mi mi / Scheduler

For Cortex-M3,Cortex-M0, Multitask scheduler library. Arduino due compatible

Dependents:   scheduler-demo-cq-lpc11u35 scheduler-demo scheduler-demo-cq-lpc11u35 mbed-scli-test

Scheduler.cpp@1:8967b575bb46, 2013-08-25 (annotated)

Committer:
mimi3
Date:
Sun Aug 25 10:25:11 2013 +0000
Revision:
1:8967b575bb46
Parent:
0:c68459544a17 
For LPC1114FN28.; Scheduler library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dinau 0:c68459544a17 1 /*
mimi3 1:8967b575bb46 2 * Copyright (C) 2012-2013 audin
dinau 0:c68459544a17 3 * This program is licensed under the Apache License, Version 2.0.
mimi3 1:8967b575bb46 4 * 2013/08: Modify for mbed for LPC1114FN28
dinau 0:c68459544a17 5 * Modified 2012/10: For working on Cortex-M0 and M3.
dinau 0:c68459544a17 6 * Defined static tcb option for the cpu that has quite a less SRAM < 8kbyte.
dinau 0:c68459544a17 7 *
dinau 0:c68459544a17 8 * Original file is arduino-1.5\hardware\arduino\sam\libraries\Scheduler
dinau 0:c68459544a17 9 */
dinau 0:c68459544a17 10
dinau 0:c68459544a17 11 /*
dinau 0:c68459544a17 12 * Copyright (C) 2012 The Android Open Source Project
dinau 0:c68459544a17 13 *
dinau 0:c68459544a17 14 * Licensed under the Apache License, Version 2.0 (the "License");
dinau 0:c68459544a17 15 * you may not use this file except in compliance with the License.
dinau 0:c68459544a17 16 * You may obtain a copy of the License at
dinau 0:c68459544a17 17 *
dinau 0:c68459544a17 18 * http://www.apache.org/licenses/LICENSE-2.0
dinau 0:c68459544a17 19 *
dinau 0:c68459544a17 20 * Unless required by applicable law or agreed to in writing, software
dinau 0:c68459544a17 21 * distributed under the License is distributed on an "AS IS" BASIS,
dinau 0:c68459544a17 22 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
dinau 0:c68459544a17 23 * See the License for the specific language governing permissions and
dinau 0:c68459544a17 24 * limitations under the License.
dinau 0:c68459544a17 25 */
dinau 0:c68459544a17 26
dinau 0:c68459544a17 27 #include <stdint.h>
mimi3 1:8967b575bb46 28 #include "mbed.h"
dinau 0:c68459544a17 29 #include "Scheduler.h"
dinau 0:c68459544a17 30
dinau 0:c68459544a17 31 #define _ARM_CM0_ 1 /* 1: Cortex-M0 or M3, 0: Cortex-M3 */
dinau 0:c68459544a17 32 #define _USE_MALLOC_ 0 /* 1: 8kbyte >= SRAM, 0: 8kbyte < SRAM */
dinau 0:c68459544a17 33
dinau 0:c68459544a17 34
dinau 0:c68459544a17 35 #if _USE_MALLOC_
dinau 0:c68459544a17 36 # include <stdlib.h>
dinau 0:c68459544a17 37 #endif
dinau 0:c68459544a17 38
dinau 0:c68459544a17 39 #ifdef __cplusplus
dinau 0:c68459544a17 40 extern "C" {
dinau 0:c68459544a17 41 #endif
dinau 0:c68459544a17 42 uint32_t millis(void);
dinau 0:c68459544a17 43
dinau 0:c68459544a17 44 #define NUM_REGS 10 // r4-r11, sp, lr
dinau 0:c68459544a17 45
dinau 0:c68459544a17 46 typedef struct CoopTask {
dinau 0:c68459544a17 47 uint32_t regs[NUM_REGS];
dinau 0:c68459544a17 48 void* stackPtr;
dinau 0:c68459544a17 49 struct CoopTask* next;
dinau 0:c68459544a17 50 struct CoopTask* prev;
dinau 0:c68459544a17 51 } CoopTask;
dinau 0:c68459544a17 52
dinau 0:c68459544a17 53 #if !_USE_MALLOC_
dinau 0:c68459544a17 54 static uint32_t id = 0;
dinau 0:c68459544a17 55 static CoopTask tcb[ COOP_TASK_NUM_MAX ];
dinau 0:c68459544a17 56 static uint8_t task_stack[ COOP_TASK_NUM_MAX - 1 ][ MIN_STACK_SIZE ];
dinau 0:c68459544a17 57 #endif
dinau 0:c68459544a17 58
dinau 0:c68459544a17 59 static CoopTask *cur = 0;
dinau 0:c68459544a17 60
dinau 0:c68459544a17 61 CoopTask* __attribute__((noinline)) coopSchedule(char taskDied) {
dinau 0:c68459544a17 62 CoopTask* next = cur->next;
dinau 0:c68459544a17 63
dinau 0:c68459544a17 64 #if _USE_MALLOC_
dinau 0:c68459544a17 65 if (taskDied) {
dinau 0:c68459544a17 66 // Halt if last task died.
