varch/source/08_coroutine/coroutine.c

/*********************************************************************************************************
 *  ------------------------------------------------------------------------------------------------------
 *  file description
 *  ------------------------------------------------------------------------------------------------------
 *         \file  coroutine.c
 *         \unit  coroutine
 *        \brief  This is a C language coroutine library
 *       \author  Lamdonn
 *      \version  v0.2.0
 *      \license  GPL-2.0
 *    \copyright  Copyright (C) 2025 Lamdonn.
 ********************************************************************************************************/
#include "coroutine.h"

#if (COROUTINE_STACK_DEFAULT_SIZE < 32)
#error "COROUTINE_STACK_DEFAULT_SIZE must be greater than 32"
#endif

/**
 * \brief: Coroutine scheduler state 
 * \note: Coroutine scheduler state is used to indicate the current state of the coroutine scheduler.
 *        The coroutine scheduler state is updated periodically with the given tick interval.
 */
#define COSCHEDULER_STATE_INTI                      (0)         /**< Coroutine scheduler state initialize */
#define COSCHEDULER_STATE_EXIT                      (1)         /**< Coroutine scheduler state exit */
#define COSCHEDULER_STATE_START                     (2)         /**< Coroutine scheduler state start */
#define COSCHEDULER_STATE_RUNNING                   (3)         /**< Coroutine scheduler state running */
#define COSCHEDULER_STATE_SCHEDULE                  (4)         /**< Coroutine scheduler state schedule */

/**
 * \brief: Coroutine task state 
 * \note: Coroutine task state is used to indicate the current state of the coroutine task.
 *        The coroutine task state is updated periodically with the given tick interval.
 */

#define COTASK_STATE_INIT                           (0)         /**< Coroutine task state initialize */
#define COTASK_STATE_READY                          (1)         /**< Coroutine task state ready */
#define COTASK_STATE_RUNNING                        (2)         /**< Coroutine task state running */
#define COTASK_STATE_SUSPEND                        (3)         /**< Coroutine task state suspend */
#define COTASK_STATE_DELETED                        (4)         /**< Coroutine task state deleted */

/**
 * \brief: Coroutine task flag
 * \note: Coroutine task flag is used to indicate the current flag of the coroutine task.
 *        The coroutine task flag is updated periodically with the given tick interval.
 */

#define COTASK_FLAG_ALLOCED                         (0x01)      /**< Coroutine task flag alloced */
#define COTASK_FLAG_DYNC_TCB                        (0x02)      /**< Coroutine task flag dynamic tcb */
#define COTASK_FLAG_DYNC_STACK                      (0x04)      /**< Coroutine task flag dynamic stack */

/**
 * \brief: Coroutine task stack mark
 * \note: Coroutine task stack mark is used to mark the end of the coroutine task stack.
 *        The coroutine task stack mark is used to check the stack overflow.
 *        During stack counting, it is determined whether the stack address is used without this MARK defined by the stack value.
 */
#define COTASK_STACK_MARK                           (0xAAAAAAAA)

/**
 * \brief: Coroutine scheduler state set
 * \param pScheduler: Coroutine scheduler
 * \param state: Coroutine scheduler state
 * \note: This function is used to set the coroutine scheduler state.
 */
#define COSCHEDULER_SET_STATE(pScheduler, state)    longjmp((pScheduler)->env, (state))

/**
 * \brief: Coroutine scheduler state get
 * \param pScheduler: Coroutine scheduler
 * \return: Coroutine scheduler state
 * \note: This function is used to get the coroutine scheduler state.
 */
#define COSCHEDULER_GET_STATE(pScheduler)           setjmp((pScheduler)->env)

/**
 * \brief: Coroutine scheduler
 */
typedef struct CoScheduler                          CoScheduler;

/**
 * \brief: Coroutine task run function
 * \param pScheduler: Coroutine scheduler
 * \note: This function must be called in the coroutine context, no matter 
 *        whether the coroutine is running or not.
 */
typedef void (*CoTaskRun_t)(CoScheduler *pScheduler);

/**
 * \brief: Coroutine task stack
 * \note: Coroutine task stack is used to store the coroutine task context.
 */
struct CoStack
{
    uint8_t base[COROUTINE_STACK_DEFAULT_SIZE];    /**< Coroutine task stack base address */
};

/**
 * \brief: Coroutine task
 * \note: Coroutine task is a coroutine unit, each coroutine task has its own stack,
 *        and can be scheduled by the coroutine scheduler.
 */
struct CoTask
{
    CoTask_t next;                              /**< Double-link list, next coroutine task */
    CoTask_t prev;                              /**< Double-link list, previous coroutine task */
    CoScheduler *pScheduler;                    /**< Coroutine scheduler, point to the scheduler that created this coroutine task */
    uint8_t state;                              /**< Coroutine task state */
    void *stackBase;                            /**< Coroutine task stack base address */
    size_t stackSize;                           /**< Coroutine task stack size */
#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
    size_t stackMaxUsed;                        /**< Coroutine task stack max used size */
#endif 
    uint64_t nextRunTick;                       /**< When the coroutine task is suspended, coroutine task next run tick */
    uint32_t flag;                              /**< Coroutine task flag */
    CoTaskEntry_t entry;                        /**< Coroutine task entry function */
    void *arg;                                  /**< Coroutine task argument address */
    CoEvent *pEvent;                            /**< Coroutine task event, point to the event that the coroutine task is waiting for */
    jmp_buf env;                                /**< Coroutine task environment, used for context switch */
};

/**
 * \brief: Coroutine timer
 * \note: Coroutine timer is a coroutine unit, each coroutine timer has its own period,
 *        and can be scheduled by the coroutine scheduler.
 */
struct CoTimer
{
    CoTimer_t next;                             /**< Double-link list, next coroutine timer */
    CoTimer_t prev;                             /**< Double-link list, previous coroutine timer */
    CoScheduler *pScheduler;                    /**< Coroutine scheduler, point to the scheduler that created this coroutine timer */
    uint64_t periodTick;                        /**< Coroutine timer period tick */
    uint64_t nextRunTick;                       /**< Coroutine timer next run tick */
    uint32_t flag;                              /**< Coroutine timer flag */
    CoTimerEntry_t entry;                       /**< Coroutine timer entry function */
};

/**
 * \brief: Coroutine scheduler
 * \note: Coroutine scheduler is a coroutine unit, each coroutine scheduler has its own coroutine task list and coroutine timer list,
 *        and can be scheduled by the coroutine scheduler.
 */
struct CoScheduler
{
    CoTask_t CoTaskCurrent;                     /**< Current coroutine task */
    CoTask_t CoTaskList;                        /**< Coroutine task list head */
    size_t CoTaskListSize;                      /**< Coroutine task list size */

