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263 lines
9.5 KiB
263 lines
9.5 KiB
/*
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LUFA Library
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Copyright (C) Dean Camera, 2009.
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dean [at] fourwalledcubicle [dot] com
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www.fourwalledcubicle.com
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*/
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/*
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Copyright 2009 Dean Camera (dean [at] fourwalledcubicle [dot] com)
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Permission to use, copy, modify, and distribute this software
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and its documentation for any purpose and without fee is hereby
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granted, provided that the above copyright notice appear in all
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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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*
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* Simple round-robbin cooperative scheduler for use in basic projects where non realtime 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 return, thus each task should have persistant data marked with the static attribute.
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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);
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* TASK(MyTask2);
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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_Start();
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* }
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*
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* TASK(MyTask1)
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* {
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* // Implementation Here
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* }
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*
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* TASK(MyTask2)
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* {
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* // Implementation Here
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* }
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* \endcode
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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 <avr/io.h>
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#include <stdbool.h>
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#include <util/atomic.h>
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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 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 extern TaskEntry_t Scheduler_TaskList[]; 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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* 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 Scheduler_SetTaskMode() or Scheduler_SetGroupTaskMode(). */
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#define TASK_RUN true
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/** Task status mode constant, for passing to Scheduler_SetTaskMode() or Scheduler_SetGroupTaskMode(). */
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#define TASK_STOP false
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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 main() function, as it can never return to the calling function.
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*/
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#define Scheduler_Start() Scheduler_GoSchedule(TOTAL_TASKS);
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/** Initializes the scheduler so that the scheduler functions can be called before the scheduler itself
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* is started. This must be exeucted before any scheduler function calls other than Scheduler_Start(),
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* and can be ommitted if no such functions could be called before the scheduler is started.
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*/
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#define Scheduler_Init() Scheduler_InitScheduler(TOTAL_TASKS);
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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 uint16_t SchedulerDelayCounter_t;
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/** Structure for holding a single task's information in the scheduler task list. */
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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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uint8_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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* TaskEntry_t and can be manipulated as desired, although it is preferential 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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* TASK_RUN or 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 uint8_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 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);
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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 .
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*
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* \param Delay The delay to test for, measured in ticks
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* \param DelayCounter The counter which is storing the starting tick value for the delay
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*
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* \return Boolean true if the delay has elapsed, 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 startup
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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 uint16_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 Task Name of the task whose status is to be changed
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* \param TaskStatus New task status for the task (TASK_RUN or TASK_STOP)
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*/
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void Scheduler_SetTaskMode(const TaskPtr_t Task, 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 GroupID Value of the task group ID whose status is to be changed
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* \param TaskStatus New task status for tasks in the specified group (TASK_RUN or TASK_STOP)
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*/
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void Scheduler_SetGroupTaskMode(const uint8_t GroupID, 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 0xFFFF
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/* Inline Functions: */
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static inline void Scheduler_InitScheduler(const uint8_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 uint8_t TotalTasks) ATTR_NO_RETURN;
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static inline void Scheduler_GoSchedule(const uint8_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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