dinau 0:c68459544a17 67 if (next == cur)
dinau 0:c68459544a17 68 while (1)
dinau 0:c68459544a17 69 ;
dinau 0:c68459544a17 70
dinau 0:c68459544a17 71 // Delete task
dinau 0:c68459544a17 72 if (cur->stackPtr)
dinau 0:c68459544a17 73 free(cur->stackPtr);
dinau 0:c68459544a17 74 cur->next->prev = cur->prev;
dinau 0:c68459544a17 75 cur->prev->next = cur->next;
dinau 0:c68459544a17 76 free(cur);
dinau 0:c68459544a17 77 }
dinau 0:c68459544a17 78 #endif
dinau 0:c68459544a17 79 cur = next;
dinau 0:c68459544a17 80 return next;
dinau 0:c68459544a17 81 }
mimi3 1:8967b575bb46 82 #ifdef __CC_ARM
mimi3 1:8967b575bb46 83 __asm static void coopTaskStart(void) {
mimi3 1:8967b575bb46 84 import coopSchedule
mimi3 1:8967b575bb46 85 #if _ARM_CM0_
mimi3 1:8967b575bb46 86 /* for Cortex-m0 */
mimi3 1:8967b575bb46 87 mov r0, r5;
mimi3 1:8967b575bb46 88 blx r4;
mimi3 1:8967b575bb46 89 movs r0, #1;
mimi3 1:8967b575bb46 90 bl coopSchedule;
mimi3 1:8967b575bb46 91 /**** ldmia r0, {r4-r12, lr}; */
mimi3 1:8967b575bb46 92 adds r0, r0, #16;
mimi3 1:8967b575bb46 93 ldmia r0!, {r4-r7}; /* get r7->r11, r6->r10, r5->r9, r4->r8 */
mimi3 1:8967b575bb46 94 mov r11, r7;
mimi3 1:8967b575bb46 95 mov r10, r6;
mimi3 1:8967b575bb46 96 mov r9, r5;
mimi3 1:8967b575bb46 97 mov r8 , r4;
dinau 0:c68459544a17 98
mimi3 1:8967b575bb46 99 ldmia r0!, {r4-r5}; /* get r5->lr, r4->r12 */
mimi3 1:8967b575bb46 100 mov lr, r5;
mimi3 1:8967b575bb46 101 mov r12, r4;
mimi3 1:8967b575bb46 102
mimi3 1:8967b575bb46 103 subs r0, r0, #40; /* set offset for r4, 40 = 10reg * 4byte */
mimi3 1:8967b575bb46 104 ldmia r0!, {r4-r7}; /* get r7,r6,r5,r4 */
mimi3 1:8967b575bb46 105 /**** end ldmia converted by Cortex-M0 instructions */
mimi3 1:8967b575bb46 106 msr msp, r12; /* use main stack */
mimi3 1:8967b575bb46 107 bx lr;
mimi3 1:8967b575bb46 108 #else
mimi3 1:8967b575bb46 109 /* for Cortex-m3 or ARM code cpu */
mimi3 1:8967b575bb46 110 mov r0, r5; /* r5 = new task func */
mimi3 1:8967b575bb46 111 blx r4; /* r4 = helper func */
mimi3 1:8967b575bb46 112 movs r0, #1;
mimi3 1:8967b575bb46 113 bl coopSchedule;
mimi3 1:8967b575bb46 114 ldmia r0, {r4-r12, lr};
mimi3 1:8967b575bb46 115 mov sp, r12;
mimi3 1:8967b575bb46 116 bx lr;
mimi3 1:8967b575bb46 117 #endif
mimi3 1:8967b575bb46 118 }
mimi3 1:8967b575bb46 119 #else
dinau 0:c68459544a17 120 static void __attribute__((naked)) __attribute__((noinline)) coopTaskStart(void) {
dinau 0:c68459544a17 121 #if _ARM_CM0_
dinau 0:c68459544a17 122 /* for Cortex-m0 */
dinau 0:c68459544a17 123 __asm (
dinau 0:c68459544a17 124 "mov r0, r5;"
dinau 0:c68459544a17 125 "blx r4;"
