Fixed PDI/TPI programming speed of ~250KHz in the AVRISP-MKII Clone project, instead...

[pub/USBasp.git] / LUFA / Scheduler / Scheduler.h

diff --git a/LUFA/Scheduler/Scheduler.h b/LUFA/Scheduler/Scheduler.h
index 71be82b..78c84df 100644 (file)
--- a/LUFA/Scheduler/Scheduler.h
+++ b/LUFA/Scheduler/Scheduler.h
@@ -1,21 +1,21 @@
 /*
              LUFA Library
      Copyright (C) Dean Camera, 2010.
 /*
              LUFA Library
      Copyright (C) Dean Camera, 2010.

-              
+

   dean [at] fourwalledcubicle [dot] com
   dean [at] fourwalledcubicle [dot] com

-      www.fourwalledcubicle.com
+           www.lufa-lib.org

 */
 
 /*
   Copyright 2010  Dean Camera (dean [at] fourwalledcubicle [dot] com)
 
 */
 
 /*
   Copyright 2010  Dean Camera (dean [at] fourwalledcubicle [dot] com)
 

-  Permission to use, copy, modify, distribute, and sell this 
+  Permission to use, copy, modify, distribute, and sell this

   software and its documentation for any purpose is hereby granted
   software and its documentation for any purpose is hereby granted

-  without fee, provided that the above copyright notice appear in 
+  without fee, provided that the above copyright notice appear in

   all copies and that both that the copyright notice and this
   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 
+  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 without specific, written prior permission.
 
   The author disclaim all warranties with regard to this


@@ -36,14 +36,14 @@
  *
  *  \deprecated This module is deprecated and will be removed in a future library release.
  */
  *
  *  \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:
 /** @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
+ *    - 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
  *
  *  \section Module Description
  *  Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need


@@ -51,45 +51,63 @@
  *
  *  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 return, thus each task should have persistent data marked with the static attribute.
  *

+ *  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.
+ *
+ *  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.
+ *

  *  Usage Example:
  *  \code
  *      #include <LUFA/Scheduler/Scheduler.h>
  *  Usage Example:
  *  \code
  *      #include <LUFA/Scheduler/Scheduler.h>

- *      
- *      TASK(MyTask1);
- *      TASK(MyTask2);
- *      
+ *
+ *      TASK(MyTask1); // Task prototype
+ *      TASK(MyTask2); // Task prototype
+ *

  *      TASK_LIST
  *      {
  *      TASK_LIST
  *      {

- *             { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1  },
- *             { .Task = MyTask2, .TaskStatus = TASK_RUN, .GroupID = 1  },
+ *          { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1  },
+ *          { .Task = MyTask2, .TaskStatus = TASK_RUN, .GroupID = 1  },

  *      }
  *
  *      int main(void)
  *      {
  *      }
  *
  *      int main(void)
  *      {

- *             Scheduler_Start();
+ *          Scheduler_Init();
+ *
+ *          // Other initialisation here
+ *
+ *          Scheduler_Start();

  *      }
  *
  *      TASK(MyTask1)
  *      {
  *      }
  *
  *      TASK(MyTask1)
  *      {

- *             // Implementation Here
+ *          // Task implementation here

  *      }
  *
  *      TASK(MyTask2)
  *      {
  *      }
  *
  *      TASK(MyTask2)
  *      {

- *             // Implementation Here
+ *          // Task implementation here

  *      }
  *  \endcode
  *
  *      }
  *  \endcode
  *

+ *  If desired, the LUFA scheduler <b>does not need to be used</b> in a LUFA powered application. A more conventional
+ *  approach to application design can be used, or a proper scheduling RTOS inserted in the place of the LUFA scheduler.
+ *  In the case of the former the USB task must be run manually repeatedly to maintain USB communications, and in the
+ *  case of the latter a proper RTOS task must be set up to do the same.
+ *

  *  @{
  */
  *  @{
  */

- 
+

 #ifndef __SCHEDULER_H__
 #define __SCHEDULER_H__
 
        /* Includes: */
 #ifndef __SCHEDULER_H__
 #define __SCHEDULER_H__
 
        /* Includes: */

-               #include <avr/io.h>
+               #include <stdint.h>

                #include <stdbool.h>
                #include <stdbool.h>

-               
+

                #include <util/atomic.h>
 
                #include "../Common/Common.h"
                #include <util/atomic.h>
 
                #include "../Common/Common.h"


@@ -112,7 +130,7 @@
                         *  \endcode
                         */
                        #define TASK(name)              void name (void)
                         *  \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.
                         *
                        /** 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.
                         *


@@ -125,46 +143,45 @@
                         *      }
                         *  \endcode
                         */
                         *      }
                         *  \endcode
                         */

-                       #define TASK_LIST               TaskEntry_t Scheduler_TaskList[] = 
-                       
+                       #define TASK_LIST               TaskEntry_t Scheduler_TaskList[] =
+

                        /** Constant, giving the maximum delay in scheduler ticks which can be stored in a variable of type
                        /** Constant, giving the maximum delay in scheduler ticks which can be stored in a variable of type

-                        *  SchedulerDelayCounter_t.
+                        *  \ref SchedulerDelayCounter_t.