    CoTimer_t CoTimerCurrent;                   /**< Current coroutine timer */
    CoTimer_t CoTimerList;                      /**< Coroutine timer list head */
    size_t CoTimerListSize;                     /**< Coroutine timer list size */

    void *stackTop;                             /**< Coroutine scheduler stack top address */

    jmp_buf env;                                /**< Coroutine scheduler environment, used for context switch */

    CoTick_t tick;                              /**< Coroutine scheduler tick function */
    uint32_t tickInterval;                      /**< Coroutine scheduler tick interval, indicates how many us each tick is */

#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
    /** The results of each measurement period are added to this queue, 
     * so the load measured at the last `COROUTINE_LOADING_CALCULATE_QSIZE` time point is kept 
     * and averaged as the real-time load */
    uint16_t loadQueueBase[COROUTINE_LOADING_CALCULATE_QSIZE]; /**< Coroutine scheduler loading queue base */
    uint16_t loadQueueSize;                     /**< Coroutine scheduler loading queue size */
    uint16_t loadQueueTail;                     /**< Coroutine scheduler loading queue tail */

    uint16_t curLoad;                           /**< Coroutine scheduler current load */
    uint16_t maxLoad;                           /**< Coroutine scheduler max load */
    uint64_t uTick;                             /**< Coroutine scheduler measures and calculates the load once every `uTick` */
    uint64_t sTick;                             /**< Coroutine scheduler tick that start measures */
    uint64_t pTick;                             /**< Coroutine scheduler tick that previous start measurement task run */
    uint64_t cTick;                             /**< Coroutine scheduler tick that current tick */
    uint64_t rTick;                             /**< Coroutine scheduler tick that task running */
#endif 

    CoTaskRun_t CoTaskRun;                      /**< Coroutine scheduler task run function, prevents function compilation from being optimized inline */
};

#if (COROUTINE_SCHEDULER_NUMBER > 0)
static CoScheduler sCoScheduler[COROUTINE_SCHEDULER_NUMBER] = {0};
#else  
#error "COROUTINE_SCHEDULER_NUMBER must be greater than 0"
#endif

#if (COROUTINE_STATIC_TASK_MAX_NUMBER > 0)
/**< Coroutine task static array */
struct CoTask sCoTasks[COROUTINE_STATIC_TASK_MAX_NUMBER] = {0};
#endif 
#if (COROUTINE_STATIC_TIMER_MAX_NUMBER > 0)
/**< Coroutine timer static array */
struct CoTimer sCoTimers[COROUTINE_STATIC_TIMER_MAX_NUMBER] = {0};
#endif
#if (COROUTINE_STATIC_STACK_MAX_NUMBER > 0)
/**< Coroutine stack static array */
struct CoStack sCoStacks[COROUTINE_STATIC_STACK_MAX_NUMBER] = {0};
#endif


/**
 * \brief: Coroutine scheduler lock
 * \note: Coroutine scheduler lock is used to lock the coroutine scheduler.
 *        The coroutine scheduler lock is used to prevent the coroutine scheduler from being accessed by multiple threads.
 */
#if (COROUTINE_SCHEDULER_NUMBER > 1)
static CoLock_t sCoSchedulerLock = NULL;
#else 
#define sCoSchedulerLock()
#endif 

/**
 * \brief: Coroutine scheduler unlock
 * \note: Coroutine scheduler unlock is used to unlock the coroutine scheduler.
 *        The coroutine scheduler unlock is used to release the lock of the coroutine scheduler.
 */
#if (COROUTINE_SCHEDULER_NUMBER > 1)
static CoUnlock_t sCoSchedulerUnlock = NULL;
#else 
#define sCoSchedulerUnlock()
#endif 

/**
 * \brief: Coroutine scheduler malloc
 * \note: Coroutine scheduler malloc is used to malloc the coroutine scheduler.
 *        The coroutine scheduler malloc is used to malloc the memory for the coroutine scheduler.
 */
static CoMalloc_t sCoSchedulerMalloc = NULL;

/**
 * \brief: Coroutine scheduler free
 * \note: Coroutine scheduler free is used to free the coroutine scheduler.
 *        The coroutine scheduler free is used to free the memory for the coroutine scheduler.
 */
static CoFree_t sCoSchedulerFree = NULL;

/**
 * \brief: Coroutine scheduler lock
 * \note: Coroutine scheduler lock is used to lock the coroutine scheduler.
 *        Only for a single scheduler.
 */
#if (COROUTINE_SCHEDULER_NUMBER > 1)
static void CoScheduler_Lock(void) { }
#endif 

/**
 * \brief: Coroutine scheduler unlock
 * \note: Coroutine scheduler unlock is used to unlock the coroutine scheduler.
 *        Only for a single scheduler.
 */
#if (COROUTINE_SCHEDULER_NUMBER > 1)
static void CoScheduler_Unlock(void) { }
#endif 

static void EndlessLoop(void)
{
    while (1)
    {
        /* Do nothing */
    }
}

static void StackOverflowCheck(uint8_t *pStack)
{
    if (*(uint32_t *)pStack != COTASK_STACK_MARK)
    {
        EndlessLoop();
    }
}

static void Suspend(CoScheduler *pScheduler)
{
    /* Block the coroutine task if the task stack be brokend */
    StackOverflowCheck(pScheduler->CoTaskCurrent->stackBase);

#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
    /* Calculate the loading time */
    pScheduler->cTick = pScheduler->tick();
    /* Update the loading time */
    if (pScheduler->pTick == 0)
    {
        pScheduler->pTick = pScheduler->cTick;
    }
    /* Update the running time */
    if (pScheduler->cTick > pScheduler->pTick)
    {
        /* Add the running time */
        pScheduler->rTick += (pScheduler->cTick - pScheduler->pTick);
    }
#endif 
    /* Yield to the next coroutine task */
    COSCHEDULER_SET_STATE(pScheduler, COSCHEDULER_STATE_SCHEDULE);
}

static void Resume(CoScheduler *pScheduler)
{
    /* Block the coroutine task if the task stack be brokend */
    StackOverflowCheck(pScheduler->CoTaskCurrent->stackBase);

    pScheduler->CoTaskCurrent->state = COTASK_STATE_RUNNING;

#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
    /* Record the task cut time */
    pScheduler->pTick = pScheduler->tick();
#endif 
    /* Jump to the coroutine */
    longjmp(pScheduler->CoTaskCurrent->env, COSCHEDULER_STATE_RUNNING);
}

static CoScheduler *GetCurCoScheduler(void)
{
    void *sp = NULL;
    CoScheduler *pScheduler = NULL;
    sCoSchedulerLock();
    for (int i = 0; i < COROUTINE_SCHEDULER_NUMBER; i++)
    {
        pScheduler = &sCoScheduler[i];
        if (pScheduler->tick == NULL) continue;

