LUFA/Scheduler/Scheduler.h

   1 /*
   2              LUFA Library
   3      Copyright (C) Dean Camera, 2010.
   4
   5   dean [at] fourwalledcubicle [dot] com
   6       www.fourwalledcubicle.com
   7 */
   8
   9 /*
  10   Copyright 2010  Dean Camera (dean [at] fourwalledcubicle [dot] com)
  11
  12   Permission to use, copy, modify, distribute, and sell this
  13   software and its documentation for any purpose is hereby granted
  14   without fee, provided that the above copyright notice appear in
  15   all copies and that both that the copyright notice and this
  16   permission notice and warranty disclaimer appear in supporting
  17   documentation, and that the name of the author not be used in
  18   advertising or publicity pertaining to distribution of the
  19   software without specific, written prior permission.
  20
  21   The author disclaim all warranties with regard to this
  22   software, including all implied warranties of merchantability
  23   and fitness.  In no event shall the author be liable for any
  24   special, indirect or consequential damages or any damages
  25   whatsoever resulting from loss of use, data or profits, whether
  26   in an action of contract, negligence or other tortious action,
  27   arising out of or in connection with the use or performance of
  28   this software.
  29 */
  30
  31 /** \file
  32  *  \brief Simple round-robbin pseudo-task scheduler.
  33  *
  34  *  Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
  35  *  to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
  36  *
  37  *  \deprecated This module is deprecated and will be removed in a future library release.
  38  */
  39
  40 /** @defgroup Group_Scheduler Simple Task Scheduler - LUFA/Scheduler/Scheduler.h
  41  *
  42  *  \deprecated This module is deprecated and will be removed in a future library release.
  43  *
  44  *  \section Sec_Dependencies Module Source Dependencies
  45  *  The following files must be built with any user project that uses this module:
  46  *    - LUFA/Scheduler/Scheduler.c
  47  *
  48  *  \section Module Description
  49  *  Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
  50  *  to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
  51  *
  52  *  For a task to yield it must return, thus each task should have persistent data marked with the static attribute.
  53  *
  54  *  Usage Example:
  55  *  \code
  56  *      #include <LUFA/Scheduler/Scheduler.h>
  57  *
  58  *      TASK(MyTask1);
  59  *      TASK(MyTask2);
  60  *
  61  *      TASK_LIST
  62  *      {
  63  *              { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1  },
  64  *              { .Task = MyTask2, .TaskStatus = TASK_RUN, .GroupID = 1  },
  65  *      }
  66  *
  67  *      int main(void)
  68  *      {
  69  *              Scheduler_Start();
  70  *      }
  71  *
  72  *      TASK(MyTask1)
  73  *      {
  74  *              // Implementation Here
  75  *      }
  76  *
  77  *      TASK(MyTask2)
  78  *      {
  79  *              // Implementation Here
  80  *      }
  81  *  \endcode
  82  *
  83  *  @{
  84  */
  85
  86 #ifndef __SCHEDULER_H__
  87 #define __SCHEDULER_H__
  88
  89         /* Includes: */
  90                 #include <avr/io.h>
  91                 #include <stdbool.h>
  92
  93                 #include <util/atomic.h>
  94
  95                 #include "../Common/Common.h"
  96
  97         /* Enable C linkage for C++ Compilers: */
  98                 #if defined(__cplusplus)
  99                         extern "C" {
 100                 #endif
 101
 102         /* Public Interface - May be used in end-application: */
 103                 /* Macros: */
 104                         /** Creates a new scheduler task body or prototype. Should be used in the form:
 105                          *  \code
 106                          *      TASK(TaskName); // Prototype
 107                          *
 108                          *      TASK(TaskName)
 109                          *      {
 110                          *           // Task body
 111                          *      }
 112                          *  \endcode
 113                          */
 114                         #define TASK(name)                        void name (void)
 115
 116                         /** Defines a task list array, containing one or more task entries of the type TaskEntry_t. Each task list
 117                          *  should be encased in curly braces and ended with a comma.
