Revision 0:9ce7c170cb66, committed 2010-06-11

Comitter:

Stanislaus

Date:

Fri Jun 11 20:52:03 2010 +0000

Commit message:

Changed in this revision

--- /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
+}
+

--- /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

--- /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;
+}

--- /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