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311 lines
12 KiB
311 lines
12 KiB
/*
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LUFA Library
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Copyright (C) Dean Camera, 2011.
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dean [at] fourwalledcubicle [dot] com
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www.lufa-lib.org
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*/
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/*
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Copyright 2011 Dean Camera (dean [at] fourwalledcubicle [dot] com)
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Permission to use, copy, modify, distribute, and sell this
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software and its documentation for any purpose is hereby granted
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without fee, provided that the above copyright notice appear in
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all copies and that both that the copyright notice and this
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permission notice and warranty disclaimer appear in supporting
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documentation, and that the name of the author not be used in
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advertising or publicity pertaining to distribution of the
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software without specific, written prior permission.
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The author disclaim all warranties with regard to this
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software, including all implied warranties of merchantability
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and fitness. In no event shall the author be liable for any
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special, indirect or consequential damages or any damages
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whatsoever resulting from loss of use, data or profits, whether
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in an action of contract, negligence or other tortious action,
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arising out of or in connection with the use or performance of
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this software.
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*/
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/** \file
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* \brief Simple round-robbin pseudo-task scheduler.
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*
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* Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
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* to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
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*
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* \deprecated This module is deprecated and will be removed in a future library release.
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*/
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/** \defgroup Group_Scheduler Simple Task Scheduler - LUFA/Scheduler/Scheduler.h
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* \brief Simple round-robbin pseudo-task scheduler.
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*
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* \deprecated This module is deprecated and will be removed in a future library release.
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*
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* \section Sec_Dependencies Module Source Dependencies
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* The following files must be built with any user project that uses this module:
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* - LUFA/Scheduler/Scheduler.c <i>(Makefile source module name: LUFA_SRC_SCHEDULER)</i>
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*
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* \section Sec_ModDescription Module Description
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* Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
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* to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
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*
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* For a task to yield it must \c return, thus each task should have persistent data marked with the \c static keyword.
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*
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* Each LUFA scheduler task should be written similar to an ISR; it should execute quickly (so that no one task
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* hogs the processor, preventing another from running before some sort of timeout is exceeded). Unlike normal RTOS
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* tasks, each LUFA scheduler task is a regular function, and thus must be designed to be called, and designed to
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* return to the calling scheduler function repeatedly. Data which must be preserved between task calls should be
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* declared as global or (preferably) as a \c static local variable inside the task.
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*
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* The scheduler consists of a task list, listing all the tasks which can be executed by the scheduler. Once started,
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* each task is then called one after another, unless the task is stopped by another running task or interrupt.
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*
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* Usage Example:
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* \code
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* #include <LUFA/Scheduler/Scheduler.h>
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*
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* TASK(MyTask1); // Task prototype
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* TASK(MyTask2); // Task prototype
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*
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* TASK_LIST
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* {
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* { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1 },
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* { .Task = MyTask2, .TaskStatus = TASK_RUN, .GroupID = 1 },
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* }
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*
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* int main(void)
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* {
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* Scheduler_Init();
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*
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* // Other initialisation here
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*
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* Scheduler_Start();
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* }
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*
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* TASK(MyTask1)
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* {
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* // Task implementation here
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* }
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*
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* TASK(MyTask2)
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* {
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* // Task implementation here
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* }
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* \endcode
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*
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* If desired, the LUFA scheduler <b>does not need to be used</b> in a LUFA powered application. A more conventional
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* approach to application design can be used, or a proper scheduling RTOS inserted in the place of the LUFA scheduler.
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* In the case of the former the USB task must be run manually repeatedly to maintain USB communications, and in the
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* case of the latter a proper RTOS task must be set up to do the same.
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*
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* @{
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*/
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#ifndef __SCHEDULER_H__
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#define __SCHEDULER_H__
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/* Includes: */
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#include "../Common/Common.h"
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/* Enable C linkage for C++ Compilers: */
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#if defined(__cplusplus)
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extern "C" {
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#endif
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/* Public Interface - May be used in end-application: */
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/* Macros: */
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/** Creates a new scheduler task body or prototype. Should be used in the form:
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* \code
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* TASK(TaskName); // Prototype
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*
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* TASK(TaskName)
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* {
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* // Task body
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* }
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* \endcode
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*/
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#define TASK(name) void name (void)
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/** Defines a task list array, containing one or more task entries of the type \ref TaskEntry_t. Each task list
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* should be encased in curly braces and ended with a comma.
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*
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* Usage Example:
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* \code
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* TASK_LIST
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* {
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* { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1 },
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* // More task entries here
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* }
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* \endcode
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*/
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#define TASK_LIST TaskEntry_t Scheduler_TaskList[] =
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/** Constant, giving the maximum delay in scheduler ticks which can be stored in a variable of type
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* \ref SchedulerDelayCounter_t.
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*/
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#define TASK_MAX_DELAY (MAX_DELAYCTR_COUNT - 1)
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/** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */
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#define TASK_RUN true
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/** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */
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#define TASK_STOP false
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/* Pseudo-Function Macros: */
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#if defined(__DOXYGEN__)
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/** Starts the scheduler in its infinite loop, executing running tasks. This should be placed at the end
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* of the user application's \c main() function, as it can never return to the calling function.
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*/
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void Scheduler_Start(void);
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/** Initialises the scheduler so that the scheduler functions can be called before the scheduler itself
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* is started. This must be executed before any scheduler function calls other than \ref Scheduler_Start(),
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* and can be omitted if no such functions could be called before the scheduler is started.
