LUFA/Scheduler/Scheduler.h

   1 /*
   2              LUFA Library
   3      Copyright (C) Dean Camera, 2011.
   4
   5   dean [at] fourwalledcubicle [dot] com
   6            www.lufa-lib.org
   7 */
   8
   9 /*
  10   Copyright 2011  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  *  \brief Simple round-robbin pseudo-task scheduler.
  42  *
  43  *  \deprecated This module is deprecated and will be removed in a future library release.
  44  *
  45  *  \section Sec_Dependencies Module Source Dependencies
  46  *  The following files must be built with any user project that uses this module:
  47  *    - LUFA/Scheduler/Scheduler.c <i>(Makefile source module name: LUFA_SRC_SCHEDULER)</i>
  48  *
  49  *  \section Sec_ModDescription Module Description
  50  *  Simple round-robbin cooperative scheduler for use in basic projects where non real-time tasks need
  51  *  to be executed. Each task is executed in sequence, and can be enabled or disabled individually or as a group.
  52  *
  53  *  For a task to yield it must \c return, thus each task should have persistent data marked with the \c static keyword.
  54  *
  55  *  Each LUFA scheduler task should be written similar to an ISR; it should execute quickly (so that no one task
  56  *  hogs the processor, preventing another from running before some sort of timeout is exceeded). Unlike normal RTOS
  57  *  tasks, each LUFA scheduler task is a regular function, and thus must be designed to be called, and designed to
  58  *  return to the calling scheduler function repeatedly. Data which must be preserved between task calls should be
  59  *  declared as global or (preferably) as a \c static local variable inside the task.
  60  *
  61  *  The scheduler consists of a task list, listing all the tasks which can be executed by the scheduler. Once started,
  62  *  each task is then called one after another, unless the task is stopped by another running task or interrupt.
  63  *
  64  *  Usage Example:
  65  *  \code
  66  *      #include <LUFA/Scheduler/Scheduler.h>
  67  *
  68  *      TASK(MyTask1); // Task prototype
  69  *      TASK(MyTask2); // Task prototype
  70  *
  71  *      TASK_LIST
  72  *      {
  73  *          { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1  },
  74  *          { .Task = MyTask2, .TaskStatus = TASK_RUN, .GroupID = 1  },
  75  *      }
  76  *
  77  *      int main(void)
  78  *      {
  79  *          Scheduler_Init();
  80  *
  81  *          // Other initialisation here
  82  *
  83  *          Scheduler_Start();
  84  *      }
  85  *
  86  *      TASK(MyTask1)
  87  *      {
  88  *          // Task implementation here
  89  *      }
  90  *
  91  *      TASK(MyTask2)
  92  *      {
  93  *          // Task implementation here
  94  *      }
  95  *  \endcode
  96  *
  97  *  If desired, the LUFA scheduler <b>does not need to be used</b> in a LUFA powered application. A more conventional
  98  *  approach to application design can be used, or a proper scheduling RTOS inserted in the place of the LUFA scheduler.
  99  *  In the case of the former the USB task must be run manually repeatedly to maintain USB communications, and in the
 100  *  case of the latter a proper RTOS task must be set up to do the same.
 101  *
 102  *  @{
 103  */
 104
 105 #ifndef __SCHEDULER_H__
 106 #define __SCHEDULER_H__
 107
 108         /* Includes: */
 109                 #include "../Common/Common.h"
 110
 111         /* Enable C linkage for C++ Compilers: */
 112                 #if defined(__cplusplus)
 113                         extern "C" {
 114                 #endif
 115
 116         /* Public Interface - May be used in end-application: */
 117                 /* Macros: */
 118                         /** Creates a new scheduler task body or prototype. Should be used in the form:
 119                          *  \code
 120                          *      TASK(TaskName); // Prototype
 121                          *
 122                          *      TASK(TaskName)
 123                          *      {
 124                          *           // Task body
 125                          *      }
 126                          *  \endcode
 127                          */
 128                         #define TASK(name)              void name (void)
 129
 130                         /** Defines a task list array, containing one or more task entries of the type \ref TaskEntry_t. Each task list
 131                          *  should be encased in curly braces and ended with a comma.
