Wallbot_CaaS
Dependencies: MPU6050 mbed PID
Fork of BLE_MPU6050_test6_challenge_sb by
app_scheduler.c
00001 /* Copyright (c) 2012 Nordic Semiconductor. All Rights Reserved. 00002 * 00003 * The information contained herein is property of Nordic Semiconductor ASA. 00004 * Terms and conditions of usage are described in detail in NORDIC 00005 * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT. 00006 * 00007 * Licensees are granted free, non-transferable use of the information. NO 00008 * WARRANTY of ANY KIND is provided. This heading must NOT be removed from 00009 * the file. 00010 * 00011 */ 00012 00013 #include "app_scheduler.h " 00014 #include <stdlib.h> 00015 #include <stdint.h> 00016 #include <string.h> 00017 #include "nrf_soc.h" 00018 #include "nrf_assert.h" 00019 #include "app_util.h " 00020 #include "app_util_platform.h " 00021 00022 /**@brief Structure for holding a scheduled event header. */ 00023 typedef struct 00024 { 00025 app_sched_event_handler_t handler; /**< Pointer to event handler to receive the event. */ 00026 uint16_t event_data_size; /**< Size of event data. */ 00027 } event_header_t; 00028 00029 STATIC_ASSERT(sizeof(event_header_t) <= APP_SCHED_EVENT_HEADER_SIZE); 00030 00031 static event_header_t * m_queue_event_headers; /**< Array for holding the queue event headers. */ 00032 static uint8_t * m_queue_event_data; /**< Array for holding the queue event data. */ 00033 static volatile uint8_t m_queue_start_index; /**< Index of queue entry at the start of the queue. */ 00034 static volatile uint8_t m_queue_end_index; /**< Index of queue entry at the end of the queue. */ 00035 static uint16_t m_queue_event_size; /**< Maximum event size in queue. */ 00036 static uint16_t m_queue_size; /**< Number of queue entries. */ 00037 00038 /**@brief Macro for checking if a queue is full. */ 00039 #define APP_SCHED_QUEUE_FULL() (next_index(m_queue_end_index) == m_queue_start_index) 00040 00041 /**@brief Macro for checking if a queue is empty. */ 00042 #define APP_SCHED_QUEUE_EMPTY() (m_queue_end_index == m_queue_start_index) 00043 00044 00045 /**@brief Function for incrementing a queue index, and handle wrap-around. 00046 * 00047 * @param[in] index Old index. 00048 * 00049 * @return New (incremented) index. 00050 */ 00051 static __INLINE uint8_t next_index(uint8_t index) 00052 { 00053 return (index < m_queue_size) ? (index + 1) : 0; 00054 } 00055 00056 00057 uint32_t app_sched_init(uint16_t event_size, uint16_t queue_size, void * p_event_buffer) 00058 { 00059 uint16_t data_start_index = (queue_size + 1) * sizeof(event_header_t); 00060 00061 // Check that buffer is correctly aligned 00062 if (!is_word_aligned(p_event_buffer)) 00063 { 00064 return NRF_ERROR_INVALID_PARAM; 00065 } 00066 00067 // Initialize event scheduler 00068 m_queue_event_headers = p_event_buffer; 00069 m_queue_event_data = &((uint8_t *)p_event_buffer)[data_start_index]; 00070 m_queue_end_index = 0; 00071 m_queue_start_index = 0; 00072 m_queue_event_size = event_size; 00073 m_queue_size = queue_size; 00074 00075 return NRF_SUCCESS; 00076 } 00077 00078 00079 uint32_t app_sched_event_put(void * p_event_data, 00080 uint16_t event_data_size, 00081 app_sched_event_handler_t handler) 00082 { 00083 uint32_t err_code; 00084 00085 if (event_data_size <= m_queue_event_size) 00086 { 00087 uint16_t event_index = 0xFFFF; 00088 00089 CRITICAL_REGION_ENTER(); 00090 00091 if (!APP_SCHED_QUEUE_FULL()) 00092 { 00093 event_index = m_queue_end_index; 00094 m_queue_end_index = next_index(m_queue_end_index); 00095 } 00096 00097 CRITICAL_REGION_EXIT(); 00098 00099 if (event_index != 0xFFFF) 00100 { 00101 // NOTE: This can be done outside the critical region since the event consumer will 00102 // always be called from the main loop, and will thus never interrupt this code. 00103 m_queue_event_headers[event_index].handler = handler; 00104 if ((p_event_data != NULL) && (event_data_size > 0)) 00105 { 00106 memcpy(&m_queue_event_data[event_index * m_queue_event_size], 00107 p_event_data, 00108 event_data_size); 00109 m_queue_event_headers[event_index].event_data_size = event_data_size; 00110 } 00111 else 00112 { 00113 m_queue_event_headers[event_index].event_data_size = 0; 00114 } 00115 00116 err_code = NRF_SUCCESS; 00117 } 00118 else 00119 { 00120 err_code = NRF_ERROR_NO_MEM; 00121 } 00122 } 00123 else 00124 { 00125 err_code = NRF_ERROR_INVALID_LENGTH; 00126 } 00127 00128 return err_code; 00129 } 00130 00131 00132 /**@brief Function for reading the next event from specified event queue. 00133 * 00134 * @param[out] pp_event_data Pointer to pointer to event data. 00135 * @param[out] p_event_data_size Pointer to size of event data. 00136 * @param[out] p_event_handler Pointer to event handler function pointer. 00137 * 00138 * @return NRF_SUCCESS if new event, NRF_ERROR_NOT_FOUND if event queue is empty. 00139 */ 00140 static uint32_t app_sched_event_get(void ** pp_event_data, 00141 uint16_t * p_event_data_size, 00142 app_sched_event_handler_t * p_event_handler) 00143 { 00144 uint32_t err_code = NRF_ERROR_NOT_FOUND; 00145 00146 if (!APP_SCHED_QUEUE_EMPTY()) 00147 { 00148 uint16_t event_index; 00149 00150 // NOTE: There is no need for a critical region here, as this function will only be called 00151 // from app_sched_execute() from inside the main loop, so it will never interrupt 00152 // app_sched_event_put(). Also, updating of (i.e. writing to) the start index will be 00153 // an atomic operation. 00154 event_index = m_queue_start_index; 00155 m_queue_start_index = next_index(m_queue_start_index); 00156 00157 *pp_event_data = &m_queue_event_data[event_index * m_queue_event_size]; 00158 *p_event_data_size = m_queue_event_headers[event_index].event_data_size; 00159 *p_event_handler = m_queue_event_headers[event_index].handler; 00160 00161 err_code = NRF_SUCCESS; 00162 } 00163 00164 return err_code; 00165 } 00166 00167 00168 void app_sched_execute(void) 00169 { 00170 void * p_event_data; 00171 uint16_t event_data_size; 00172 app_sched_event_handler_t event_handler; 00173 00174 // Get next event (if any), and execute handler 00175 while ((app_sched_event_get(&p_event_data, &event_data_size, &event_handler) == NRF_SUCCESS)) 00176 { 00177 event_handler(p_event_data, event_data_size); 00178 } 00179 }
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