                         */
                        #define TASK_MAX_DELAY          (MAX_DELAYCTR_COUNT - 1)
 
                         */
                        #define TASK_MAX_DELAY          (MAX_DELAYCTR_COUNT - 1)
 

-                       /** Task status mode constant, for passing to Scheduler_SetTaskMode() or Scheduler_SetGroupTaskMode(). */
+                       /** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */

                        #define TASK_RUN                true
 
                        #define TASK_RUN                true
 

-                       /** Task status mode constant, for passing to Scheduler_SetTaskMode() or Scheduler_SetGroupTaskMode(). */
+                       /** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */

                        #define TASK_STOP               false
                        #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);
                /* 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);

-                               
-                               /** Initializes the scheduler so that the scheduler functions can be called before the scheduler itself
+
+                               /** 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);
                                 *  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);
                                #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;
                        /** 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.
                        /** \brief Scheduler Task List Entry Structure.
                         *
                         *  Structure for holding a single task's information in the scheduler task list.


@@ -174,7 +191,7 @@
                                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). */
                                uint8_t   GroupID;    /**< Group ID of the task so that its status can be changed as a group. */

-                       } TaskEntry_t;                  
+                       } TaskEntry_t;

 
                /* Global Variables: */
                        /** Task entry list, containing the scheduler tasks, task statuses and group IDs. Each entry is of type
 
                /* Global Variables: */
                        /** Task entry list, containing the scheduler tasks, task statuses and group IDs. Each entry is of type


@@ -182,9 +199,9 @@
                         *  functions should be used instead of direct manipulation.
                         */
                        exter TaskEntry_t Scheduler_TaskList[];
                         *  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
                        /** Contains the total number of tasks in the task list, irrespective of if the task's status is set to

-                        *  TASK_RUN or TASK_STOP.
+                        *  \ref TASK_RUN or \ref TASK_STOP.

                         *
                         *  \note This value should be treated as read-only, and never altered in user-code.
                         */
                         *
                         *  \note This value should be treated as read-only, and never altered in user-code.
                         */


@@ -211,19 +228,19 @@
                                        *DelayCounter = Scheduler_TickCounter;
                                }
                        }
                                        *DelayCounter = Scheduler_TickCounter;
                                }
                        }

-               
+

                /* Function Prototypes: */
                /* Function Prototypes: */

-                       /** Determines if the given tick delay has elapsed, based on the given .
+                       /** 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
+                        *  \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 true if the delay has elapsed, false otherwise.

                         *
                         *  Usage Example:
                         *  \code
                         *      static SchedulerDelayCounter_t DelayCounter = 10000; // Force immediate run on start-up
                         *
                         *  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))
                         *      {
                         *      // Task runs every 10000 ticks, 10 seconds for this demo
                         *      if (Scheduler_HasDelayElapsed(10000, &DelayCounter))
                         *      {


@@ -233,24 +250,26 @@
                         */
                        bool Scheduler_HasDelayElapsed(const uint16_t Delay,
                                                       SchedulerDelayCounter_t* const DelayCounter)
                         */
                        bool Scheduler_HasDelayElapsed(const uint16_t Delay,
                                                       SchedulerDelayCounter_t* const DelayCounter)

-                                                                                  ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
-                       
+                                                      ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
+

                        /** Sets the task mode for a given task.
                         *
                        /** 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 (TASK_RUN or TASK_STOP)
+                        *  \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);
-                       
+                       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.
                         *
                        /** 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 (TASK_RUN or TASK_STOP)
+                        *  \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);
+                       void Scheduler_SetGroupTaskMode(const uint8_t GroupID,
+                                                       const bool TaskStatus);

 
 

-       /* Private Interface - For use in library only: */              
+       /* Private Interface - For use in library only: */

        #if !defined(__DOXYGEN__)
                /* Macros: */
                        #define TOTAL_TASKS                       (sizeof(Scheduler_TaskList) / sizeof(TaskEntry_t))
        #if !defined(__DOXYGEN__)
                /* Macros: */
                        #define TOTAL_TASKS                       (sizeof(Scheduler_TaskList) / sizeof(TaskEntry_t))


@@ -262,7 +281,7 @@
                        {
                                Scheduler_TotalTasks = 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 uint8_t TotalTasks) ATTR_NO_RETURN ATTR_ALWAYS_INLINE ATTR_DEPRECATED;
                        static inline void Scheduler_GoSchedule(const uint8_t TotalTasks)
                        {


@@ -271,7 +290,7 @@
                                for (;;)
                                {
                                        TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
                                for (;;)
                                {
                                        TaskEntry_t* CurrTask = &Scheduler_TaskList[0];

-                                       
+

                                        while (CurrTask != &Scheduler_TaskList[TotalTasks])
                                        {
                                                if (CurrTask->TaskStatus == TASK_RUN)
                                        while (CurrTask != &Scheduler_TaskList[TotalTasks])
                                        {
                                                if (CurrTask->TaskStatus == TASK_RUN)


@@ -282,12 +301,13 @@
                                }
                        }
        #endif
                                }
                        }
        #endif

-               
+

        /* Disable C linkage for C++ Compilers: */
                #if defined(__cplusplus)
                        }
                #endif
        /* Disable C linkage for C++ Compilers: */
                #if defined(__cplusplus)
                        }
                #endif

-               
+

 #endif
 
 /** @} */
 #endif
 
 /** @} */

+