        /* Check sp wether in the current scheduler stack */
        COROUTINE_GET_SP(sp);
        if (pScheduler->CoTaskCurrent && pScheduler->CoTaskCurrent->stackBase <= sp && sp < (void *)((char *)pScheduler->CoTaskCurrent->stackBase + pScheduler->CoTaskCurrent->stackSize))
        {
            break;
        }
    }
    sCoSchedulerUnlock();
    return pScheduler;
}

static CoScheduler *DistributeCoScheduler(void)
{
    CoScheduler *pScheduler = NULL;
    CoScheduler *minCoScheduler = NULL;
    sCoSchedulerLock();
    for (int i = 0; i < COROUTINE_SCHEDULER_NUMBER; i++)
    {
        pScheduler = &sCoScheduler[i];
        if (pScheduler->tick == NULL) continue;

        if (minCoScheduler == NULL)
        {
            minCoScheduler = pScheduler;
        }
        else if (pScheduler->CoTaskListSize < minCoScheduler->CoTaskListSize)
        {
            minCoScheduler = pScheduler;
        }
    }
    sCoSchedulerUnlock();
    return minCoScheduler;
}

static CoScheduler *DistributeCoSchedulerForTimer(void)
{
    CoScheduler *pScheduler = NULL;
    CoScheduler *minCoScheduler = NULL;
    sCoSchedulerLock();
    for (int i = 0; i < COROUTINE_SCHEDULER_NUMBER; i++)
    {
        pScheduler = &sCoScheduler[i];
        if (pScheduler->tick == NULL) continue;

        if (minCoScheduler == NULL)
        {
            minCoScheduler = pScheduler;
        }
        else if (pScheduler->CoTimerListSize < minCoScheduler->CoTimerListSize)
        {
            minCoScheduler = pScheduler;
        }
    }
    sCoSchedulerUnlock();
    return minCoScheduler;
}

#if (COROUTINE_STATIC_STACK_MAX_NUMBER > 0)
static void* CreateCoStack()
{
    for (int i = 0; i < COROUTINE_STATIC_STACK_MAX_NUMBER; i++)
    {
        if (*(uint32_t *)sCoStacks[i].base == 0)
        {
            *(uint32_t *)sCoStacks[i].base = COTASK_STACK_MARK;
            return (void *)sCoStacks[i].base;
        }
    }
    return NULL;
}
#endif 

#if (COROUTINE_STATIC_STACK_MAX_NUMBER > 0)
static void DeleteCoStack(uint8_t *pStack)
{
    if ((uint8_t *)(&sCoStacks[0]) <= pStack && pStack <= ((uint8_t *)(&sCoStacks[COROUTINE_STATIC_STACK_MAX_NUMBER - 1])))
    {
        *(uint32_t *)pStack = 0;
    }
}
#endif 

static CoTask_t CreateCoTask(CoScheduler *pScheduler)
{
#if (COROUTINE_STATIC_TASK_MAX_NUMBER > 0)
    /* Find the first unallocated coroutine task */
    for (int i = 0; i < COROUTINE_STATIC_TASK_MAX_NUMBER; i++)
    {
        /* Check the coroutine task is allocated */
        if (!(sCoTasks[i].flag & COTASK_FLAG_ALLOCED))
        {
            /* Clear the flag */
            sCoTasks[i].flag = 0;
            /* Set the flag as allocated */
            sCoTasks[i].flag |= COTASK_FLAG_ALLOCED;
            return &sCoTasks[i];
        }
    }
#endif 

    /* Allocate the coroutine task dynamically */
    if (sCoSchedulerMalloc)
    {
        CoTask_t pCoroutine = (CoTask_t)sCoSchedulerMalloc(sizeof(struct CoTask));
        if (pCoroutine)
        {
            /* Set the flag as allocated */
            pCoroutine->flag = COTASK_FLAG_ALLOCED | COTASK_FLAG_DYNC_TCB;
            return pCoroutine;
        }
    }

    return NULL;
}

static void DeleteCoTask(CoScheduler *pScheduler, CoTask_t CoTaskCurrent)
{
#if (COROUTINE_STATIC_TASK_MAX_NUMBER > 0)
    /* Check the coroutine task is statically allocated */
    if (&sCoTasks[0] <= CoTaskCurrent && CoTaskCurrent <= &sCoTasks[COROUTINE_STATIC_TASK_MAX_NUMBER - 1])
    {
        /* Clear the flag */
        CoTaskCurrent->flag &= ~COTASK_FLAG_ALLOCED;
        return;
    }
    else  
#endif
    /* Check the coroutine task is dynamically allocated */
    {
#if (COROUTINE_STATIC_STACK_MAX_NUMBER > 0)
        DeleteCoStack(CoTaskCurrent->stackBase);
#endif 
        /* Check the stack is dynamically allocated */
        if (CoTaskCurrent->flag & COTASK_FLAG_DYNC_STACK)
        {
            /* Free the stack */
            sCoSchedulerFree(CoTaskCurrent->stackBase);
        }
        /* Check the TCB is dynamically allocated */
        if (CoTaskCurrent->flag & COTASK_FLAG_DYNC_TCB)
        {
            /* Free the TCB */
            sCoSchedulerFree(CoTaskCurrent);
        }
    }
}

static void InsertCoTaskList(CoScheduler *pScheduler, CoTask_t Task)
{
    /* Check the coroutine task list is empty */
    if (pScheduler->CoTaskList == NULL)
    {
        /* Set the coroutine task as the head and tail */
        pScheduler->CoTaskList = Task;
        Task->next = Task;
        Task->prev = Task;
    }
    /* Insert the coroutine task to the tail of the list */
    else
    {
        /* Get the head and tail of the list */
        CoTask_t Head = pScheduler->CoTaskList;
        CoTask_t Tail = Head->prev;

        /* Insert the coroutine task to the tail */
        Tail->next = Task;
        Task->prev = Tail;
        Head->prev = Task;
        Task->next = Head;
    }
    
    pScheduler->CoTaskListSize++;
}

static void EraseCoTaskList(CoScheduler *pScheduler, CoTask_t CoTaskCurrent)
{
    /* Check the coroutine task is the head of the list */
    if (CoTaskCurrent == pScheduler->CoTaskList)
    {
        /* Set the next coroutine task as the head */
        pScheduler->CoTaskList = CoTaskCurrent->next;
    }

    /* Erase the coroutine task from the list */
    CoTaskCurrent->prev->next = CoTaskCurrent->next;
    CoTaskCurrent->next->prev = CoTaskCurrent->prev;
    
    /* Decrease the number of coroutine tasks */
    pScheduler->CoTaskListSize--;

