mirror of https://github.com/ArduPilot/ardupilot
295 lines
10 KiB
C
295 lines
10 KiB
C
|
/*
|
||
|
|
LUFA Library
|
||
|
|
Copyright (C) Dean Camera, 2010.
|
||
|
|
|
||
|
|
dean [at] fourwalledcubicle [dot] com
|
||
|
|
www.fourwalledcubicle.com
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
Copyright 2010 Dean Camera (dean [at] fourwalledcubicle [dot] com)
|
||
|
|
|
||
|
|
Permission to use, copy, modify, distribute, and sell this
|
||
|
|
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.
|
||
|
|
|
||
|
|
The author disclaim all warranties with regard to this
|
||
|
|
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,
|
||
|
|
arising out of or in connection with the use or performance of
|
||
|
|
this software.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** \file
|
||
|
|
* \brief Simple round-robbin pseudo-task scheduler.
|
||
|
|
*
|
||
|
|
* Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
|
||
|
|
* to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
|
||
|
|
*
|
||
|
|
* \deprecated This module is deprecated and will be removed in a future library release.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** @defgroup Group_Scheduler Simple Task Scheduler - LUFA/Scheduler/Scheduler.h
|
||
|
|
*
|
||
|
|
* \deprecated This module is deprecated and will be removed in a future library release.
|
||
|
|
*
|
||
|
|
* \section Sec_Dependencies Module Source Dependencies
|
||
|
|
* The following files must be built with any user project that uses this module:
|
||
|
|
* - LUFA/Scheduler/Scheduler.c <i>(Makefile source module name: LUFA_SRC_SCHEDULER)</i>
|
||
|
|
*
|
||
|
|
* \section Module Description
|
||
|
|
* Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
|
||
|
|
* to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
|
||
|
|
*
|
||
|
|
* For a task to yield it must return, thus each task should have persistent data marked with the static attribute.
|
||
|
|
*
|
||
|
|
* Usage Example:
|
||
|
|
* \code
|
||
|
|
* #include <LUFA/Scheduler/Scheduler.h>
|
||
|
|
*
|
||
|
|
* TASK(MyTask1);
|
||
|
|
* TASK(MyTask2);
|
||
|
|
*
|
||
|
|
* TASK_LIST
|
||
|
|
* {
|
||
|
|
* { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1 },
|
||
|
|
* { .Task = MyTask2, .TaskStatus = TASK_RUN, .GroupID = 1 },
|
||
|
|
* }
|
||
|
|
*
|
||
|
|
* int main(void)
|
||
|
|
* {
|
||
|
|
* Scheduler_Start();
|
||
|
|
* }
|
||
|
|
*
|
||
|
|
* TASK(MyTask1)
|
||
|
|
* {
|
||
|
|
* // Implementation Here
|
||
|
|
* }
|
||
|
|
*
|
||
|
|
* TASK(MyTask2)
|
||
|
|
* {
|
||
|
|
* // Implementation Here
|
||
|
|
* }
|
||
|
|
* \endcode
|
||
|
|
*
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __SCHEDULER_H__
|
||
|
|
#define __SCHEDULER_H__
|
||
|
|
|
||
|
|
/* Includes: */
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
|
||
|
|
#include <util/atomic.h>
|
||
|
|
|
||
|
|
#include "../Common/Common.h"
|
||
|
|
|
||
|
|
/* Enable C linkage for C++ Compilers: */
|
||
|
|
#if defined(__cplusplus)
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Public Interface - May be used in end-application: */
|
||
|
|
/* Macros: */
|
||
|
|
/** Creates a new scheduler task body or prototype. Should be used in the form:
|
||
|
|
* \code
|
||
|
|
* TASK(TaskName); // Prototype
|
||
|
|
*
|
||
|
|
* TASK(TaskName)
|
||
|
|
* {
|
||
|
|
* // Task body
|
||
|
|
* }
|
||
|
|
* \endcode
|
||
|
|
*/
|
||
|
|
#define TASK(name) void name (void)
|
||
|
|
|
||
|
|
/** Defines a task list array, containing one or more task entries of the type TaskEntry_t. Each task list
|
||
|
|
* should be encased in curly braces and ended with a comma.