 118                          *
 119                          *  Usage Example:
 120                          *  \code
 121                          *      TASK_LIST
 122                          *      {
 123                          *           { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1 },
 124                          *           // More task entries here
 125                          *      }
 126                          *  \endcode
 127                          */
 128                         #define TASK_LIST                         TaskEntry_t Scheduler_TaskList[] =
 129
 130                         /** Constant, giving the maximum delay in scheduler ticks which can be stored in a variable of type
 131                          *  SchedulerDelayCounter_t.
 132                          */
 133                         #define TASK_MAX_DELAY                    (MAX_DELAYCTR_COUNT - 1)
 134
 135                         /** Task status mode constant, for passing to Scheduler_SetTaskMode() or Scheduler_SetGroupTaskMode(). */
 136                         #define TASK_RUN                          true
 137
 138                         /** Task status mode constant, for passing to Scheduler_SetTaskMode() or Scheduler_SetGroupTaskMode(). */
 139                         #define TASK_STOP                         false
 140
 141                 /* Pseudo-Function Macros: */
 142                         #if defined(__DOXYGEN__)
 143                                 /** Starts the scheduler in its infinite loop, executing running tasks. This should be placed at the end
 144                                  *  of the user application's main() function, as it can never return to the calling function.
 145                                  */
 146                                 void Scheduler_Start(void);
 147
 148                                 /** Initializes the scheduler so that the scheduler functions can be called before the scheduler itself
 149                                  *  is started. This must be executed before any scheduler function calls other than Scheduler_Start(),
 150                                  *  and can be omitted if no such functions could be called before the scheduler is started.
 151                                  */
 152                                 void Scheduler_Init(void);
 153                         #else
 154                                 #define Scheduler_Start()                 Scheduler_GoSchedule(TOTAL_TASKS);
 155
 156                                 #define Scheduler_Init()                  Scheduler_InitScheduler(TOTAL_TASKS);
 157                         #endif
 158
 159                 /* Type Defines: */
 160                         /** Type define for a pointer to a scheduler task. */
 161                         typedef void (*TaskPtr_t)(void);
 162
 163                         /** Type define for a variable which can hold a tick delay value for the scheduler up to the maximum delay
 164                          *  possible.
 165                          */
 166                         typedef uint16_t SchedulerDelayCounter_t;
 167
 168                         /** Structure for holding a single task's information in the scheduler task list. */
 169                         typedef struct
 170                         {
 171                                 TaskPtr_t Task;       /**< Pointer to the task to execute. */
 172                                 bool      TaskStatus; /**< Status of the task (either TASK_RUN or TASK_STOP). */
 173                                 uint8_t   GroupID;    /**< Group ID of the task so that its status can be changed as a group. */
 174                         } TaskEntry_t;
 175
 176                 /* Global Variables: */
 177                         /** Task entry list, containing the scheduler tasks, task statuses and group IDs. Each entry is of type
 178                          *  TaskEntry_t and can be manipulated as desired, although it is preferential that the proper Scheduler
 179                          *  functions should be used instead of direct manipulation.
 180                          */
 181                         extern          TaskEntry_t               Scheduler_TaskList[];
 182
 183                         /** Contains the total number of tasks in the task list, irrespective of if the task's status is set to
 184                          *  TASK_RUN or TASK_STOP.
 185                          *
 186                          *  \note This value should be treated as read-only, and never altered in user-code.
 187                          */
 188                         extern volatile uint8_t                   Scheduler_TotalTasks;
 189
 190                         /**  Contains the current scheduler tick count, for use with the delay functions. If the delay functions
 191                          *   are used in the user code, this should be incremented each tick period so that the delays can be
 192                          *   calculated.
 193                          */
 194                         extern volatile SchedulerDelayCounter_t   Scheduler_TickCounter;
 195
 196                 /* Inline Functions: */
 197                         /** Resets the delay counter value to the current tick count. This should be called to reset the period
 198                          *  for a delay in a task which is dependant on the current tick value.