    /* Check the coroutine task list is empty */
    if (pScheduler->CoTaskListSize == 0)
    {
        pScheduler->CoTaskList = NULL;
    }
}

static void CoTaskRun(CoScheduler *pScheduler)
{
    /* Set the coroutine task state as running */
    pScheduler->CoTaskCurrent->state = COTASK_STATE_RUNNING;

    /* Run the coroutine task */
    pScheduler->CoTaskCurrent->entry(pScheduler->CoTaskCurrent->arg);

    /* Block the coroutine task if the task stack be brokend */
    StackOverflowCheck(pScheduler->CoTaskCurrent->stackBase);

    /* Set the coroutine task state as deleted */
    pScheduler->CoTaskCurrent->state = COTASK_STATE_DELETED;

    /* Return control to the scheduler so that it can delete the coroutine task */
    Suspend(pScheduler);
}

#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
static void CoTask_StackInit(uint32_t *pStack, size_t u32Count)
{
    /* Initialize the stack with the mark */
    for (size_t i = 0; i < u32Count; i++)
    {
        pStack[i] = COTASK_STACK_MARK;
    }
}
#endif

#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
static uint32_t CoTask_StackUsed(uint32_t *pStack, size_t u32Count)
{
    uint32_t indexLeft = 0;
    uint32_t indexRight = u32Count;
    uint32_t indexCenter = u32Count / 2;

    /* Binary search the mark in the stack */
    while (indexLeft < indexRight)
    {
        /* Check the mark is in the left half */
        if (pStack[indexCenter] == COTASK_STACK_MARK)
        {
            indexLeft = indexCenter + 1;
        }
        /* Check the mark is in the right half */
        else  
        {
            indexRight = indexCenter;
        }

        /* Update the center index */
        indexCenter = (indexLeft + indexRight) / 2;
    }

    /* Calculate the stack used size */
    return (u32Count - indexLeft) * sizeof(uint32_t);
}
#endif

CoTask_t CoTask_CreateP(CoTaskEntry_t entry, CoTaskCreatePara *pPara)
{
    CoScheduler *pScheduler = NULL;
    CoTask_t Task = NULL;
    void *stackBase = NULL;
    size_t stackSize = 0;
    uint32_t flag = 0;
    CoTaskCreatePara para = {.pStack=NULL,.stackSize=0,.arg=NULL,.schedulerId=-1};

    /* Check the entry function is valid */
    if (entry == NULL)
    {
        return NULL;
    }

    /* Check the create parameter is valid */
    if (pPara == NULL)
    {
        pPara = &para;
    }

    /* Auto distribute the scheduler if the scheduler id is negative */
    if (pPara->schedulerId < 0)
    {
        pScheduler = DistributeCoScheduler();
    }
    /* Manual distribute the scheduler if the scheduler id is valid */
    else  
    {
        /* Check the scheduler id is valid */
        if (pPara->schedulerId >= COROUTINE_SCHEDULER_NUMBER)
        {
            return NULL;
        }

        /* Get the scheduler by id */
        pScheduler = &sCoScheduler[pPara->schedulerId];
    }

    /* Check the scheduler is valid */
    if (pScheduler->tick == NULL)
    {
        return NULL;
    }

    stackBase = pPara->pStack;
    stackSize = pPara->stackSize;
    /* If stackBase is empty, an automatic allocation of stackBase is attempted */
    if (stackBase == NULL)
    {
        if (stackSize == 0)
        {
            /* Check the stack size is valid, or use the defualt stack size */
            stackSize = COROUTINE_STACK_DEFAULT_SIZE;
#if (COROUTINE_STATIC_STACK_MAX_NUMBER > 0)
            /* Allocate the stack memory */
            stackBase = CreateCoStack();
#endif 
        }
        if (stackBase == NULL)
        {
            /* Check the malloc function is valid */
            if (sCoSchedulerMalloc)
            {
                /* Allocate the stack memory */
                stackBase = sCoSchedulerMalloc(stackSize);
                if (stackBase == NULL)
                {
                    return NULL;
                }
                /* Set the flag as dynamic stack */
                flag |= COTASK_FLAG_DYNC_STACK;
            }
            else  
            {
                return NULL;
            }
        }
    }
    else  
    {
        /* Check the stack size is valid */
        if (stackSize == 0)
        {
            return NULL;
        }
    }
    
    /* Create the coroutine task */
    Task = CreateCoTask(pScheduler);
    if (Task == NULL)
    {
#if (COROUTINE_STATIC_STACK_MAX_NUMBER > 0)
        /* Free the stack memory */
        DeleteCoStack(stackBase);
#endif 
        /* Free the dynamic stack memory if it is allocated */
        if (flag & COTASK_FLAG_DYNC_STACK)
        {
            sCoSchedulerFree(stackBase);
        }
        return NULL;
    }

    /* Set the coroutine task parameters */
    Task->entry = entry;
    Task->arg = pPara->arg;
    Task->stackBase = stackBase;
    Task->stackSize = stackSize;
    Task->next = NULL;
    Task->prev = NULL;
    Task->state = COTASK_STATE_INIT;
    Task->pEvent = NULL;
    Task->nextRunTick = 0;
    Task->flag |= flag;
    Task->pScheduler = pScheduler;

    /* Insert the coroutine task into the scheduler */
    InsertCoTaskList(pScheduler, Task);

#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
    /* Initialize the stack */
    Task->stackMaxUsed = 0;
    CoTask_StackInit((uint32_t *)stackBase, stackSize / sizeof(uint32_t));
#endif

    return Task;
}

int CoTask_Delete(CoTask_t CoTask)
{
    /* Check the coroutine task is valid */
    if (CoTask == NULL)
    {
        return COROUTINE_E_INVALID_PARAMETER;
    }

    /* Check the coroutine task is running */
    CoScheduler *pScheduler = CoTask->pScheduler;
    /* Set the coroutine task state as deleted */
    CoTask->state = COTASK_STATE_DELETED;
    /* Return control to the scheduler so that it can clean up the task */
    if (COSCHEDULER_STATE_RUNNING != setjmp(pScheduler->CoTaskCurrent->env))
    {
        Suspend(pScheduler);
    }
    
    return 0;
}

CoTask_t CoTask_Self(void)
{
    /* Get the current coroutine scheduler */
    CoScheduler *pScheduler = GetCurCoScheduler();
    /* Return the current coroutine task */
    return pScheduler->CoTaskCurrent;
}

int CoTask_SchedulerId(void)
{
    /* Get the current coroutine scheduler */
    CoScheduler *pScheduler = GetCurCoScheduler();
    /* Return the current coroutine scheduler id */
    return (int)(pScheduler - sCoScheduler);
}

#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
size_t CoTask_StackMaxUsed(CoTask_t CoTask)
{
    /* Check the coroutine task is valid */
    if (CoTask == NULL)
    {
        return 0;
    }