dinau 0:c68459544a17 126 "mov r0, #1;"
dinau 0:c68459544a17 127 "bl coopSchedule;"
dinau 0:c68459544a17 128 /**** "ldmia r0, {r4-r12, lr};" */
dinau 0:c68459544a17 129 "add r0, r0, #16;"
dinau 0:c68459544a17 130 "ldmia r0!, {r4-r7};" /* get r7->r11, r6->r10, r5->r9, r4->r8 */
dinau 0:c68459544a17 131 "mov r11, r7;"
dinau 0:c68459544a17 132 "mov r10, r6;"
dinau 0:c68459544a17 133 "mov r9, r5;"
dinau 0:c68459544a17 134 "mov r8 , r4;"
dinau 0:c68459544a17 135
dinau 0:c68459544a17 136 "ldmia r0!, {r4-r5};" /* get r5->lr, r4->r12 */
dinau 0:c68459544a17 137 "mov lr, r5;"
dinau 0:c68459544a17 138 "mov r12, r4;"
dinau 0:c68459544a17 139
dinau 0:c68459544a17 140 "sub r0, r0, #40;" /* set offset for r4, 40 = 10reg * 4byte */
dinau 0:c68459544a17 141 "ldmia r0!, {r4-r7};" /* get r7,r6,r5,r4 */
dinau 0:c68459544a17 142 /**** end ldmia converted by Cortex-M0 instructions */
dinau 0:c68459544a17 143 "msr msp, r12;" /* use main stack */
dinau 0:c68459544a17 144 "bx lr;"
dinau 0:c68459544a17 145 );
dinau 0:c68459544a17 146 #else
dinau 0:c68459544a17 147 /* for Cortex-m3 or ARM code cpu */
dinau 0:c68459544a17 148 asm (
dinau 0:c68459544a17 149 "mov r0, r5;" /* r5 = new task func */
dinau 0:c68459544a17 150 "blx r4;" /* r4 = helper func */
dinau 0:c68459544a17 151 "mov r0, #1;"
dinau 0:c68459544a17 152 "bl coopSchedule;"
dinau 0:c68459544a17 153 "ldmia r0, {r4-r12, lr};"
dinau 0:c68459544a17 154 "mov sp, r12;"
dinau 0:c68459544a17 155 "bx lr;"
dinau 0:c68459544a17 156 );
dinau 0:c68459544a17 157 #endif
dinau 0:c68459544a17 158 }
mimi3 1:8967b575bb46 159 #endif
dinau 0:c68459544a17 160
mimi3 1:8967b575bb46 161 #ifdef __CC_ARM
mimi3 1:8967b575bb46 162 __asm static void coopDoYield(CoopTask* curTask) {
mimi3 1:8967b575bb46 163 #if _ARM_CM0_
mimi3 1:8967b575bb46 164 /* for Cortex-m0 */
mimi3 1:8967b575bb46 165 mrs r12, msp;
mimi3 1:8967b575bb46 166 /**** stmia r0, {r4-r12, lr}; */
mimi3 1:8967b575bb46 167 stmia r0!, {r4-r7}; /* first store r4-r7 data */
mimi3 1:8967b575bb46 168
mimi3 1:8967b575bb46 169 mov r4, r8;
mimi3 1:8967b575bb46 170 mov r5, r9;
mimi3 1:8967b575bb46 171 mov r6, r10;
mimi3 1:8967b575bb46 172 mov r7, r11;
mimi3 1:8967b575bb46 173 stmia r0!, {r4-r7}; /* store r8-r11 */
mimi3 1:8967b575bb46 174
mimi3 1:8967b575bb46 175 mov r4, r12;
mimi3 1:8967b575bb46 176 mov r5, lr;
mimi3 1:8967b575bb46 177 stmia r0!, {r4,r5}; /* store r12, lr */
mimi3 1:8967b575bb46 178 /**** end stmia converted by cortex-m0 instructions */
mimi3 1:8967b575bb46 179
mimi3 1:8967b575bb46 180 movs r0, #0;
mimi3 1:8967b575bb46 181 bl coopSchedule;
mimi3 1:8967b575bb46 182