|
||
|
|
*
|
||
|
|
* Usage Example:
|
||
|
|
* \code
|
||
|
|
* TASK_LIST
|
||
|
|
* {
|
||
|
|
* { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1 },
|
||
|
|
* // More task entries here
|
||
|
|
* }
|
||
|
|
* \endcode
|
||
|
|
*/
|
||
|
|
#define TASK_LIST TaskEntry_t Scheduler_TaskList[] =
|
||
|
|
|
||
|
|
/** Constant, giving the maximum delay in scheduler ticks which can be stored in a variable of type
|
||
|
|
* \ref SchedulerDelayCounter_t.
|
||
|
|
*/
|
||
|
|
#define TASK_MAX_DELAY (MAX_DELAYCTR_COUNT - 1)
|
||
|
|
|
||
|
|
/** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */
|
||
|
|
#define TASK_RUN true
|
||
|
|
|
||
|
|
/** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */
|
||
|
|
#define TASK_STOP false
|
||
|
|
|
||
|
|
/* Pseudo-Function Macros: */
|
||
|
|
#if defined(__DOXYGEN__)
|
||
|
|
/** Starts the scheduler in its infinite loop, executing running tasks. This should be placed at the end
|
||
|
|
* of the user application's main() function, as it can never return to the calling function.
|
||
|
|
*/
|
||
|
|
void Scheduler_Start(void);
|
||
|
|
|
||
|
|
/** Initialises the scheduler so that the scheduler functions can be called before the scheduler itself
|
||
|
|
* is started. This must be executed before any scheduler function calls other than Scheduler_Start(),
|
||
|
|
* and can be omitted if no such functions could be called before the scheduler is started.
|
||
|
|
*/
|
||
|
|
void Scheduler_Init(void);
|
||
|
|
#else
|
||
|
|
#define Scheduler_Start() Scheduler_GoSchedule(TOTAL_TASKS);
|
||
|
|
#define Scheduler_Init() Scheduler_InitScheduler(TOTAL_TASKS);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Type Defines: */
|
||
|
|
/** Type define for a pointer to a scheduler task. */
|
||
|
|
typedef void (*TaskPtr_t)(void);
|
||
|
|
|
||
|
|
/** Type define for a variable which can hold a tick delay value for the scheduler up to the maximum delay
|
||
|
|
* possible.
|
||
|
|
*/
|
||
|
|
typedef uint16_t SchedulerDelayCounter_t;
|
||
|
|
|
||
|
|
/** \brief Scheduler Task List Entry Structure.
|
||
|
|
*
|
||
|
|
* Structure for holding a single task's information in the scheduler task list.
|
||
|
|
*/
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
TaskPtr_t Task; /**< Pointer to the task to execute. */
|
||
|
|
bool TaskStatus; /**< Status of the task (either TASK_RUN or TASK_STOP). */
|
||
|
|
uint8_t GroupID; /**< Group ID of the task so that its status can be changed as a group. */
|
||
|
|
} TaskEntry_t;
|
||
|
|
|
||
|
|
/* Global Variables: */
|
||
|
|
/** Task entry list, containing the scheduler tasks, task statuses and group IDs. Each entry is of type
|
||
|
|
* TaskEntry_t and can be manipulated as desired, although it is preferential that the proper Scheduler
|
||
|
|
* functions should be used instead of direct manipulation.
|
||
|
|
*/
|
||
|
|
exter TaskEntry_t Scheduler_TaskList[];
|
||
|
|
|
||
|
|
/** Contains the total number of tasks in the task list, irrespective of if the task's status is set to
|
||
|
|
* \ref TASK_RUN or \ref TASK_STOP.
|
||
|
|
*
|
||
|
|
* \note This value should be treated as read-only, and never altered in user-code.
|
||
|
|
*/
|
||
|
|
extern volatile uint8_t Scheduler_TotalTasks;
|
||
|
|
|
||
|
|
/** Contains the current scheduler tick count, for use with the delay functions. If the delay functions
|
||
|
|
* are used in the user code, this should be incremented each tick period so that the delays can be
|
||
|
|
* calculated.
|
||
|
|
*/
|
||
|
|
extern volatile SchedulerDelayCounter_t Scheduler_TickCounter;
|
||
|
|
|
||
|
|
/* Inline Functions: */
|
||
|
|
/** Resets the delay counter value to the current tick count. This should be called to reset the period
|
||
|
|
* for a delay in a task which is dependant on the current tick value.
|
||
|
|
*
|
||
|
|
* \param[out] DelayCounter Counter which is storing the starting tick count for a given delay.
