137 lines
4.9 KiB
C
137 lines
4.9 KiB
C
/**************************************************************************
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* NAME: scheduler.h *
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* PURPOSE: Defining the the scheduler to be used in the system to organize*
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* the runtime for the tasks in the system based on priority. *
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* INFORMATION: *
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* GLOBAL VARIABLES: *
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* Variable Type Description *
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* -------- ---- ----------- *
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***************************************************************************/
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#ifndef SCHEDULER_H_
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#define SCHEDULER_H_
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#include <stdint.h>
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#include <stdbool.h>
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/* Enum containing all the possible task priorities */
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typedef enum
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{
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IDLE = 0,
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LOW,
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MEDIUM,
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HIGH,
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REALTIME,
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MAX_PRIORITY = 255
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} taskPriority_t;
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/* Struct used to contain the information for each task */
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typedef struct
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{
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/* Basic task information */
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const char * taskName; /* Name of the task */
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const char * subTaskName; /*Needed?*/
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bool (*checkEventTriggered)(uint32_t currentDeltaTime); /* Function pointer to event trigger check, if used no standard scheduling */
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void (*taskFunction)(void); /* Pointer to the function that should be called to run the task */
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uint32_t desiredPeriod; /* The period the task wants to run in */
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const uint8_t staticPriority; /* Value used to increment the dynamic priority */
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/* Scheduling variables */
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uint16_t dynamicPriority; /* Priority increases the longer the task have been idle, increased by staticPriority value */
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uint16_t taskAgeCycle; /* Helps to keep track of the "periods" for the task */
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uint32_t lastExecutedAt; /* last time of invocation */
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uint32_t lastSignaledAt; /* time of invocation event for event-driven tasks */
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/* ToDo: potential statistic values of the task */
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}task_t;
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/* Task counter, ToDo: If more tasks are needed add them here first, defines are used to make sure the task is somewhere in the system */
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/* Important: If a new define for a task is added here it MUST be added in the tasks.c */
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typedef enum
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{
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/* All the tasks that will be in the system, some are separated by IfDef */
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TASK_SYSTEM = 0,
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TASK_GYROPID,
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TASK_ACCELEROMETER,
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TASK_ATTITUDE,
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TASK_RX,
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TASK_SERIAL,
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TASK_BATTERY,
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#ifdef BARO
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TASK_BARO,
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#endif
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#ifdef COMPASS
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TASK_COMPASS,
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#endif
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#ifdef GPS
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TASK_GPS,
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#endif
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#ifdef SONAR
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TASK_SONAR,
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#endif
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#if defined(BARO) || defined(SONAR)
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TASK_ALTITUDE,
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#endif
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#if BEEPER
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TASK_BEEPER
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#endif
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/* Need to be the value directly after the tasks id. Keeps track of the count of the tasks */
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TASK_COUNT,
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/* Service task IDs */
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TASK_NONE = TASK_COUNT,
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TASK_SELF
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}taskId_t;
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/* Variables --------------------------------------------------------------------------------- */
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/* Functions that operate can operate on the tasks ------------------------------------------- */
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/**************************************************************************
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* BRIEF: Enables or disables a specific task in the system *
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* INFORMATION: Takes the id of the task(task_t) along with a true or *
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* false value. If true the task will be added to the task queue, if false *
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* it will be removed. *
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**************************************************************************/
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void enableTask(taskId_t taskId, bool enabled);
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/**************************************************************************
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* BRIEF: *
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* INFORMATION: *
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**************************************************************************/
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uint32_t getTaskDeltaTime(taskId_t taskId);
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/**************************************************************************
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* BRIEF: *
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* INFORMATION: *
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**************************************************************************/
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void rescheduleTask(taskId_t taskId, uint32_t newPeriodMicros);
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/* Functions that handle the scheduler ------------------------------------------------------- */
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/**************************************************************************
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* BRIEF: *
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* INFORMATION: *
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**************************************************************************/
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void scheduler(void);
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/**************************************************************************
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* BRIEF: *
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* INFORMATION: *
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**************************************************************************/
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void initScheduler(void);
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#endif /* SCHEDULER_H_ */
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