    /* Check the coroutine task is initialized or deleted */
    if (CoTask->state == COTASK_STATE_INIT || CoTask->state == COTASK_STATE_DELETED)
    {
        return 0;
    }

    /* Calculate the stack max used */
    CoTask->stackMaxUsed = CoTask_StackUsed((uint32_t *)CoTask->stackBase, CoTask->stackSize / sizeof(uint32_t));

    return CoTask->stackMaxUsed;
}
#endif 

#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
size_t CoTask_StackCurUsed(CoTask_t CoTask)
{
    char *sp = NULL;
    /* Get the current stack pointer */
    COROUTINE_GET_SP(sp);
    /* Calculate the current stack used */
    return (size_t)((char *)CoTask->stackBase + CoTask->stackSize - sp);
}
#endif 

#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
uint16_t CoScheduler_CurLoad(uint32_t CoSchedulerId)
{
    CoScheduler *pScheduler = NULL;

    /* Check the coroutine scheduler is valid */
    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return 0;
    }

    /* Get the coroutine scheduler */
    pScheduler = &sCoScheduler[CoSchedulerId];
    if (pScheduler->tick == NULL)
    {
        return 0;
    }

    /* Return the current loading */
    return pScheduler->curLoad;
}
#endif 

#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
uint16_t CoScheduler_MaxLoad(uint32_t CoSchedulerId)
{
    CoScheduler *pScheduler = NULL;

    /* Check the coroutine scheduler is valid */
    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return 0;
    }

    /* Get the coroutine scheduler */
    pScheduler = &sCoScheduler[CoSchedulerId];
    if (pScheduler->tick == NULL)
    {
        return 0;
    }

    /* Return the maximum loading */
    return pScheduler->maxLoad;
}
#endif 

void CoEvent_Init(CoEvent *pEvent)
{
    /* Check the coroutine event is valid */
    if (pEvent == NULL)
    {
        return;
    }

    /* Initialize the event flag */
    pEvent->flag = 0;
}

uint32_t CoTask_WaitP(CoTaskWaitPara *pPara)
{
    CoScheduler *pScheduler = NULL;
    uint32_t evs = 0;
    CoTaskWaitPara para = {.pEvent=NULL,.ms=0,.tick=0};
    uint64_t tick = 0;

    /* Check the wait parameter */
    if (pPara == NULL)
    {
        /* Use the default wait parameter, it will waiting nothing */
        pPara = &para;
    }

    /* Get the current coroutine scheduler */
    pScheduler = GetCurCoScheduler();

    /* Check the wait parameter */
    /* Default wait time is 0, means no wait */
    if (pPara->ms != 0 || pPara->tick != 0)
    {
        /* Check the wait time ms */
        if (pPara->ms != 0)
        {
            tick = pPara->ms * 1000000 / pScheduler->tickInterval;
        }
        /* Check the wait time tick */
        if (pPara->tick != 0)
        {
            /* Select the smaller one */
            if (tick == 0 || tick > pPara->tick)
            {
                tick = pPara->tick;
            }
        }
    }

    /* Set the next run tick */
    if (tick == 0 && pPara->pEvent != NULL)
    {
        pScheduler->CoTaskCurrent->nextRunTick = 0;
    }
    else 
    {
        pScheduler->CoTaskCurrent->nextRunTick = pScheduler->tick() + tick;
    }

    /* Set the event */
    pScheduler->CoTaskCurrent->pEvent = pPara->pEvent;

    /* Set the coroutine task state as suspend */
    pScheduler->CoTaskCurrent->state = COTASK_STATE_SUSPEND;

    /* Return control to the scheduler so that it can schedule other tasks */
    if (COSCHEDULER_STATE_RUNNING != setjmp(pScheduler->CoTaskCurrent->env))
    {
        Suspend(pScheduler);
    }

    if (pPara->pEvent != NULL)
    {
        /* Get the event flag */
        evs = pPara->pEvent->flag;
        /* Clear the event flag */
        pPara->pEvent->flag = 0;
    }

    /* Return the event flag */
    return evs;
}

void CoEvent_Notify(CoEvent *pEvent, uint32_t evs)
{
    /* Check the coroutine event is valid */
    if (pEvent == NULL)
    {
        return;
    }

    /* Check the event flag */
    if (evs == 0)
    {
        return;
    }

    sCoSchedulerLock();
    /* Set the event flag */
    pEvent->flag |= evs;
    sCoSchedulerUnlock();
}

static CoTimer_t CreateCoTimer(CoScheduler *pScheduler)
{
#if (COROUTINE_STATIC_TIMER_MAX_NUMBER > 0)
    /* Search the free coroutine timer */
    for (int i = 0; i < COROUTINE_STATIC_TIMER_MAX_NUMBER; i++)
    {
        /* Check the coroutine timer is free */
        if (!(sCoTimers[i].flag & COTASK_FLAG_ALLOCED))
        {
            /* Allocate the coroutine timer */
            sCoTimers[i].flag |= COTASK_FLAG_ALLOCED;
            return &sCoTimers[i];
        }
    }
#endif 

    /* Check the dynamic coroutine timer malloc function */
    if (sCoSchedulerMalloc)
    {
        /* Allocate the coroutine timer */
        CoTimer_t pCoroutineTimer = (CoTimer_t)sCoSchedulerMalloc(sizeof(struct CoTimer));
        if (pCoroutineTimer)
        {
            /* Initialize the coroutine timer */
            pCoroutineTimer->flag = COTASK_FLAG_ALLOCED | COTASK_FLAG_DYNC_TCB;
            return pCoroutineTimer;
        }
    }

    return NULL;
}

static void DeleteCoTimer(CoScheduler *pScheduler, CoTimer_t CoTimerCurrent)
{
#if (COROUTINE_STATIC_TIMER_MAX_NUMBER > 0)
    /* Check the coroutine timer is static */
    if (&sCoTimers[0] <= CoTimerCurrent && CoTimerCurrent <= &sCoTimers[COROUTINE_STATIC_TIMER_MAX_NUMBER - 1])
    {
        /* Free the coroutine timer */
        CoTimerCurrent->flag &= ~COTASK_FLAG_ALLOCED;
        return;
    }
    else  
#endif
    /* Check the coroutine timer is dynamic */
    {
        /* Check the coroutine timer is dynamic */
        if (CoTimerCurrent->flag & COTASK_FLAG_DYNC_TCB)
        {
            /* Free the coroutine timer */
            sCoSchedulerFree(CoTimerCurrent);
        }
    }
}

static void InsertCoTimerList(CoScheduler *pScheduler, CoTimer_t NewCoTimer)
{
    /* Check the coroutine timer list is empty */
    if (pScheduler->CoTimerList == NULL)
    {
        pScheduler->CoTimerList = NewCoTimer;

