | prvInitialiseCoRoutineLists();
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| 117 | }
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| 118 |
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| 119 | /* Check the priority is within limits. */
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| 120 | if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
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| 121 | {
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| 122 | uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
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| 123 | }
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| 124 |
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| 125 | /* Fill out the co-routine control block from the function parameters. */
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| 126 | pxCoRoutine->uxState = corINITIAL_STATE;
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| 127 | pxCoRoutine->uxPriority = uxPriority;
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| 128 | pxCoRoutine->uxIndex = uxIndex;
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| 129 | pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
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| 130 |
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| 131 | /* Initialise all the other co-routine control block parameters. */
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| 132 | vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
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| 133 | vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
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| 134 |
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| 135 | /* Set the co-routine control block as a link back from the ListItem_t.
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| 136 | This is so we can get back to the containing CRCB from a generic item
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| 137 | in a list. */
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| 138 | listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
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| 139 | listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
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| 140 |
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| 141 | /* Event lists are always in priority order. */
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| 142 | listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
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| 143 |
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| 144 | /* Now the co-routine has been initialised it can be added to the ready
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| 145 | list at the correct priority. */
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| 146 | prvAddCoRoutineToReadyQueue( pxCoRoutine );
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| 147 |
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| 148 | xReturn = pdPASS;
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| 149 | }
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| 150 | else
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| 151 | {
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| 152 | xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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| 153 | }
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| 154 |
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| 155 | return xReturn;
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| 156 | }
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| 157 | /*-----------------------------------------------------------*/
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| 158 |
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| 159 | void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
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| 160 | {
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| 161 | TickType_t xTimeToWake;
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| 162 |
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| 163 | /* Calculate the time to wake - this may overflow but this is
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| 164 | not a problem. */
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| 165 | xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
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| 166 |
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| 167 | /* We must remove ourselves from the ready list before adding
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| 168 | ourselves to the blocked list as the same list item is used for
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| 169 | both lists. */
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| 170 | ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
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| 171 |
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| 172 | /* The list item will be inserted in wake time order. */
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| 173 | listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
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| 174 |
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| 175 | if( xTimeToWake < xCoRoutineTickCount )
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| 176 | {
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| 177 | /* Wake time has overflowed. Place this item in the
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| 178 | overflow list. */
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| 179 | vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
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| 180 | }
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| 181 | else
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| 182 | {
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| 183 | /* The wake time has not overflowed, so we can use the
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| 184 | current block list. */
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| 185 | vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
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| 186 | }
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| 187 |
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| 188 | if( pxEventList )
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| 189 | {
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| 190 | /* Also add the co-routine to an event list. If this is done then the
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| 191 | function must be called with interrupts disabled. */
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| 192 | vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
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| 193 | }
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| 194 | }
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| 195 | /*-----------------------------------------------------------*/
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| 196 |
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| 197 | static void prvCheckPendingReadyList( void )
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| 198 | {
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| 199 | /* Are there any co-routines waiting to get moved to the ready list? These
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| 200 | are co-routines that have been readied by an ISR. The ISR cannot access
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| 201 | the ready lists itself. */
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| 202 | while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
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| 203 | {
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| 204 | CRCB_t *pxUnblockedCRCB;
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| 205 |
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| 206 | /* The pending ready list can be accessed by an ISR. */
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| 207 | portDISABLE_INTERRUPTS();
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| 208 | {
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| 209 | pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
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| 210 | ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
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| 211 | }
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| 212 | portENABLE_INTERRUPTS();
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| 213 |
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| 214 | ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
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| 215 | prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
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| 216 | }
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| 217 | }
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| 218 | /*-----------------------------------------------------------*/
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| 219 |
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| 220 | static void prvCheckDelayedList( void )
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| 221 | {
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| 222 | CRCB_t *pxCRCB;
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| 223 |
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| 224 | xPassedTicks = xTaskGetTickCount() - xLastTickCount;
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| 225 | while( xPassedTicks )
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| 226 | {
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| 227 | xCoRoutineTickCount++;
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| 228 | xPassedTicks--;
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| 229 |
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| 230 | /* If the tick count has overflowed we need to swap the ready lists. */
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| 231 | if( xCoRoutineTickCount == 0 )
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| 232 | {
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| 233 | List_t * pxTemp;
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| 234 |