|
||
|
|
*/
|
||
|
|
static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
|
||
|
|
ATTR_NON_NULL_PTR_ARG(1) ATTR_ALWAYS_INLINE;
|
||
|
|
static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
|
||
|
|
{
|
||
|
|
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
|
||
|
|
{
|
||
|
|
*DelayCounter = Scheduler_TickCounter;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Function Prototypes: */
|
||
|
|
/** Determines if the given tick delay has elapsed, based on the given delay period and tick counter value.
|
||
|
|
*
|
||
|
|
* \param[in] Delay The delay to test for, measured in ticks.
|
||
|
|
* \param[in] DelayCounter The counter which is storing the starting tick value for the delay.
|
||
|
|
*
|
||
|
|
* \return Boolean true if the delay has elapsed, false otherwise.
|
||
|
|
*
|
||
|
|
* Usage Example:
|
||
|
|
* \code
|
||
|
|
* static SchedulerDelayCounter_t DelayCounter = 10000; // Force immediate run on start-up
|
||
|
|
*
|
||
|
|
* // Task runs every 10000 ticks, 10 seconds for this demo
|
||
|
|
* if (Scheduler_HasDelayElapsed(10000, &DelayCounter))
|
||
|
|
* {
|
||
|
|
* // Code to execute after delay interval elapsed here
|
||
|
|
* }
|
||
|
|
* \endcode
|
||
|
|
*/
|
||
|
|
bool Scheduler_HasDelayElapsed(const uint16_t Delay,
|
||
|
|
SchedulerDelayCounter_t* const DelayCounter)
|
||
|
|
ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
|
||
|
|
|
||
|
|
/** Sets the task mode for a given task.
|
||
|
|
*
|
||
|
|
* \param[in] Task Name of the task whose status is to be changed.
|
||
|
|
* \param[in] TaskStatus New task status for the task (\ref TASK_RUN or \ref TASK_STOP).
|
||
|
|
*/
|
||
|
|
void Scheduler_SetTaskMode(const TaskPtr_t Task,
|
||
|
|
const bool TaskStatus);
|
||
|
|
|
||
|
|
/** Sets the task mode for a given task group ID, allowing for an entire group of tasks to have their
|
||
|
|
* statuses changed at once.
|
||
|
|
*
|
||
|
|
* \param[in] GroupID Value of the task group ID whose status is to be changed.
|
||
|
|
* \param[in] TaskStatus New task status for tasks in the specified group (\ref TASK_RUN or \ref TASK_STOP).
|
||
|
|
*/
|
||
|
|
void Scheduler_SetGroupTaskMode(const uint8_t GroupID,
|
||
|
|
const bool TaskStatus);
|
||
|
|
|
||
|
|
/* Private Interface - For use in library only: */
|
||
|
|
#if !defined(__DOXYGEN__)
|
||
|
|
/* Macros: */
|
||
|
|
#define TOTAL_TASKS (sizeof(Scheduler_TaskList) / sizeof(TaskEntry_t))
|
||
|
|
#define MAX_DELAYCTR_COUNT 0xFFFF
|
||
|
|
|
||
|
|
/* Inline Functions: */
|
||
|
|
static inline void Scheduler_InitScheduler(const uint8_t TotalTasks) ATTR_ALWAYS_INLINE;
|
||
|
|
static inline void Scheduler_InitScheduler(const uint8_t TotalTasks)
|
||
|
|
{
|
||
|
|
Scheduler_TotalTasks = TotalTasks;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline void Scheduler_GoSchedule(const uint8_t TotalTasks) ATTR_NO_RETURN ATTR_ALWAYS_INLINE ATTR_DEPRECATED;
|
||
|
|
static inline void Scheduler_GoSchedule(const uint8_t TotalTasks)
|
||
|
|
{
|
||
|
|
Scheduler_InitScheduler(TotalTasks);
|
||
|
|
|
||
|
|
for (;;)
|
||
|
|
{
|
||
|
|
TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
|
||
|
|
|
||
|
|
while (CurrTask != &Scheduler_TaskList[TotalTasks])
|
||
|
|
{
|
||
|
|
if (CurrTask->TaskStatus == TASK_RUN)
|
||
|
|
CurrTask->Task();
|
||
|
|
|
||
|
|
CurrTask++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Disable C linkage for C++ Compilers: */
|
||
|
|
#if defined(__cplusplus)
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|