        /* Initialize the coroutine timer list */
        NewCoTimer->next = NewCoTimer;
        NewCoTimer->prev = NewCoTimer;
    }
    else
    {
        /* Insert the coroutine timer to the end of the list */
        CoTimer_t Head = pScheduler->CoTimerList;
        CoTimer_t Tail = Head->prev;

        /* Insert the coroutine timer to the end of the list */
        Tail->next = NewCoTimer;
        NewCoTimer->prev = Tail;
        Head->prev = NewCoTimer;
        NewCoTimer->next = Head;
    }
    
    /* Update the coroutine timer list size */
    pScheduler->CoTimerListSize++;
}

static void EraseCoTimerList(CoScheduler *pScheduler, CoTimer_t CoTimerCurrent)
{
    /* Check the coroutine timer is the head of the list */
    if (CoTimerCurrent == pScheduler->CoTimerList)
    {
        /* Update the coroutine timer list head */
        pScheduler->CoTimerList = CoTimerCurrent->next;
    }

    /* Erase the coroutine timer from the list */
    CoTimerCurrent->prev->next = CoTimerCurrent->next;
    CoTimerCurrent->next->prev = CoTimerCurrent->prev;
    
    /* Update the coroutine timer list size */
    pScheduler->CoTimerListSize--;

    /* Check the coroutine timer list is empty */
    if (pScheduler->CoTimerListSize == 0)
    {
        pScheduler->CoTimerList = NULL;
    }
}

CoTimer_t CoTimer_CreateP(CoTimerEntry_t entry, CoTimerCreatePara *pPara)
{
    CoScheduler *pScheduler = NULL;
    CoTimer_t Timer = NULL;
    uint64_t tick = 0;

    /* Check the coroutine timer entry is valid */
    if (entry == NULL)
    {
        return NULL;
    }

    /* Check the coroutine timer parameter is valid */
    if (pPara == NULL)
    {
        return NULL;
    }

    /* Check the coroutine timer period is valid */
    if (pPara->ms == 0 && pPara->tick == 0)
    {
        return NULL;
    }

    /* Auto distribute the scheduler if the scheduler id is negative */
    if (pPara->schedulerId < 0)
    {
        pScheduler = DistributeCoSchedulerForTimer();
    }
    /* Manual distribute the scheduler if the scheduler id is valid */
    else  
    {
        /* Check the scheduler id is valid */
        if (pPara->schedulerId >= COROUTINE_SCHEDULER_NUMBER)
        {
            return NULL;
        }

        /* Get the scheduler by id */
        pScheduler = &sCoScheduler[pPara->schedulerId];
    }

    /* Check the scheduler is valid */
    if (pScheduler->tick == NULL)
    {
        return NULL;
    }
    
    /* Check the wait time ms */
    if (pPara->ms != 0)
    {
        tick = pPara->ms * 1000000 / pScheduler->tickInterval;
    }
    /* Check the wait time tick */
    if (pPara->tick != 0)
    {
        /* Select the smaller one */
        if (tick == 0 || tick > pPara->tick)
        {
            tick = pPara->tick;
        }
    }

    /* Create the coroutine timer */
    Timer = CreateCoTimer(pScheduler);
    if (Timer == NULL)
    {
        return NULL;
    }

    /* Initialize the coroutine timer */
    Timer->entry = entry;
    Timer->periodTick = tick;
    Timer->nextRunTick = pScheduler->tick() + tick;
    Timer->next = NULL;
    Timer->prev = NULL;
    Timer->pScheduler = pScheduler;

    /* Insert the coroutine timer to the list */
    InsertCoTimerList(pScheduler, Timer);

    return Timer;
}

void CoTimer_Delete(CoTimer_t Timer)
{
    CoScheduler *pScheduler = NULL;

    /* Check the coroutine timer is valid */
    if (Timer == NULL)
    {
        return;
    }

    pScheduler = Timer->pScheduler;

    /* Erase the coroutine timer from the list */
    EraseCoTimerList(pScheduler, Timer);
    /* Free the coroutine timer */
    DeleteCoTimer(pScheduler, Timer);
}

CoTimer_t CoTimer_Self(void)
{
    CoTimer_t Self = NULL;
    CoScheduler *pScheduler = NULL;
    CoScheduler *minCoScheduler = NULL;
    void *sp = NULL;
    size_t minSize = 0;
    sCoSchedulerLock();
    for (int i = 0; i < COROUTINE_SCHEDULER_NUMBER; i++)
    {
        pScheduler = &sCoScheduler[i];
        if (pScheduler->tick == NULL) continue;

        /* Get the current stack pointer */
        COROUTINE_GET_SP(sp);

        /* Check the coroutine scheduler stack top is above the current stack pointer */
        if (pScheduler->stackTop - sp > 0)
        {
            /* Check the coroutine scheduler stack top is above the current stack pointer */
            if (minSize == 0)
            {
                minSize = pScheduler->stackTop - sp;
                minCoScheduler = pScheduler;
            }
            /* Check the coroutine scheduler stack top is above the current stack pointer */
            else 
            {
                size_t size = pScheduler->stackTop - sp;
                if (pScheduler->stackTop - sp < minSize)
                {
                    minSize = size;
                    minCoScheduler = pScheduler;
                }
            }
        }
        
        /* Get the coroutine timer current of the closest scheduler */
        Self = minCoScheduler->CoTimerCurrent;
    }
    sCoSchedulerUnlock();
    
    return Self;
}

int CoTimer_SchedulerId(void)
{
    CoTimer_t Timer = NULL;
    CoScheduler *pScheduler = NULL;

    /* Get the current coroutine timer */
    Timer = CoTimer_Self();
    if (Timer == NULL)
    {
        return -1;
    }

    /* Get the current coroutine scheduler */
    pScheduler = Timer->pScheduler;

    /* Return the current coroutine scheduler id */
    return (int)(pScheduler - sCoScheduler);
}