mimi3 1:8967b575bb46 183 /**** ldmia r0, {r4-r12, lr}; */
mimi3 1:8967b575bb46 184 adds r0, r0, #16; /* set offset for r8 */
mimi3 1:8967b575bb46 185 ldmia r0!, {r4-r7}; /* get r7->r11, r6->r10, r5->r9, r4->r8 */
mimi3 1:8967b575bb46 186 mov r11, r7;
mimi3 1:8967b575bb46 187 mov r10, r6;
mimi3 1:8967b575bb46 188 mov r9, r5;
mimi3 1:8967b575bb46 189 mov r8 , r4;
mimi3 1:8967b575bb46 190
mimi3 1:8967b575bb46 191 ldmia r0!, {r4-r5}; /* get r5->lr, r4->r12 */
mimi3 1:8967b575bb46 192 mov lr, r5;
mimi3 1:8967b575bb46 193 mov r12, r4;
mimi3 1:8967b575bb46 194
mimi3 1:8967b575bb46 195 subs r0, r0, #40; /* set offset for r4, 40 = 10reg * 4byte */
mimi3 1:8967b575bb46 196 ldmia r0!, {r4-r7};
mimi3 1:8967b575bb46 197 /**** end ldmia converted by Cortex-M0 instructions */
mimi3 1:8967b575bb46 198
mimi3 1:8967b575bb46 199 msr msp, r12;
mimi3 1:8967b575bb46 200 bx lr;
mimi3 1:8967b575bb46 201 #else
mimi3 1:8967b575bb46 202 /* for Cortex-m3 or ARM code cpu */
mimi3 1:8967b575bb46 203 mov r12, sp;
mimi3 1:8967b575bb46 204 stmia r0, {r4-r12, lr};
mimi3 1:8967b575bb46 205 movs r0, #0;
mimi3 1:8967b575bb46 206 bl coopSchedule;
mimi3 1:8967b575bb46 207 ldmia r0, {r4-r12, lr};
mimi3 1:8967b575bb46 208 mov sp, r12;
mimi3 1:8967b575bb46 209 bx lr;
mimi3 1:8967b575bb46 210 #endif
mimi3 1:8967b575bb46 211 }
mimi3 1:8967b575bb46 212
mimi3 1:8967b575bb46 213 #else
dinau 0:c68459544a17 214 static void __attribute__((naked)) __attribute__((noinline)) coopDoYield(CoopTask* curTask) {
dinau 0:c68459544a17 215 #if _ARM_CM0_
dinau 0:c68459544a17 216 /* for Cortex-m0 */
dinau 0:c68459544a17 217 __asm (
dinau 0:c68459544a17 218 "mrs r12, msp;"
dinau 0:c68459544a17 219 /**** "stmia r0, {r4-r12, lr};" */
dinau 0:c68459544a17 220 "stmia r0!, {r4-r7};" /* first store r4-r7 data */
dinau 0:c68459544a17 221
dinau 0:c68459544a17 222 "mov r4, r8;"
dinau 0:c68459544a17 223 "mov r5, r9;"
dinau 0:c68459544a17 224 "mov r6, r10;"
dinau 0:c68459544a17 225 "mov r7, r11;"
dinau 0:c68459544a17 226 "stmia r0!, {r4-r7};" /* store r8-r11 */
dinau 0:c68459544a17 227
dinau 0:c68459544a17 228 "mov r4, r12;"
dinau 0:c68459544a17 229 "mov r5, lr;"
dinau 0:c68459544a17 230 "stmia r0!, {r4,r5};" /* store r12, lr */
dinau 0:c68459544a17 231 /**** end stmia converted by cortex-m0 instructions */
dinau 0:c68459544a17 232
dinau 0:c68459544a17 233 "mov r0, #0;"
dinau 0:c68459544a17 234 "bl coopSchedule;"
dinau 0:c68459544a17 235
dinau 0:c68459544a17 236 /**** "ldmia r0, {r4-r12, lr};" */
dinau 0:c68459544a17 237 "add r0, r0, #16;" /* set offset for r8 */
dinau 0:c68459544a17 238 "ldmia r0!, {r4-r7};" /* get r7->r11, r6->r10, r5->r9, r4->r8 */