 132                          *
 133                          *  Usage Example:
 134                          *  \code
 135                          *      TASK_LIST
 136                          *      {
 137                          *           { .Task = MyTask1, .TaskStatus = TASK_RUN, .GroupID = 1 },
 138                          *           // More task entries here
 139                          *      }
 140                          *  \endcode
 141                          */
 142                         #define TASK_LIST               TaskEntry_t Scheduler_TaskList[] =
 143
 144                         /** Constant, giving the maximum delay in scheduler ticks which can be stored in a variable of type
 145                          *  \ref SchedulerDelayCounter_t.
 146                          */
 147                         #define TASK_MAX_DELAY          (MAX_DELAYCTR_COUNT - 1)
 148
 149                         /** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */
 150                         #define TASK_RUN                true
 151
 152                         /** Task status mode constant, for passing to \ref Scheduler_SetTaskMode() or \ref Scheduler_SetGroupTaskMode(). */
 153                         #define TASK_STOP               false
 154
 155                 /* Pseudo-Function Macros: */
 156                         #if defined(__DOXYGEN__)
 157                                 /** Starts the scheduler in its infinite loop, executing running tasks. This should be placed at the end
 158                                  *  of the user application's \c main() function, as it can never return to the calling function.
 159                                  */
 160                                 void Scheduler_Start(void);
 161
 162                                 /** Initialises the scheduler so that the scheduler functions can be called before the scheduler itself
 163                                  *  is started. This must be executed before any scheduler function calls other than \ref Scheduler_Start(),
 164                                  *  and can be omitted if no such functions could be called before the scheduler is started.
 165                                  */
 166                                 void Scheduler_Init(void);
 167                         #else
 168                                 #define Scheduler_Start()    Scheduler_GoSchedule(TOTAL_TASKS);
 169                                 #define Scheduler_Init()     Scheduler_InitScheduler(TOTAL_TASKS);
 170                         #endif
 171
 172                 /* Type Defines: */
 173                         /** Type define for a pointer to a scheduler task. */
 174                         typedef void (*TaskPtr_t)(void);
 175
 176                         /** Type define for a variable which can hold a tick delay value for the scheduler up to the maximum delay
 177                          *  possible.
 178                          */
 179                         typedef uint_least16_t SchedulerDelayCounter_t;
 180
 181                         /** \brief Scheduler Task List Entry Structure.
 182                          *
 183                          *  Structure for holding a single task's information in the scheduler task list.
 184                          */
 185                         typedef struct
 186                         {
 187                                 TaskPtr_t     Task;       /**< Pointer to the task to execute. */
 188                                 bool          TaskStatus; /**< Status of the task (either TASK_RUN or TASK_STOP). */
 189                                 uint_least8_t GroupID;    /**< Group ID of the task so that its status can be changed as a group. */
 190                         } TaskEntry_t;
 191
 192                 /* Global Variables: */
 193                         /** Task entry list, containing the scheduler tasks, task statuses and group IDs. Each entry is of type
 194                          *  \ref TaskEntry_t and can be manipulated as desired, although it is preferred that the proper Scheduler
 195                          *  functions should be used instead of direct manipulation.
 196                          */
 197                         extern TaskEntry_t Scheduler_TaskList[];
 198
 199                         /** Contains the total number of tasks in the task list, irrespective of if the task's status is set to
 200                          *  \ref TASK_RUN or \ref TASK_STOP.
 201                          *
 202                          *  \note This value should be treated as read-only, and never altered in user-code.
 203                          */
 204                         extern volatile uint_least8_t Scheduler_TotalTasks;
 205
 206                         /**  Contains the current scheduler tick count, for use with the delay functions. If the delay functions
 207                          *   are used in the user code, this should be incremented each tick period so that the delays can be
 208                          *   calculated.
 209                          */
 210                         extern volatile SchedulerDelayCounter_t Scheduler_TickCounter;
 211
 212                 /* Inline Functions: */
 213                         /** Resets the delay counter value to the current tick count. This should be called to reset the period
 214                          *  for a delay in a task which is dependant on the current tick value.
 215                          *
 216                          *  \param[out] DelayCounter  Counter which is storing the starting tick count for a given delay.
