Dean Camera
13 years ago
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/*
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LUFA Library |
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Copyright (C) Dean Camera, 2012. |
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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 2012 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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|
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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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#include "Scheduler.h" |
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volatile SchedulerDelayCounter_t Scheduler_TickCounter; |
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volatile uint_least8_t Scheduler_TotalTasks; |
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bool Scheduler_HasDelayElapsed(const uint_least16_t Delay, |
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SchedulerDelayCounter_t* const DelayCounter) |
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{ |
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SchedulerDelayCounter_t CurrentTickValue_LCL; |
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SchedulerDelayCounter_t DelayCounter_LCL; |
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uint_reg_t CurrentGlobalInt = GetGlobalInterruptMask(); |
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GlobalInterruptDisable(); |
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CurrentTickValue_LCL = Scheduler_TickCounter; |
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SetGlobalInterruptMask(CurrentGlobalInt); |
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DelayCounter_LCL = *DelayCounter; |
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if (CurrentTickValue_LCL >= DelayCounter_LCL) |
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{ |
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if ((CurrentTickValue_LCL - DelayCounter_LCL) >= Delay) |
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{ |
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*DelayCounter = CurrentTickValue_LCL; |
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return true; |
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} |
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} |
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else |
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{ |
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if (((MAX_DELAYCTR_COUNT - DelayCounter_LCL) + CurrentTickValue_LCL) >= Delay) |
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{ |
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*DelayCounter = CurrentTickValue_LCL; |
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return true; |
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} |
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} |
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return false; |
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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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{ |
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TaskEntry_t* CurrTask = &Scheduler_TaskList[0]; |
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while (CurrTask != &Scheduler_TaskList[Scheduler_TotalTasks]) |
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{ |
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if (CurrTask->Task == Task) |
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{ |
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CurrTask->TaskStatus = TaskStatus; |
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break; |
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} |
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CurrTask++; |
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} |
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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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{ |
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TaskEntry_t* CurrTask = &Scheduler_TaskList[0]; |
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while (CurrTask != &Scheduler_TaskList[Scheduler_TotalTasks]) |
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{ |
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if (CurrTask->GroupID == GroupID) |
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CurrTask->TaskStatus = TaskStatus; |
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CurrTask++; |
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} |
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} |
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@ -1,312 +0,0 @@ |
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/*
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LUFA Library |
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Copyright (C) Dean Camera, 2012. |
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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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/*
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Copyright 2012 Dean Camera (dean [at] fourwalledcubicle [dot] com) |
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|
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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 |
||||
without fee, provided that the above copyright notice appear in |
||||
all copies and that both that the copyright notice and this |
||||
permission notice and warranty disclaimer appear in supporting |
||||
documentation, and that the name of the author not be used in |
||||
advertising or publicity pertaining to distribution of the |
||||
software without specific, written prior permission. |
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|
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The author disclaim all warranties with regard to this |
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software, including all implied warranties of merchantability |
||||
and fitness. In no event shall the author be liable for any |
||||
special, indirect or consequential damages or any damages |
||||
whatsoever resulting from loss of use, data or profits, whether |
||||
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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* \warning This value should be treated as read-only, and never altered in user-application 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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uint_reg_t CurrentGlobalInt = GetGlobalInterruptMask(); |
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GlobalInterruptDisable(); |
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*DelayCounter = Scheduler_TickCounter; |
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SetGlobalInterruptMask(CurrentGlobalInt); |
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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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