dinau 0:c68459544a17 239 "mov r11, r7;"
dinau 0:c68459544a17 240 "mov r10, r6;"
dinau 0:c68459544a17 241 "mov r9, r5;"
dinau 0:c68459544a17 242 "mov r8 , r4;"
dinau 0:c68459544a17 243
dinau 0:c68459544a17 244 "ldmia r0!, {r4-r5};" /* get r5->lr, r4->r12 */
dinau 0:c68459544a17 245 "mov lr, r5;"
dinau 0:c68459544a17 246 "mov r12, r4;"
dinau 0:c68459544a17 247
dinau 0:c68459544a17 248 "sub r0, r0, #40;" /* set offset for r4, 40 = 10reg * 4byte */
dinau 0:c68459544a17 249 "ldmia r0!, {r4-r7};"
dinau 0:c68459544a17 250 /**** end ldmia converted by Cortex-M0 instructions */
dinau 0:c68459544a17 251
dinau 0:c68459544a17 252 "msr msp, r12;"
dinau 0:c68459544a17 253 "bx lr;"
dinau 0:c68459544a17 254 );
dinau 0:c68459544a17 255 #else
dinau 0:c68459544a17 256 /* for Cortex-m3 or ARM code cpu */
dinau 0:c68459544a17 257 __asm (
dinau 0:c68459544a17 258 "mov r12, sp;"
dinau 0:c68459544a17 259 "stmia r0, {r4-r12, lr};"
dinau 0:c68459544a17 260 "mov r0, #0;"
dinau 0:c68459544a17 261 "bl coopSchedule;"
dinau 0:c68459544a17 262 "ldmia r0, {r4-r12, lr};"
dinau 0:c68459544a17 263 "mov sp, r12;"
dinau 0:c68459544a17 264 "bx lr;"
dinau 0:c68459544a17 265 );
dinau 0:c68459544a17 266 #endif
dinau 0:c68459544a17 267
dinau 0:c68459544a17 268 }
mimi3 1:8967b575bb46 269 #endif
dinau 0:c68459544a17 270 static int coopInit(void) {
dinau 0:c68459544a17 271 CoopTask* task;
dinau 0:c68459544a17 272 #if _USE_MALLOC_
dinau 0:c68459544a17 273 # ifdef __cplusplus
dinau 0:c68459544a17 274 task = reinterpret_cast<CoopTask *>(malloc(sizeof(CoopTask)));
dinau 0:c68459544a17 275 # else
dinau 0:c68459544a17 276 task = (CoopTask *)(malloc(sizeof(CoopTask)));
dinau 0:c68459544a17 277 # endif
dinau 0:c68459544a17 278 if (!task)
dinau 0:c68459544a17 279 return 0;
dinau 0:c68459544a17 280 #else
dinau 0:c68459544a17 281 task = &tcb[ id ];
dinau 0:c68459544a17 282 #endif
dinau 0:c68459544a17 283 task->next = task;
dinau 0:c68459544a17 284 task->prev = task;
dinau 0:c68459544a17 285 task->stackPtr = 0;
dinau 0:c68459544a17 286 cur = task;
dinau 0:c68459544a17 287
dinau 0:c68459544a17 288 return 1;
dinau 0:c68459544a17 289 }
dinau 0:c68459544a17 290
dinau 0:c68459544a17 291 static int coopSpawn(SchedulerParametricTask taskF, void* taskData, uint32_t stackSz) {
dinau 0:c68459544a17 292 #if _USE_MALLOC_
dinau 0:c68459544a17 293 uint8_t *stack = (uint8_t*)malloc(stackSz);
dinau 0:c68459544a17 294 if (!stack)
dinau 0:c68459544a17 295 return 0;
dinau 0:c68459544a17 296 # ifdef __cplusplus
dinau 0:c68459544a17 297 CoopTask *task = reinterpret_cast<CoopTask *>(malloc(sizeof(CoopTask)));
