Revision 0:9ce7c170cb66, committed 2010-06-11
- Comitter:
- Stanislaus
- Date:
- Fri Jun 11 20:52:03 2010 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 9ce7c170cb66 main.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.c Fri Jun 11 20:52:03 2010 +0000
@@ -0,0 +1,170 @@
+#include "mbed.h"
+#include "scheduler.h"
+
+#define ON 1
+#define OFF 0
+
+DigitalOut myLED(LED1); // LED for task A and B
+DigitalOut myLEDTaskC(LED2); // LED for Task C
+DigitalOut myLEDTaskD(LED3); // LED for Task D
+DigitalOut myLEDTaskE(LED4); // LED for Task E
+
+Timer t;
+Ticker keepAlive;
+
+// *******************************************************************************
+// * @brief "taskA" task code
+// * @param[in] None
+// * @param[out] None
+// * @retval bool
+// * @par Description
+// * @details This task use to print message "taskA running". Indicate "taskA"
+// * had been executed.
+// *******************************************************************************
+bool taskA(void* pData)
+{
+ static unsigned int cnt_numA = 0;
+
+ myLED = ON;
+ cnt_numA++;
+
+ return true;
+}
+
+// *******************************************************************************
+// * @brief "taskB" task code
+// * @param[in] None
+// * @param[out] None
+// * @retval bool
+// * @par Description
+// * @details This task use to print message "taskB running". Indicate "taskB"
+// * had been executed.
+// *******************************************************************************
+bool taskB(void* pData)
+{
+ static unsigned int cnt_numB = 0;
+
+ myLED = OFF;
+ cnt_numB++;
+
+ return true;
+}
+
+// *******************************************************************************
+// * @brief "taskC" task code
+// * @param[in] None
+// * @param[out] None
+// * @retval bool
+// * @par Description
+// * @details This task use to print message "tasC running". Indicate "taskC"
+// * had been executed.
+// *******************************************************************************
+bool taskC(void* pData)
+{
+ static unsigned int cnt_numC = 0;
+
+ myLEDTaskC = !myLEDTaskC.read();
+ cnt_numC++;
+
+ return true;
+}
+
+// *******************************************************************************
+// * @brief "taskD" task code
+// * @param[in] None
+// * @param[out] None
+// * @retval bool
+// * @par Description
+// * @details This task use to print message "taskB running". Indicate "taskD"
+// * had been executed.
+// *******************************************************************************
+bool taskD(void* pData)
+{
+ static unsigned int cnt_numD = 0;
+
+ myLEDTaskD = !myLEDTaskD.read();
+ cnt_numD++;
+
+ return true;
+}
+
+// *******************************************************************************
+// * @brief "taskE" task code
+// * @param[in] None
+// * @param[out] None
+// * @retval bool
+// * @par Description
+// * @details This task use to print message "taskE running". Indicate "taskE"
+// * had been executed.
+// *******************************************************************************
+bool taskE(void* pData)
+{
+ static unsigned int cnt_numE = 0;
+
+ myLEDTaskE = !myLEDTaskE.read();
+ cnt_numE++;
+
+ return true;
+}
+
+// *******************************************************************************
+// * @brief "taskF" task code
+// * @param[in] None
+// * @param[out] None
+// * @retval bool
+// * @par Description
+// * @details This task use to print message "taskF running". Indicate "taskF"
+// * had been executed.
+// *******************************************************************************
+bool taskF(void* pData)
+{
+ static unsigned int cnt_numF = 0;
+
+ cnt_numF++; // task is only running for 30 seconds -> cnt_numF has the value 5 than
+
+ return true;
+}
+
+// *******************************************************************************
+// * @brief "runningTasks" a Ticker routine
+// * @param[in] None
+// * @param[out] None
+// * @retval None
+// * @par Description
+// * @details This method is used to keep the scheduler alife
+// *
+// *******************************************************************************
+void runningTasks()
+{
+ // you can do this here in running Tasks or in the main routine while loop -> see below
+ schedulerRun(t.read_ms());
+}
+
+int main()
+{
+ schedulerInit(); // init and start scheduler
+
+ t.start(); // start task timer
+
+ int handleTaskA = schedulerAddTask(t.read_ms(), 0, 500, (taskfuncptr) taskA); // Task A is switching LED1 on
+ int handleTaskB = schedulerAddTask(t.read_ms(), 0, 1000, (taskfuncptr) taskB); // Task B is switching LED1 off
+ int handleTaskC = schedulerAddTask(t.read_ms(), 0, 200, (taskfuncptr) taskC); // Task C is switching LED2 on and off - every 200 ms -> five times per sec.
+ int handleTaskD = schedulerAddTask(t.read_ms(), 0, 100, (taskfuncptr) taskD); // Task D is switching LED3 on anf off - every 100 ms -> ten times per sec.
+ int handleTaskE = schedulerAddTask(t.read_ms(), 0, 500, (taskfuncptr) taskE); // Task E is switching LED4 on and off - vice versa to LED1 -> starting with on
+ int handleTaskF = schedulerAddTask(t.read_ms(), 6, 5000, (taskfuncptr) taskF); // Task F finished after 30 seconds
+
+
+ // the address of the function to be attached (runTasks) and the interval (,5 micro seconds)
+ keepAlive.attach_us(&runningTasks, 500);
+
+ while (1)
+ {
+ //// we can feed the scheduler here, too
+ ////schedulerRun(t.read_ms());
+ ////wait(0.001); //wait one ms
+ // with a short delay we can power down the controller here...
+ // or poll very fast variables that are set in interrupt service routines (ISR's) etc.
