xCoRoutineCreate

Collaboration diagram for xCoRoutineCreate:

croutine. h

BaseType_t xCoRoutineCreate(
                              crCOROUTINE_CODE pxCoRoutineCode,
                              UBaseType_t uxPriority,
                              UBaseType_t uxIndex
                            );

Create a new co-routine and add it to the list of co-routines that are ready to run.

Parameters

pxCoRoutineCode	Pointer to the co-routine function. Co-routine functions require special syntax - see the co-routine section of the WEB documentation for more information.
uxPriority	The priority with respect to other co-routines at which the co-routine will run.
uxIndex	Used to distinguish between different co-routines that execute the same function. See the example below and the co-routine section of the WEB documentation for further information.

Returns

pdPASS if the co-routine was successfully created and added to a ready list, otherwise an error code defined with ProjDefs.h.

Example usage:

// Co-routine to be created.
void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
// This may not be necessary for const variables.
static const char cLedToFlash[ 2 ] = { 5, 6 };
static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
 
  // Must start every co-routine with a call to crSTART();
  crSTART( xHandle );
 
  for( ;; )
  {
      // This co-routine just delays for a fixed period, then toggles
      // an LED.  Two co-routines are created using this function, so
      // the uxIndex parameter is used to tell the co-routine which
      // LED to flash and how int32_t to delay.  This assumes xQueue has
      // already been created.
      vParTestToggleLED( cLedToFlash[ uxIndex ] );
      crDELAY( xHandle, uxFlashRates[ uxIndex ] );
  }
 
  // Must end every co-routine with a call to crEND();
  crEND();
}
 
// Function that creates two co-routines.
void vOtherFunction( void )
{
uint8_t ucParameterToPass;
TaskHandle_t xHandle;
 
  // Create two co-routines at priority 0.  The first is given index 0
  // so (from the code above) toggles LED 5 every 200 ticks.  The second
  // is given index 1 so toggles LED 6 every 400 ticks.
  for( uxIndex = 0; uxIndex < 2; uxIndex++ )
  {
      xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
  }
}