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*/
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void Scheduler_Init(void);
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#else
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#define Scheduler_Start() Scheduler_GoSchedule(TOTAL_TASKS);
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#define Scheduler_Init() Scheduler_InitScheduler(TOTAL_TASKS);
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#endif
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/* Type Defines: */
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/** Type define for a pointer to a scheduler task. */
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typedef void (*TaskPtr_t)(void);
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/** Type define for a variable which can hold a tick delay value for the scheduler up to the maximum delay
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* possible.
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*/
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typedef uint_least16_t SchedulerDelayCounter_t;
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/** \brief Scheduler Task List Entry Structure.
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*
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* Structure for holding a single task's information in the scheduler task list.
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*/
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typedef struct
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{
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TaskPtr_t Task; /**< Pointer to the task to execute. */
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bool TaskStatus; /**< Status of the task (either TASK_RUN or TASK_STOP). */
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uint_least8_t GroupID; /**< Group ID of the task so that its status can be changed as a group. */
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} TaskEntry_t;
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/* Global Variables: */
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/** Task entry list, containing the scheduler tasks, task statuses and group IDs. Each entry is of type
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* \ref TaskEntry_t and can be manipulated as desired, although it is preferred that the proper Scheduler
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* functions should be used instead of direct manipulation.
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*/
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extern TaskEntry_t Scheduler_TaskList[];
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/** Contains the total number of tasks in the task list, irrespective of if the task's status is set to
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* \ref TASK_RUN or \ref TASK_STOP.
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*
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* \note This value should be treated as read-only, and never altered in user-code.
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*/
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extern volatile uint_least8_t Scheduler_TotalTasks;
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/** Contains the current scheduler tick count, for use with the delay functions. If the delay functions
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* are used in the user code, this should be incremented each tick period so that the delays can be
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* calculated.
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*/
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extern volatile SchedulerDelayCounter_t Scheduler_TickCounter;
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/* Inline Functions: */
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/** Resets the delay counter value to the current tick count. This should be called to reset the period
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* for a delay in a task which is dependant on the current tick value.
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*
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* \param[out] DelayCounter Counter which is storing the starting tick count for a given delay.
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*/
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static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
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ATTR_NON_NULL_PTR_ARG(1) ATTR_ALWAYS_INLINE;
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static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
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{
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ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
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{
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*DelayCounter = Scheduler_TickCounter;
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}
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}
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/* Function Prototypes: */
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/** Determines if the given tick delay has elapsed, based on the given delay period and tick counter value.
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*
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* \param[in] Delay The delay to test for, measured in ticks.
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* \param[in] DelayCounter The counter which is storing the starting tick value for the delay.
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*
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* \return Boolean \c true if the delay has elapsed, \c false otherwise.
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*
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* Usage Example:
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* \code
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* static SchedulerDelayCounter_t DelayCounter = 10000; // Force immediate run on start-up
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*
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* // Task runs every 10000 ticks, 10 seconds for this demo
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* if (Scheduler_HasDelayElapsed(10000, &DelayCounter))
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* {
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* // Code to execute after delay interval elapsed here
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* }
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* \endcode
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*/
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bool Scheduler_HasDelayElapsed(const uint_least16_t Delay,
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SchedulerDelayCounter_t* const DelayCounter)
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ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
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/** Sets the task mode for a given task.
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*
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* \param[in] Task Name of the task whose status is to be changed.
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* \param[in] TaskStatus New task status for the task (\ref TASK_RUN or \ref TASK_STOP).
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*/
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void Scheduler_SetTaskMode(const TaskPtr_t Task,
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const bool TaskStatus);
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/** Sets the task mode for a given task group ID, allowing for an entire group of tasks to have their
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* statuses changed at once.
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*
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* \param[in] GroupID Value of the task group ID whose status is to be changed.
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* \param[in] TaskStatus New task status for tasks in the specified group (\ref TASK_RUN or \ref TASK_STOP).
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*/
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void Scheduler_SetGroupTaskMode(const uint_least8_t GroupID,
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const bool TaskStatus);
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/* Private Interface - For use in library only: */
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#if !defined(__DOXYGEN__)
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/* Macros: */
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#define TOTAL_TASKS (sizeof(Scheduler_TaskList) / sizeof(TaskEntry_t))
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#define MAX_DELAYCTR_COUNT UINT_LEAST16_MAX
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/* Inline Functions: */
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static inline void Scheduler_InitScheduler(const uint_least8_t TotalTasks) ATTR_ALWAYS_INLINE;
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static inline void Scheduler_InitScheduler(const uint_least8_t TotalTasks)
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{
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Scheduler_TotalTasks = TotalTasks;
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}
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static inline void Scheduler_GoSchedule(const uint_least8_t TotalTasks)
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ATTR_NO_RETURN ATTR_ALWAYS_INLINE ATTR_DEPRECATED;
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static inline void Scheduler_GoSchedule(const uint_least8_t TotalTasks)
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{
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Scheduler_InitScheduler(TotalTasks);
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for (;;)
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{
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TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
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while (CurrTask != &Scheduler_TaskList[TotalTasks])
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{
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if (CurrTask->TaskStatus == TASK_RUN)
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CurrTask->Task();
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CurrTask++;
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}
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}
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}
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#endif
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/* Disable C linkage for C++ Compilers: */
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#if defined(__cplusplus)
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}
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#endif
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#endif
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/** @} */
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