118 lines
2.4 KiB
C
118 lines
2.4 KiB
C
/*
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* PontCoopScheduler.c
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*
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* Originally created on: 29.08.2016
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* Author: wn
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*/
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#include <stdlib.h>
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#include <msp430g2553.h>
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#include "scheduler.h"
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tTask tasks[MAX_NUM_OF_TASKS];
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uint32_t seconds;
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void schInit() {
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TACCR0 = 32;
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TACCTL0 = CCIE;
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TACTL = MC_1 | ID_0 | TASSEL_1 | TACLR;
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for (uint16_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
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tasks[i].delay = 0;
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tasks[i].period = 0;
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tasks[i].run = 0;
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tasks[i].exec = NULL;
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tasks[i].handle = NULL;
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}
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seconds = 0;
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}
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void __attribute__ ((interrupt (TIMER0_A0_VECTOR))) schUpdate() {
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static uint16_t milliSeconds = 0;
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if (milliSeconds >= 1000) {
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seconds += 1;
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milliSeconds = 0;
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}
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milliSeconds += 1;
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for (uint16_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
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if (tasks[i].exec != NULL) {
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if (tasks[i].delay == 0) {
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tasks[i].delay = tasks[i].period;
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tasks[i].run++;
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} else {
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tasks[i].delay--;
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}
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}
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}
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}
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void schAdd(void (*exec)(void *), void *handle, uint32_t delay, uint32_t period) {
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for (uint16_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
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if (tasks[i].exec == NULL) {
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tasks[i].delay = delay;
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tasks[i].period = period;
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if (delay == 0 && period == 0) {
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tasks[i].run = 1;
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} else {
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tasks[i].run = 0;
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}
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tasks[i].exec = exec;
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tasks[i].handle = handle;
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break;
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}
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}
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}
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/*
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void schDel(void (*exec)(void *), void *handle) {
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for (uint16_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
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if ((tasks[i].exec == exec) && (tasks[i].handle == handle)) {
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tasks[i].exec = NULL;
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break;
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}
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}
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}
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*/
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void schExec() {
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for (uint16_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
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// synchronize access to tasks[].run
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__disable_interrupt();
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if (tasks[i].exec != NULL && tasks[i].run > 0) {
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tasks[i].run--;
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// synchronize access to tasks[].run
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// reenable interrupts before actually executing task
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__enable_interrupt();
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tasks[i].exec(tasks[i].handle);
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if (tasks[i].period == 0) {
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tasks[i].exec = NULL;
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}
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} else {
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// synchronize access to tasks[].run
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// reenable interrupts in case task is not yet executable
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__enable_interrupt();
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}
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}
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}
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uint32_t getSeconds() {
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uint32_t s;
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__disable_interrupt();
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s = seconds;
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__enable_interrupt();
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return s;
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}
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void wait(uint8_t t) {
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uint8_t startTime = getSeconds();
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while (getSeconds() < (startTime + t));
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}
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