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 );
     }
 }