Steins7
34fb4dac76
This function used to return the raw current value, but that exposes the prescaling used internaly
142 lines
2.9 KiB
C
142 lines
2.9 KiB
C
/** @file task.c
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* Module handling the task creation and management
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*
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* The module provides an API to create, run and manage lightweight, stack-less
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* threads (tasks). This system is based on protothreads,
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* see https://dunkels.com/adam/pt/index.html
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*/
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//--includes--------------------------------------------------------------------
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#include "task.h"
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#include "../drv/stk.h"
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#include "error.h"
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//--local definitions-----------------------------------------------------------
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#define MAX_TASK_NB 10
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struct TaskContext {
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Task function;
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uint32_t delay_ms;
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uint8_t state;
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uint8_t priority;
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};
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void task_callback(void);
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//--local variables-------------------------------------------------------------
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static struct TaskContext task_list[MAX_TASK_NB];
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static uint8_t task_nb;
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//--public functions------------------------------------------------------------
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void task_start_scheduler(void)
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{
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while (1) {
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uint32_t delay = UINT32_MAX;
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for (uint8_t priority = 0; priority < UINT8_MAX; ++priority) {
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bool task_runned = false;
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for (uint8_t i = 0; i < task_nb; ++i) {
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if (task_list[i].function != nullptr) {
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if (task_list[i].priority == priority) {
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if (task_list[i].delay_ms == 0) {
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task_runned = true;
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struct TaskReturn ret
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= task_list[i].function(task_list[i].state);
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if (ret.state == _TASK_COUNT_EXIT) {
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task_list[i].function = nullptr;
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} else {
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task_list[i].delay_ms = ret.delay_ms;
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task_list[i].state = ret.state;
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}
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}
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if (delay > task_list[i].delay_ms) {
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delay = task_list[i].delay_ms;
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}
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}
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}
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}
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if (task_runned) {
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break;
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}
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}
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if (delay > 0) {
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stk_configure(delay * 1000, task_callback);
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stk_start();
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__asm("wfi");
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stk_stop();
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uint32_t stk_delay = stk_read_us();
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if (stk_delay != 0) {
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delay = stk_delay;
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}
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for (uint8_t i = 0; i < task_nb; ++i) {
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if (task_list[i].function != nullptr) {
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task_list[i].delay_ms -= delay;
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}
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}
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}
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}
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//never returns
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}
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void task_start(Task task, uint8_t priority)
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{
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for (uint8_t i = 0; i < MAX_TASK_NB; ++i) {
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if (task_list[i].function == nullptr) {
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task_list[i].function = task;
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task_list[i].delay_ms = 0;
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task_list[i].state = 0;
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task_list[i].priority = priority;
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++task_nb;
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return;
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}
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}
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error_trigger("task list is full");
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}
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void task_stop(Task task)
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{
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for (uint8_t i = 0; i < task_nb; ++i) {
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if (task_list[i].function == task) {
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task_list[i].function(_TASK_COUNT_CLEANUP);
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task_list[i].function = nullptr;
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return;
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}
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}
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error_trigger("task does not exist");
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}
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bool task_is_running(Task task)
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{
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for (uint8_t i = 0; i < task_nb; ++i) {
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if (task_list[i].function == task) {
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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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//--local functions-------------------------------------------------------------
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void task_callback(void) {
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stk_stop();
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}
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