dinau 0:c68459544a17 298 # else
dinau 0:c68459544a17 299 CoopTask *task = (CoopTask *)(malloc(sizeof(CoopTask)));
dinau 0:c68459544a17 300 # endif
dinau 0:c68459544a17 301 if (!task) {
dinau 0:c68459544a17 302 free(stack);
dinau 0:c68459544a17 303 return 0;
dinau 0:c68459544a17 304 }
dinau 0:c68459544a17 305 #else
dinau 0:c68459544a17 306 uint8_t *stack = task_stack[ id ];
dinau 0:c68459544a17 307 id++;
dinau 0:c68459544a17 308 CoopTask *task = &tcb[ id ];
dinau 0:c68459544a17 309 #endif
dinau 0:c68459544a17 310 task->stackPtr = stack;
dinau 0:c68459544a17 311 task->regs[0] = (uint32_t) taskF; /* Helper func: r4 */
dinau 0:c68459544a17 312 task->regs[1] = (uint32_t) taskData; /* New task : r5 */
dinau 0:c68459544a17 313 #if _USE_MALLOC_
dinau 0:c68459544a17 314 task->regs[8] = ((uint32_t)(stack + stackSz)) & ~7;
dinau 0:c68459544a17 315 #else
dinau 0:c68459544a17 316 task->regs[8] = ((uint32_t)(stack + MIN_STACK_SIZE)) & ~7; /* r12 */
dinau 0:c68459544a17 317 #endif
dinau 0:c68459544a17 318 task->regs[9] = (uint32_t) & coopTaskStart; /* lr */
dinau 0:c68459544a17 319
dinau 0:c68459544a17 320 task->prev = cur;
dinau 0:c68459544a17 321 task->next = cur->next;
dinau 0:c68459544a17 322 cur->next->prev = task;
dinau 0:c68459544a17 323 cur->next = task;
dinau 0:c68459544a17 324
dinau 0:c68459544a17 325 // These are here so compiler is sure that function is
dinau 0:c68459544a17 326 // referenced in both variants (cancels a warning)
dinau 0:c68459544a17 327 if (stackSz == 0xFFFFFFFF)
dinau 0:c68459544a17 328 coopSchedule(0);
dinau 0:c68459544a17 329 if (stackSz == 0xFFFFFFFE)
dinau 0:c68459544a17 330 coopSchedule(1);
dinau 0:c68459544a17 331
dinau 0:c68459544a17 332 return 1;
dinau 0:c68459544a17 333 }
dinau 0:c68459544a17 334
dinau 0:c68459544a17 335 void yield(void) {
dinau 0:c68459544a17 336 coopDoYield(cur);
dinau 0:c68459544a17 337 }
dinau 0:c68459544a17 338
mimi3 1:8967b575bb46 339 #ifdef MBED_H
mimi3 1:8967b575bb46 340 void taskWait(uint32_t ms) {
mimi3 1:8967b575bb46 341 uint32_t start = us_ticker_read();
mimi3 1:8967b575bb46 342 while ((us_ticker_read() - start) < (uint32_t)(ms*1000)){
mimi3 1:8967b575bb46 343 yield();
mimi3 1:8967b575bb46 344 }
mimi3 1:8967b575bb46 345 }
mimi3 1:8967b575bb46 346 #else
dinau 0:c68459544a17 347 void wait(uint32_t ms) {
dinau 0:c68459544a17 348 uint32_t start = millis();
mimi3 1:8967b575bb46 349 while (millis() - start < ms){
dinau 0:c68459544a17 350 yield();
mimi3 1:8967b575bb46 351 }
dinau 0:c68459544a17 352 }
mimi3 1:8967b575bb46 353 #endif
dinau 0:c68459544a17 354
dinau 0:c68459544a17 355 #ifdef __cplusplus