 199                          *
 200                          *  \param[out] DelayCounter  Counter which is storing the starting tick count for a given delay.
 201                          */
 202                         static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
 203                                                                 ATTR_NON_NULL_PTR_ARG(1) ATTR_ALWAYS_INLINE;
 204                         static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
 205                         {
 206                                 ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 207                                 {
 208                                         *DelayCounter = Scheduler_TickCounter;
 209                                 }
 210                         }
 211
 212                 /* Function Prototypes: */
 213                         /** Determines if the given tick delay has elapsed, based on the given .
 214                          *
 215                          *  \param[in] Delay         The delay to test for, measured in ticks
 216                          *  \param[in] DelayCounter  The counter which is storing the starting tick value for the delay
 217                          *
 218                          *  \return Boolean true if the delay has elapsed, false otherwise
 219                          *
 220                          *  Usage Example:
 221                          *  \code
 222                          *      static SchedulerDelayCounter_t DelayCounter = 10000; // Force immediate run on start-up
 223                          *
 224                          *      // Task runs every 10000 ticks, 10 seconds for this demo
 225                          *      if (Scheduler_HasDelayElapsed(10000, &DelayCounter))
 226                          *      {
 227                          *           // Code to execute after delay interval elapsed here
 228                          *      }
 229                          *  \endcode
 230                          */
 231                         bool Scheduler_HasDelayElapsed(const uint16_t Delay,
 232                                                        SchedulerDelayCounter_t* const DelayCounter)
 233                                                                                    ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
 234
 235                         /** Sets the task mode for a given task.
 236                          *
 237                          *  \param[in] Task        Name of the task whose status is to be changed
 238                          *  \param[in] TaskStatus  New task status for the task (TASK_RUN or TASK_STOP)
 239                          */
 240                         void Scheduler_SetTaskMode(const TaskPtr_t Task, const bool TaskStatus);
 241
 242                         /** Sets the task mode for a given task group ID, allowing for an entire group of tasks to have their
 243                          *  statuses changed at once.
 244                          *
 245                          *  \param[in] GroupID     Value of the task group ID whose status is to be changed
 246                          *  \param[in] TaskStatus  New task status for tasks in the specified group (TASK_RUN or TASK_STOP)
 247                          */
 248                         void Scheduler_SetGroupTaskMode(const uint8_t GroupID, const bool TaskStatus);
 249
 250         /* Private Interface - For use in library only: */
 251         #if !defined(__DOXYGEN__)
 252                 /* Macros: */
 253                         #define TOTAL_TASKS                       (sizeof(Scheduler_TaskList) / sizeof(TaskEntry_t))
 254                         #define MAX_DELAYCTR_COUNT                0xFFFF
 255
 256                 /* Inline Functions: */
 257                         static inline void Scheduler_InitScheduler(const uint8_t TotalTasks) ATTR_ALWAYS_INLINE;
 258                         static inline void Scheduler_InitScheduler(const uint8_t TotalTasks)
 259                         {
 260                                 Scheduler_TotalTasks = TotalTasks;
 261                         }
 262
 263                         static inline void Scheduler_GoSchedule(const uint8_t TotalTasks) ATTR_NO_RETURN ATTR_ALWAYS_INLINE ATTR_DEPRECATED;
 264                         static inline void Scheduler_GoSchedule(const uint8_t TotalTasks)
 265                         {
 266                                 Scheduler_InitScheduler(TotalTasks);
 267
 268                                 for (;;)
 269                                 {
 270                                         TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
 271
 272                                         while (CurrTask != &Scheduler_TaskList[TotalTasks])
 273                                         {
 274                                                 if (CurrTask->TaskStatus == TASK_RUN)
 275                                                   CurrTask->Task();
 276
 277                                                 CurrTask++;
 278                                         }
 279                                 }
 280                         }
 281         #endif
 282
 283         /* Disable C linkage for C++ Compilers: */
 284                 #if defined(__cplusplus)
 285                         }
 286                 #endif
 287
 288 #endif
 289
 290 /** @} */