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Implemented task scheduler. Did not implement priority queue.
Could not test. TIVA on hand was defective.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0" encoding="UTF-8" standalone="no"?> | ||
| <launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging"> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_LOAD_PROGRAM.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="ALL"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="${build_artifact:TIVA-Task-Scheduler}"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROJECT.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="TIVA-Task-Scheduler"/> | ||
| <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_TARGET_CONFIG" value="${target_config_active_default:TIVA-Task-Scheduler}"/> | ||
| <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS"> | ||
| <listEntry value="/TIVA-Task-Scheduler"/> | ||
| </listAttribute> | ||
| <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES"> | ||
| <listEntry value="4"/> | ||
| </listAttribute> | ||
| <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="com.ti.ccstudio.debug.sourceLocator"/> | ||
| <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <sourceLookupDirector> <sourceContainers duplicates="false"> <container memento="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;default/&gt;&#13;&#10;" typeId="org.eclipse.debug.core.containerType.default"/> <container memento="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;cpuSpecificContainer cpuName=&quot;Stellaris In-Circuit Debug Interface/CORTEX_M4_0&quot;&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;project name=&amp;quot;TIVA-Task-Scheduler&amp;quot; referencedProjects=&amp;quot;true&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.project&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;productsSource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.products.source&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;deviceLibrarySource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.device.library.source&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;librarySource/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;com.ti.ccstudio.debug.containerType.library.source&quot;/&gt;&#13;&#10;&lt;childContainerEntry childMemento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;project name=&amp;quot;PUMA260&amp;quot; referencedProjects=&amp;quot;true&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&quot; childType=&quot;org.eclipse.debug.core.containerType.project&quot;/&gt;&#13;&#10;&lt;/cpuSpecificContainer&gt;&#13;&#10;" typeId="com.ti.ccstudio.debug.containerType.cpu.specific"/> </sourceContainers> </sourceLookupDirector> "/> | ||
| </launchConfiguration> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,16 +1,113 @@ | ||
| //Project includes | ||
| #include "TaskScheduler.h" | ||
|
|
||
| //Tivaware includes | ||
| #include <driverlib/sysctl.h> | ||
| #include <driverlib/timer.h> | ||
| #include <inc/hw_ints.h> | ||
| #include <driverlib/interrupt.h> | ||
|
|
||
| #ifndef NULL | ||
| #define NULL 0 | ||
| #endif | ||
|
|
||
| static volatile TaskScheduler scheduler; | ||
|
|
||
| void InitializeTaskScheduler(uint32_t timerBase){ | ||
| /* | ||
| * Timer ISR for the task scheduler | ||
| * | ||
| * Updates each timer's task | ||
| * If the task is ready to be fired, then it is added to a queue and processed | ||
| * | ||
| * This timer must be given a low priority ISR because it is possible to have | ||
| * a heavy load to process | ||
| */ | ||
| void TaskSchedulerTimer_ISR(void){ | ||
| //Loop through every task | ||
| Task *pTask = scheduler.pTaskListRoot; | ||
| while(pTask){ | ||
| if(pTask->enabled){ | ||
| pTask->ticks++; | ||
|
|
||
| if(pTask->ticks >= pTask->maxTicks){ | ||
| pTask->ticks = 0; | ||
|
|
||
| //Add task to priority queue | ||
| //TODO: Implement priority queue | ||
| pTask->pCallback(); | ||
| } | ||
| } | ||
| else{ | ||
| //Do nothing | ||
| } | ||
|
|
||
| //Move to next task | ||
| pTask = pTask->pNextTask; | ||
| } | ||
|
|
||
| TimerIntClear(scheduler.timerBase, TIMER_TIMA_TIMEOUT); | ||
| } | ||
|
|
||
| void InitializeTaskScheduler(uint32_t timerBase, uint16_t sysClkFreq, uint32_t timerIntBase){ | ||
| //Initialize the task scheduler | ||
| scheduler.timerBase = timerBase; | ||
| scheduler.pTaskListRoot = NULL; | ||
|
|
||
| //Initialize the timer | ||
| SysCtlPeripheralEnable(timerBase); | ||
|
|
||
| //Wait for the clock to stabilize | ||
| SysCtlDelay(10); | ||
|
|
||
| //Configure the timer to be a periodic 100us timer | ||
| TimerConfigure(timerBase, TIMER_CFG_PERIODIC); | ||
| TimerLoadSet(timerBase, TIMER_A, sysClkFreq * TASK_SCHEDULER_TIMER_PERIOD / 1000000); | ||
|
|
||
| //Configure the ISR | ||
| TimerIntRegister(timerBase, TIMER_BOTH, TaskSchedulerTimer_ISR); | ||
| IntEnable(timerIntBase); | ||
| TimerIntEnable(timerBase, TIMER_TIMA_TIMEOUT); | ||
|
|
||
| //Enable the timer and interrupts | ||
| TimerEnable(timerBase, TIMER_A); | ||
| IntMasterEnable(); | ||
| } | ||
|
|
||
| void AddTask(Task *pTask){ | ||
| //Reset the task and calculate the max ticks | ||
| pTask->ticks = 0; | ||
| pTask->maxTicks = pTask->period * TASK_SCHEDULER_TICKS_IN_ONE_SECOND; | ||
|
|
||
| //Add the task to the list | ||
| pTask->pNextTask = scheduler.pTaskListRoot; | ||
| scheduler.pTaskListRoot = pTask; | ||
| } | ||
|
|
||
| //Only remove the task if you must | ||
| //It is recommended to just disable the task | ||
| void RemoveTask(Task *pTask){ | ||
| Task *pTaskRoot = scheduler.pTaskListRoot; | ||
|
|
||
| //Loop until we are pointing to the task before the one to be removed | ||
| //Or no task was found | ||
| bool taskFound = false; | ||
| while(pTaskRoot->pNextTask){ | ||
| if(pTaskRoot->pNextTask == pTask){ | ||
| taskFound = true; | ||
| break; | ||
| } | ||
| else{ | ||
| //Keep searching | ||
| pTaskRoot = pTaskRoot->pNextTask; | ||
| } | ||
| } | ||
|
|
||
| if(taskFound){ | ||
| //Remove the task from the list | ||
| pTaskRoot->pNextTask = pTask->pNextTask; | ||
| } | ||
| } | ||
| void DisableTask(Task *pTask){ | ||
|
|
||
| void DisableTask(Task *pTask){ | ||
| pTask->enabled = false; | ||
| } |
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