dinau 0:c68459544a17 356 }; // extern "C"
dinau 0:c68459544a17 357 #endif
dinau 0:c68459544a17 358
dinau 0:c68459544a17 359 void scheduler_init( void ) {
dinau 0:c68459544a17 360 coopInit();
dinau 0:c68459544a17 361 }
dinau 0:c68459544a17 362
dinau 0:c68459544a17 363 static void startLoopHelper(void *taskData) {
dinau 0:c68459544a17 364 #ifdef __cplusplus
dinau 0:c68459544a17 365 SchedulerTask task = reinterpret_cast<SchedulerTask>(taskData);
dinau 0:c68459544a17 366 #else
dinau 0:c68459544a17 367 SchedulerTask task = (SchedulerTask)(taskData);
dinau 0:c68459544a17 368 #endif
dinau 0:c68459544a17 369 while (1){
dinau 0:c68459544a17 370 task();
dinau 0:c68459544a17 371 }
dinau 0:c68459544a17 372 }
dinau 0:c68459544a17 373
dinau 0:c68459544a17 374 static void startTaskHelper(void *taskData) {
dinau 0:c68459544a17 375 #ifdef __cplusplus
dinau 0:c68459544a17 376 SchedulerTask task = reinterpret_cast<SchedulerTask>(taskData);
dinau 0:c68459544a17 377 #else
dinau 0:c68459544a17 378 SchedulerTask task = (SchedulerTask)(taskData);
dinau 0:c68459544a17 379 #endif
dinau 0:c68459544a17 380 task();
dinau 0:c68459544a17 381 }
dinau 0:c68459544a17 382
dinau 0:c68459544a17 383 void scheduler_start( SchedulerTask task ) {
dinau 0:c68459544a17 384 coopSpawn( startTaskHelper, (void *)(task), MIN_STACK_SIZE );
dinau 0:c68459544a17 385 }
dinau 0:c68459544a17 386
dinau 0:c68459544a17 387 void scheduler_startLoop( SchedulerTask task) {
dinau 0:c68459544a17 388 coopSpawn( startLoopHelper, (void *)(task), MIN_STACK_SIZE );
dinau 0:c68459544a17 389 }
dinau 0:c68459544a17 390
dinau 0:c68459544a17 391 #ifdef __cplusplus
dinau 0:c68459544a17 392 SchedulerClass::SchedulerClass() {
dinau 0:c68459544a17 393 coopInit();
dinau 0:c68459544a17 394 }
dinau 0:c68459544a17 395
dinau 0:c68459544a17 396 void SchedulerClass::startLoop(SchedulerTask task, uint32_t stackSize) {
dinau 0:c68459544a17 397 coopSpawn(startLoopHelper, reinterpret_cast<void *>(task), stackSize);
dinau 0:c68459544a17 398 }
dinau 0:c68459544a17 399
dinau 0:c68459544a17 400 void SchedulerClass::start(SchedulerTask task, uint32_t stackSize) {
dinau 0:c68459544a17 401 coopSpawn(startTaskHelper, reinterpret_cast<void *>(task), stackSize);
dinau 0:c68459544a17 402 }
dinau 0:c68459544a17 403
dinau 0:c68459544a17 404 void SchedulerClass::start(SchedulerParametricTask task, void *taskData, uint32_t stackSize) {
dinau 0:c68459544a17 405 coopSpawn(task, taskData, stackSize);
dinau 0:c68459544a17 406 }
dinau 0:c68459544a17 407
dinau 0:c68459544a17 408 SchedulerClass Scheduler;
dinau 0:c68459544a17 409 #endif
dinau 0:c68459544a17 410