/*
LUFA Library
- Copyright (C) Dean Camera, 2010.
+ Copyright (C) Dean Camera, 2011.
dean [at] fourwalledcubicle [dot] com
www.lufa-lib.org
*/
/*
- Copyright 2010 Dean Camera (dean [at] fourwalledcubicle [dot] com)
+ Copyright 2011 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
* \deprecated This module is deprecated and will be removed in a future library release.
*/
-/** @defgroup Group_Scheduler Simple Task Scheduler - LUFA/Scheduler/Scheduler.h
+/** \defgroup Group_Scheduler Simple Task Scheduler - LUFA/Scheduler/Scheduler.h
+ * \brief Simple round-robbin pseudo-task scheduler.
*
* \deprecated This module is deprecated and will be removed in a future library release.
*
* 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.
+ * For a task to yield it must \c return, thus each task should have persistent data marked with the \c static keyword.
*
* Each LUFA scheduler task should be written similar to an ISR; it should execute quickly (so that no one task
* hogs the processor, preventing another from running before some sort of timeout is exceeded). Unlike normal RTOS
* tasks, each LUFA scheduler task is a regular function, and thus must be designed to be called, and designed to
* return to the calling scheduler function repeatedly. Data which must be preserved between task calls should be
- * declared as global or (preferably) as a static local variable inside the task.
+ * declared as global or (preferably) as a \c static local variable inside the task.
*
* The scheduler consists of a task list, listing all the tasks which can be executed by the scheduler. Once started,
* each task is then called one after another, unless the task is stopped by another running task or interrupt.
#define __SCHEDULER_H__
/* Includes: */
- #include <stdint.h>
- #include <stdbool.h>
-
- #include <util/atomic.h>
-
#include "../Common/Common.h"
/* Enable C linkage for C++ Compilers: */
*/
#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
+ /** Defines a task list array, containing one or more task entries of the type \ref TaskEntry_t. Each task list
* should be encased in curly braces and ended with a comma.
*
* Usage Example:
/* 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.
+ * of the user application's \c 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(),
+ * is started. This must be executed before any scheduler function calls other than \ref Scheduler_Start(),
* and can be omitted if no such functions could be called before the scheduler is started.
*/
void Scheduler_Init(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;
+ typedef uint_least16_t SchedulerDelayCounter_t;
/** \brief Scheduler Task List Entry Structure.
*
*/
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. */
+ TaskPtr_t Task; /**< Pointer to the task to execute. */
+ bool TaskStatus; /**< Status of the task (either TASK_RUN or TASK_STOP). */
+ uint_least8_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
+ * \ref TaskEntry_t and can be manipulated as desired, although it is preferred that the proper Scheduler
* functions should be used instead of direct manipulation.
*/
- exter TaskEntry_t Scheduler_TaskList[];
+ extern 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;
+ extern volatile uint_least8_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
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;
- }
+ uint_reg_t CurrentGlobalInt = GetGlobalInterruptMask();
+ GlobalInterruptDisable();
+
+ *DelayCounter = Scheduler_TickCounter;
+
+ SetGlobalInterruptMask(CurrentGlobalInt);
}
/* Function Prototypes: */
* \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.
+ * \return Boolean \c true if the delay has elapsed, \c false otherwise.
*
* Usage Example:
* \code
* }
* \endcode
*/
- bool Scheduler_HasDelayElapsed(const uint16_t Delay,
+ bool Scheduler_HasDelayElapsed(const uint_least16_t Delay,
SchedulerDelayCounter_t* const DelayCounter)
ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
* \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,
+ void Scheduler_SetGroupTaskMode(const uint_least8_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
+ #define MAX_DELAYCTR_COUNT UINT_LEAST16_MAX
/* Inline Functions: */
- static inline void Scheduler_InitScheduler(const uint8_t TotalTasks) ATTR_ALWAYS_INLINE;
- static inline void Scheduler_InitScheduler(const uint8_t TotalTasks)
+ static inline void Scheduler_InitScheduler(const uint_least8_t TotalTasks) ATTR_ALWAYS_INLINE;
+ static inline void Scheduler_InitScheduler(const uint_least8_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)
+ static inline void Scheduler_GoSchedule(const uint_least8_t TotalTasks)
+ ATTR_NO_RETURN ATTR_ALWAYS_INLINE ATTR_DEPRECATED;
+ static inline void Scheduler_GoSchedule(const uint_least8_t TotalTasks)
{
Scheduler_InitScheduler(TotalTasks);
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