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| 235 | /* Tick count has overflowed so we need to swap the delay lists. If there are
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| 236 | any items in pxDelayedCoRoutineList here then there is an error! */
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| 237 | pxTemp = pxDelayedCoRoutineList;
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| 238 | pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
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| 239 | pxOverflowDelayedCoRoutineList = pxTemp;
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| 240 | }
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| 241 |
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| 242 | /* See if this tick has made a timeout expire. */
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| 243 | while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
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| 244 | {
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| 245 | pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
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| 246 |
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| 247 | if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
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| 248 | {
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| 249 | /* Timeout not yet expired. */
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| 250 | break;
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| 251 | }
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| 252 |
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| 253 | portDISABLE_INTERRUPTS();
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| 254 | {
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| 255 | /* The event could have occurred just before this critical
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| 256 | section. If this is the case then the generic list item will
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| 257 | have been moved to the pending ready list and the following
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| 258 | line is still valid. Also the pvContainer parameter will have
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| 259 | been set to NULL so the following lines are also valid. */
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| 260 | ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
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| 261 |
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| 262 | /* Is the co-routine waiting on an event also? */
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| 263 | if( pxCRCB->xEventListItem.pxContainer )
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| 264 | {
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| 265 | ( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
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| 266 | }
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| 267 | }
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| 268 | portENABLE_INTERRUPTS();
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| 269 |
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| 270 | prvAddCoRoutineToReadyQueue( pxCRCB );
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| 271 | }
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| 272 | }
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| 273 |
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| 274 | xLastTickCount = xCoRoutineTickCount;
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| 275 | }
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| 276 | /*-----------------------------------------------------------*/
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| 277 |
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| 278 | void vCoRoutineSchedule( void )
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| 279 | {
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| 280 | /* See if any co-routines readied by events need moving to the ready lists. */
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| 281 | prvCheckPendingReadyList();
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| 282 |
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| 283 | /* See if any delayed co-routines have timed out. */
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| 284 | prvCheckDelayedList();
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| 285 |
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| 286 | /* Find the highest priority queue that contains ready co-routines. */
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| 287 | while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
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| 288 | {
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| 289 | if( uxTopCoRoutineReadyPriority == 0 )
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| 290 | {
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| 291 | /* No more co-routines to check. */
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| 292 | return;
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| 293 | }
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| 294 | --uxTopCoRoutineReadyPriority;
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| 295 | }
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| 296 |
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| 297 | /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
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| 298 | of the same priority get an equal share of the processor time. */
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| 299 | listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
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| 300 |
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| 301 | /* Call the co-routine. */
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| 302 | ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
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| 303 |
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| 304 | return;
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| 305 | }
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| 306 | /*-----------------------------------------------------------*/
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| 307 |
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| 308 | static void prvInitialiseCoRoutineLists( void )
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| 309 | {
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| 310 | UBaseType_t uxPriority;
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| 311 |
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| 312 | for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
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| 313 | {
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| 314 | vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
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| 315 | }
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| 316 |
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| 317 | vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
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| 318 | vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
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| 319 | vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
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| 320 |
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| 321 | /* Start with pxDelayedCoRoutineList using list1 and the
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| 322 | pxOverflowDelayedCoRoutineList using list2. */
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| 323 | pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
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| 324 | pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
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| 325 | }
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| 326 | /*-----------------------------------------------------------*/
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| 327 |
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| 328 | BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
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| 329 | {
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| 330 | CRCB_t *pxUnblockedCRCB;
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| 331 | BaseType_t xReturn;
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| 332 |
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| 333 | /* This function is called from within an interrupt. It can only access
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| 334 | event lists and the pending ready list. This function assumes that a
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| 335 | check has already been made to ensure pxEventList is not empty. */
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| 336 | pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
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| 337 | ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
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| 338 | vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
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| 339 |
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| 340 | if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
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| 341 | {
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| 342 | xReturn = pdTRUE;
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| 343 | }
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| 344 | else
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| 345 | {
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| 346 | xReturn = pdFALSE;
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| 347 | }
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| 348 |
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| 349 | return xReturn;
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| 350 | }
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| 351 |
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| 352 | #endif /* configUSE_CO_ROUTINES == 0 */
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| 353 |
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