int CoScheduler_InitP(uint32_t CoSchedulerId, CoTick_t tick, uint32_t tickInterval, CoSchedulerInitPara *pPara)
{
    CoSchedulerInitPara para = {.lock=NULL,.unlock=NULL,.malloc=NULL,.free=NULL};
    /* Check the coroutine scheduler is valid */
    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return COROUTINE_E_INVALID_PARAMETER;
    }
    /* Check the coroutine scheduler tick function is valid */
    if (tick == NULL)
    {
        return COROUTINE_E_INVALID_TICK;
    }
    /* Check the coroutine scheduler tick interval is valid */
    if (tickInterval == 0)
    {
        return COROUTINE_E_INVALID_TICK_INTERVAL;
    }
    /* Check the coroutine scheduler init parameter is valid */
    if (pPara == NULL)
    {
        pPara = &para;
    }
#if (COROUTINE_SCHEDULER_NUMBER > 1)
    /* Check the coroutine scheduler lock function is valid */
    if (sCoSchedulerLock && sCoSchedulerUnlock)
    {
        /* Ensure that different schedulers use the same lock */
        if (pPara->lock != sCoSchedulerLock || pPara->unlock != sCoSchedulerUnlock)
        {
            return COROUTINE_E_INVALID_LOCK;
        }
    }
    else 
    {
        /* Specifies the passed lock */
        if (pPara->lock && pPara->unlock)
        {
            sCoSchedulerLock = pPara->lock;
            sCoSchedulerUnlock = pPara->unlock;
        }
        /* Use the default lock */
        else 
        {
            sCoSchedulerLock = CoScheduler_Lock;
            sCoSchedulerUnlock = CoScheduler_Unlock;
        }
    }
#endif 
    /* Check the coroutine scheduler malloc function is valid */
    if (sCoSchedulerMalloc && sCoSchedulerFree)
    {
        /* Ensure that different schedulers use the same malloc */
        if (pPara->malloc != sCoSchedulerMalloc || pPara->free != sCoSchedulerFree)
        {
            return COROUTINE_E_INVALID_MHOOK;
        }
    }
    else 
    {
        sCoSchedulerLock();
        /* Specifies the passed malloc */
        if (pPara->malloc && pPara->free)
        {
            sCoSchedulerMalloc = pPara->malloc;
            sCoSchedulerFree = pPara->free;
        }
        /* Not use */
        else 
        {
            sCoSchedulerMalloc = NULL;
            sCoSchedulerFree = NULL;
        }
        sCoSchedulerUnlock();
    }

    /* Get the coroutine scheduler */
    CoScheduler *pScheduler = &sCoScheduler[CoSchedulerId];

    /* Initialize the coroutine scheduler */
    pScheduler->tick = tick;
    pScheduler->tickInterval = tickInterval;
#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
    /* Initialize the coroutine scheduler loading calculate */
    pScheduler->uTick = COROUTINE_LOADING_CALCULATE_PERIOD * 1000000 / pScheduler->tickInterval;
    pScheduler->pTick = 0;
    pScheduler->sTick = 0;
    pScheduler->rTick = 0;
    pScheduler->curLoad = 0;
    pScheduler->maxLoad = 0;
#endif
    pScheduler->CoTaskList = NULL;
    pScheduler->CoTaskCurrent = NULL;
    pScheduler->CoTaskListSize = 0;
    pScheduler->CoTimerList = NULL;
    pScheduler->CoTimerCurrent = NULL;
    pScheduler->CoTimerListSize = 0;
    pScheduler->stackTop = NULL;
    pScheduler->CoTaskRun = CoTaskRun;

    return COROUTINE_E_OK;
}

int CoScheduler_Start(uint32_t CoSchedulerId)
{
    int state = COSCHEDULER_STATE_INTI;
    CoScheduler *pScheduler = NULL;

    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return COROUTINE_E_INVALID_PARAMETER;
    }

    pScheduler = &sCoScheduler[CoSchedulerId];
    state = COSCHEDULER_GET_STATE(pScheduler);
    
    /* Initialize the coroutine scheduler stack pointer */
    pScheduler->stackTop = &state;

    if (COSCHEDULER_STATE_INTI == state)
    {
        if (pScheduler->tick != NULL)
        {
            /* Jump directly to the scheduling state */
            COSCHEDULER_SET_STATE(pScheduler, COSCHEDULER_STATE_SCHEDULE);
        }
        else  
        {
            /* Jump directly to the exit state */
            COSCHEDULER_SET_STATE(pScheduler, COSCHEDULER_STATE_EXIT);
        }
    }
    else if (COSCHEDULER_STATE_START == state)
    {
        /* Calculate the coroutine scheduler stack pointer */
        /* Align with 16 bytes */
        void *stackTop = (void *)((char *)pScheduler->CoTaskCurrent->stackBase + ((pScheduler->CoTaskCurrent->stackSize + 15) & ~15) - 16);
        /* Set the coroutine scheduler stack pointer */
        COROUTINE_SET_SP(stackTop);
        /* Run the coroutine scheduler */
        pScheduler->CoTaskRun(pScheduler);
    }
    else if (COSCHEDULER_STATE_EXIT == state)
    {
        /* Delete all coroutines in the list */
        while (pScheduler->CoTaskList)
        {
            CoTask_t Task = pScheduler->CoTaskList;
            /* Remove the coroutine from the list */
            EraseCoTaskList(pScheduler, Task);
            /* Delete the coroutine */
            DeleteCoTask(pScheduler, Task);
        }

        /* Delete all coroutine timers in the list */
        while (pScheduler->CoTimerList)
        {
            CoTimer_t Timer = pScheduler->CoTimerList;
            /* Erase the coroutine timer from the list */
            EraseCoTimerList(pScheduler, Timer);
            /* Free the coroutine timer */
            DeleteCoTimer(pScheduler, Timer);
        }

        /* De-initialize the coroutine scheduler */
        pScheduler->tick = NULL;
        pScheduler->tickInterval = 0;
        pScheduler->CoTaskList = NULL;
        pScheduler->CoTaskCurrent = NULL;
        pScheduler->CoTaskListSize = 0;
        pScheduler->CoTimerList = NULL;
        pScheduler->CoTimerCurrent = NULL;
        pScheduler->CoTimerListSize = 0;
        pScheduler->stackTop = NULL;
        pScheduler->CoTaskRun = NULL;
    }
    else if (COSCHEDULER_STATE_SCHEDULE == state)
    {
        /* Infinite loop to run the coroutine scheduler */
        while (1)
        {
#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
            /* Calculate the coroutine scheduler tick */
            if (pScheduler->sTick == 0)
            {
                pScheduler->sTick = pScheduler->tick();
            }
            else  
            {
                pScheduler->cTick = pScheduler->tick();
                /* Calculate the time difference between task cut-in and cut-out */
                uint64_t diffTick = pScheduler->cTick - pScheduler->sTick;
                /* Check the time difference is greater than or equal to the tick interval */
                if (diffTick >= pScheduler->uTick)
                {
                    /* Calculate the loading percentage */
                    uint16_t tload = pScheduler->rTick * 10000 / diffTick;

                    /* Add the loading percentage to the loading queue */
                    pScheduler->loadQueueBase[pScheduler->loadQueueTail] = tload;
                    pScheduler->loadQueueTail = (pScheduler->loadQueueTail + 1) % COROUTINE_LOADING_CALCULATE_QSIZE;