 217                          */
 218                         static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
 219                                                                 ATTR_NON_NULL_PTR_ARG(1) ATTR_ALWAYS_INLINE;
 220                         static inline void Scheduler_ResetDelay(SchedulerDelayCounter_t* const DelayCounter)
 221                         {
 222                                 ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 223                                 {
 224                                         *DelayCounter = Scheduler_TickCounter;
 225                                 }
 226                         }
 227
 228                 /* Function Prototypes: */
 229                         /** Determines if the given tick delay has elapsed, based on the given delay period and tick counter value.
 230                          *
 231                          *  \param[in] Delay         The delay to test for, measured in ticks.
 232                          *  \param[in] DelayCounter  The counter which is storing the starting tick value for the delay.
 233                          *
 234                          *  \return Boolean \c true if the delay has elapsed, \c false otherwise.
 235                          *
 236                          *  Usage Example:
 237                          *  \code
 238                          *      static SchedulerDelayCounter_t DelayCounter = 10000; // Force immediate run on start-up
 239                          *
 240                          *      // Task runs every 10000 ticks, 10 seconds for this demo
 241                          *      if (Scheduler_HasDelayElapsed(10000, &DelayCounter))
 242                          *      {
 243                          *           // Code to execute after delay interval elapsed here
 244                          *      }
 245                          *  \endcode
 246                          */
 247                         bool Scheduler_HasDelayElapsed(const uint_least16_t Delay,
 248                                                        SchedulerDelayCounter_t* const DelayCounter)
 249                                                        ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(2);
 250
 251                         /** Sets the task mode for a given task.
 252                          *
 253                          *  \param[in] Task        Name of the task whose status is to be changed.
 254                          *  \param[in] TaskStatus  New task status for the task (\ref TASK_RUN or \ref TASK_STOP).
 255                          */
 256                         void Scheduler_SetTaskMode(const TaskPtr_t Task,
 257                                                    const bool TaskStatus);
 258
 259                         /** Sets the task mode for a given task group ID, allowing for an entire group of tasks to have their
 260                          *  statuses changed at once.
 261                          *
 262                          *  \param[in] GroupID     Value of the task group ID whose status is to be changed.
 263                          *  \param[in] TaskStatus  New task status for tasks in the specified group (\ref TASK_RUN or \ref TASK_STOP).
 264                          */
 265                         void Scheduler_SetGroupTaskMode(const uint_least8_t GroupID,
 266                                                         const bool TaskStatus);
 267
 268         /* Private Interface - For use in library only: */
 269         #if !defined(__DOXYGEN__)
 270                 /* Macros: */
 271                         #define TOTAL_TASKS                       (sizeof(Scheduler_TaskList) / sizeof(TaskEntry_t))
 272                         #define MAX_DELAYCTR_COUNT                UINT_LEAST16_MAX
 273
 274                 /* Inline Functions: */
 275                         static inline void Scheduler_InitScheduler(const uint_least8_t TotalTasks) ATTR_ALWAYS_INLINE;
 276                         static inline void Scheduler_InitScheduler(const uint_least8_t TotalTasks)
 277                         {
 278                                 Scheduler_TotalTasks = TotalTasks;
 279                         }
 280
 281                         static inline void Scheduler_GoSchedule(const uint_least8_t TotalTasks)
 282                                                                 ATTR_NO_RETURN ATTR_ALWAYS_INLINE ATTR_DEPRECATED;
 283                         static inline void Scheduler_GoSchedule(const uint_least8_t TotalTasks)
 284                         {
 285                                 Scheduler_InitScheduler(TotalTasks);
 286
 287                                 for (;;)
 288                                 {
 289                                         TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
 290
 291                                         while (CurrTask != &Scheduler_TaskList[TotalTasks])
 292                                         {
 293                                                 if (CurrTask->TaskStatus == TASK_RUN)
 294                                                   CurrTask->Task();
 295
 296                                                 CurrTask++;
 297                                         }
 298                                 }
 299                         }
 300         #endif
 301
 302         /* Disable C linkage for C++ Compilers: */
 303                 #if defined(__cplusplus)
 304                         }
 305                 #endif
 306
 307 #endif
 308
 309 /** @} */
 310