+ }
+ // The code don't reach here -> if so, a great mess occured
+}
+
diff -r 000000000000 -r 9ce7c170cb66 mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Fri Jun 11 20:52:03 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/029aa53d7323
diff -r 000000000000 -r 9ce7c170cb66 scheduler.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scheduler.cpp Fri Jun 11 20:52:03 2010 +0000
@@ -0,0 +1,126 @@
+/*! \file scheduler.c \brief Simple Task Scheduler. */
+//*****************************************************************************
+//
+// File Name : 'scheduler.c'
+// Title : Simple Task Scheduler
+// Author : Pascal Stang - Copyright (C) 2006
+// Created : 2006.05.24
+// Revised : 2006.05.26
+// Version : 0.1
+// Target MCU : Atmel AVR Series
+// Editor Tabs : 4
+//
+// NOTE: This code is currently below version 1.0, and therefore is considered
+// to be lacking in some functionality or documentation, or may not be fully
+// tested. Nonetheless, you can expect most functions to work.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include "scheduler.h"
+
+// the task list
+struct task TaskList[TASKLIST_SIZE];
+
+// functions
+void schedulerInit(void)
+{
+ int i;
+
+ // reset task list
+ for(i=0; i<TASKLIST_SIZE; i++)
+ {
+ // initialize task list
+ TaskList[i].runtime = 0;
+ TaskList[i].funcptr = 0;
+ }
+ }
+
+void schedulerRun(int systime)
+{
+ int i;
+
+ // locate active task slots
+ for(i=0; i<TASKLIST_SIZE; i++)
+ {
+ if(TaskList[i].funcptr)
+ {
+ // check systime against runtime
+ if(systime >= TaskList[i].runtime)
+ {
+ // run task, then update it
+ TaskList[i].funcptr(i,systime);
+
+ if(TaskList[i].nrepeat)
+ {
+ TaskList[i].runtime += TaskList[i].interval;
+ TaskList[i].nrepeat--;
+ // task has expired, remove it now
+ if(!TaskList[i].nrepeat)
+ schedulerRemoveTask(i);
+ }
+ else
+ {
+ // nrepeat==0 means run forever
+ TaskList[i].runtime += TaskList[i].interval;
+ }
+
+ }
+ }
+ }
+
+ // increment scheduler timer
+ //SchedulerTimer++;
+}
+
+int schedulerAddTask(int runtime, int nrepeat, int interval, taskfuncptr taskfunc)
+{
+ int i;
+
+ // locate empty scheduler slot
+ for(i=0; i<TASKLIST_SIZE; i++)
+ {
+ //CRITICAL_SECTION_BEGIN;
+ if(!TaskList[i].funcptr)
+ {
+ // setup entry
+ TaskList[i].funcptr = taskfunc;
+ TaskList[i].runtime = runtime;
+ TaskList[i].nrepeat = nrepeat;
+ TaskList[i].interval = interval;
+
+ // return task handle
+ return i;
+ }
+ //CRITICAL_SECTION_END;
+ }
+ // error - no task slots left
+ return -1;
+}
+
+int schedulerRemoveTask(int taskhandle)
+{
+ // clear the task entry
+ TaskList[taskhandle].runtime = 0;
+ TaskList[taskhandle].interval = 0;
+ TaskList[taskhandle].nrepeat = 0;
+ TaskList[taskhandle].funcptr = 0;
+
+ return taskhandle;
+}
+
+int schedulerRemoveTaskFunc(taskfuncptr funcptr)
+{
+ int i;
+ int taskhandle = -1;
+
+ // locate the task
+ for(i=0; i<TASKLIST_SIZE; i++)
+ {
+ // on match, disable the task
+ if(TaskList[i].funcptr == funcptr) taskhandle = schedulerRemoveTask(i);
+ }
+ return taskhandle;
+}
diff -r 000000000000 -r 9ce7c170cb66 scheduler.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scheduler.h Fri Jun 11 20:52:03 2010 +0000
@@ -0,0 +1,62 @@
+/*! \file scheduler.h \brief Simple Task Scheduler. */
+//*****************************************************************************
+//
+// File Name : 'scheduler.h'
+// Title : Simple Task Scheduler
+// Author : Pascal Stang - Copyright (C) 2006
+// Created : 2006.05.24
+// Revised : 2006.05.26
+// Version : 0.2
+// Target MCU : NXP Cortex M3 LPC17xx and LPC13xx
+// Editor Tabs : 4
+//
+// NOTE: This code is currently below version 1.0, and therefore is considered
+// to be lacking in some functionality or documentation, or may not be fully
+// tested. Nonetheless, you can expect most functions to work.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef SCHEDULER_H
+#define SCHEDULER_H
+
+// structures and typedefs
+typedef void (*taskfuncptr)(int htask, int systime);
+typedef void (*voidFuncPtr)(void);
+
+struct task
+{
+ int runtime;
+ int nrepeat;
+ int interval;
+ taskfuncptr funcptr;
+};
+
+#ifndef TASKLIST_SIZE
+#define TASKLIST_SIZE 10
+#endif
+
+// functions
+
+// initialize scheduler
+void schedulerInit(void);
+
+// run scheduler
+// this function should be called at the system clock tick rate
+// the system time must be passed in systime
+void schedulerRun(int systime);
+
+// schedule a task
+// returns a handle to the task (or -1 for failure)
+int schedulerAddTask(int runtime, int nrepeat, int interval, taskfuncptr taskfunc);
+
+// remove a scheduled task by handle
+int schedulerRemoveTask(int taskhandle);
+
+// remove a scheduled task(s) by function reference
+// NOTE: this will remove ALL tasks referencing the specified function
+int schedulerRemoveTaskFunc(taskfuncptr funcptr);
+
+#endif