                    /* Update the loading queue size */
                    /* If the loading queue size is less than the queue size, increment the size */
                    if (pScheduler->loadQueueSize < COROUTINE_LOADING_CALCULATE_QSIZE)
                    {
                        pScheduler->loadQueueSize++;
                    }
                    /* If the loading queue size is equal to the queue size, calculate the average loading percentage */
                    else 
                    {
                        uint32_t totalLoad = 0;
                        /* Calculate the total loading percentage */
                        for (int i = 0; i < COROUTINE_LOADING_CALCULATE_QSIZE; i++)
                        {
                            totalLoad += pScheduler->loadQueueBase[i];
                        }

                        /* Calculate the average loading percentage */
                        pScheduler->curLoad = (uint16_t)(totalLoad / COROUTINE_LOADING_CALCULATE_QSIZE);

                        /* Update the maximum loading percentage */
                        if (pScheduler->curLoad > pScheduler->maxLoad)
                        {
                            pScheduler->maxLoad = pScheduler->curLoad;
                        }
                    }
                    
                    /* Update the scheduler tick */
                    /* Set the scheduler tick to the current tick */
                    pScheduler->sTick = pScheduler->cTick;
                    /* Reset the running tick */
                    pScheduler->rTick = 0;
                }
            }
#endif 

            /* Check the coroutine scheduler has coroutine */
            if (pScheduler->CoTaskList != NULL)
            {
                /* Check the current coroutine is NULL */
                if (pScheduler->CoTaskCurrent == NULL)
                {
                    /* Set the current coroutine to the first coroutine in the list */
                    pScheduler->CoTaskCurrent = pScheduler->CoTaskList;
                }

                /* Get the next coroutine */
                CoTask_t tCoroutine = pScheduler->CoTaskCurrent->next;
                
                /* Loop through the coroutine list */
                do {
                    /* Check the coroutine is initialized */
                    if (tCoroutine->state == COTASK_STATE_INIT)
                    {
                        /* Set the current coroutine to the initialized coroutine */
                        pScheduler->CoTaskCurrent = tCoroutine;
                        /* Jump to the coroutine */
                        COSCHEDULER_SET_STATE(pScheduler, COSCHEDULER_STATE_START);
                    }
                    /* Check the coroutine is ready */
                    else if (tCoroutine->state == COTASK_STATE_READY)
                    {
                        /* Set the current coroutine to the ready coroutine */
                        pScheduler->CoTaskCurrent = tCoroutine;

                        /* Resume the coroutine */
                        Resume(pScheduler);
                    }
                    /* Check the coroutine is running */
                    else if (tCoroutine->state == COTASK_STATE_RUNNING)
                    {
                        tCoroutine->state = COTASK_STATE_INIT;
                        continue;
                    }
                    /* Check the coroutine is suspend */
                    else if (tCoroutine->state == COTASK_STATE_SUSPEND)
                    {
                        /* Check the next run time is reached */
                        if (((tCoroutine->nextRunTick != 0 && pScheduler->tick() > tCoroutine->nextRunTick) || 
                        /* Check the event is set */
                            (tCoroutine->pEvent != NULL && tCoroutine->pEvent->flag != 0)))
                        {
                            /* Set the coroutine to ready */
                            tCoroutine->state = COTASK_STATE_READY;
                            continue;
                        }
                    }
                    /* Check the coroutine is deleted */
                    else if (tCoroutine->state == COTASK_STATE_DELETED)
                    {
                        /* Remove the coroutine from the list */
                        EraseCoTaskList(pScheduler, tCoroutine);
                        /* Delete the coroutine */
                        DeleteCoTask(pScheduler, tCoroutine);  
                    }
                    /* Check the coroutine is unknown */
                    else
                    {
                        /* Set the coroutine to initialized */
                        tCoroutine->state = COTASK_STATE_INIT;
                        continue;
                    }

                    /* Check the next coroutine */
                    tCoroutine = tCoroutine->next;
                } while (tCoroutine != pScheduler->CoTaskCurrent->next);
            }

            /* Check the timer scheduler has timer */
            if (pScheduler->CoTimerList != NULL)
            {
                /* Get the first timer */
                CoTimer_t tTimer = pScheduler->CoTimerList;

                /* Loop through the timer list */
                do {
                    /* Check the timer is expired */
                    if (pScheduler->tick() >= tTimer->nextRunTick)
                    {
                        /* Set the current timer to the expired timer */
                        pScheduler->CoTimerCurrent = tTimer;
#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
                        /* Record the timer cut-in time */
                        uint64_t pTick = pScheduler->tick();
#endif 
                        tTimer->entry();
#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
                        /* Record the timer cut-out time */
                        uint64_t cTick = pScheduler->tick();
#endif 
#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
                        /* Record the timer loading time */
                        pScheduler->rTick += cTick - pTick;
#endif
                        /* Set the timer to next run time */
                        pScheduler->CoTimerCurrent = NULL;
                        tTimer->nextRunTick = pScheduler->tick() + tTimer->periodTick;
                    }

                    /* Check the next timer */
                    tTimer = tTimer->next;
                } while (tTimer != pScheduler->CoTimerList);
            }
        }
    }
    else  
    {
        COSCHEDULER_SET_STATE(pScheduler, COSCHEDULER_STATE_EXIT);
    }

    return 0;
}

int CoScheduler_Exit(uint32_t CoSchedulerId)
{
    CoScheduler *pScheduler = NULL;
    /* Check the coroutine scheduler is valid */
    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return COROUTINE_E_INVALID_PARAMETER;
    }

    /* Get the coroutine scheduler */
    pScheduler = &sCoScheduler[CoSchedulerId];
    if (pScheduler->tick == NULL)
    {
        return COROUTINE_E_INVALID_TICK;
    }

    /* Yield to the next coroutine task */
    COSCHEDULER_SET_STATE(pScheduler, COSCHEDULER_STATE_EXIT);

    return COROUTINE_E_OK;
}

int CoScheduler_TaskCount(uint32_t CoSchedulerId)
{
    CoScheduler *pScheduler = NULL;
    /* Check the coroutine scheduler is valid */
    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return COROUTINE_E_INVALID_PARAMETER;
    }

    /* Get the coroutine scheduler */
    pScheduler = &sCoScheduler[CoSchedulerId];
    if (pScheduler->tick == NULL)
    {
        return COROUTINE_E_INVALID_TICK;
    }

    return (int)pScheduler->CoTaskListSize;
}

int CoScheduler_TimerCount(uint32_t CoSchedulerId)
{
    CoScheduler *pScheduler = NULL;
    /* Check the coroutine scheduler is valid */
    if (CoSchedulerId >= COROUTINE_SCHEDULER_NUMBER)
    {
        return COROUTINE_E_INVALID_PARAMETER;
    }

    /* Get the coroutine scheduler */
    pScheduler = &sCoScheduler[CoSchedulerId];
    if (pScheduler->tick == NULL)
    {
        return COROUTINE_E_INVALID_TICK;
    }

    return (int)pScheduler->CoTimerListSize;
}