sys_task_scheduler.h 3.8 KB

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  1. /**
  2. * Copyright (c) 2016 - 2020 Nordic Semiconductor ASA and Luxoft Global Operations Gmbh.
  3. *
  4. * All Rights Reserved.
  5. *
  6. * Redistribution and use in source and binary forms, with or without modification,
  7. * are permitted provided that the following conditions are met:
  8. *
  9. *
  10. * 1. Redistributions of source code must retain the above copyright notice, this
  11. * list of conditions and the following disclaimer.
  12. *
  13. * 2. Redistributions in binary form, except as embedded into a Nordic
  14. * Semiconductor ASA integrated circuit in a product or a software update for
  15. * such product, must reproduce the above copyright notice, this list of
  16. * conditions and the following disclaimer in the documentation and/or other
  17. * materials provided with the distribution.
  18. *
  19. * 3. Neither the name of Nordic Semiconductor ASA nor the names of its
  20. * contributors may be used to endorse or promote products derived from this
  21. * software without specific prior written permission.
  22. *
  23. * 4. This software, with or without modification, must only be used with a
  24. * Nordic Semiconductor ASA integrated circuit.
  25. *
  26. * 5. Any software provided in binary form under this license must not be reverse
  27. * engineered, decompiled, modified and/or disassembled.
  28. *
  29. *
  30. * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
  31. * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
  32. * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
  33. * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
  34. * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  35. * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
  36. * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  37. * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  38. * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
  39. * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  40. *
  41. */
  42. #ifndef SYS_TASK_SCHEDULER_H_INCLUDED
  43. #define SYS_TASK_SCHEDULER_H_INCLUDED
  44. #include <stdint.h>
  45. #include <stdbool.h>
  46. #include "sys_utils.h"
  47. #include "hal_atomic.h"
  48. #include "sys_events.h"
  49. /** @file
  50. * @defgroup sys_task_scheduler Task scheduler
  51. * @ingroup sys_15_4
  52. * @{
  53. * @brief Module for task scheduling.
  54. */
  55. /**@brief Identificators for registered handlers.
  56. *
  57. * Handlers will be called from the task scheduler.
  58. */
  59. typedef enum
  60. {
  61. PHY_TASK_ID,
  62. HAL_TASK_ID,
  63. #if (CONFIG_HIGHEST_LAYER_PHY == 0)
  64. MAC_TASK_ID,
  65. #endif
  66. APP_TASK_ID,
  67. SYS_TASK_ID,
  68. SYS_TASKS_AMOUNT
  69. } sys_task_ids_t;
  70. /**@brief Prototype of a task handler.
  71. *
  72. * @details Handler which will be called by the scheduler.
  73. */
  74. typedef void (* sys_task_handler_t)(void);
  75. /**@brief Pending tasks.
  76. *
  77. * @details Variable which includes markers of pending tasks.
  78. */
  79. extern volatile uint_fast16_t g_tasks;
  80. /**@brief Notify task scheduler to add a task for execution.
  81. *
  82. * @details The function sets a marker for the task for execution.
  83. * The task handler implements a tree architecture.
  84. * Task handler of each layer includes handlers of the layer's components.
  85. *
  86. * @param[in] task_id Task identificator.
  87. */
  88. static inline void sys_task_post(sys_task_ids_t task_id)
  89. {
  90. atomic_t atomic = 0;
  91. hal_atomic_start(&atomic);
  92. g_tasks |= BIT(task_id);
  93. #if (CONFIG_USE_SYS_TASK_NOTIFIER == 1)
  94. sys_event_post(SYS_EVENT_NEW_TASK, NULL);
  95. #endif
  96. hal_atomic_end(&atomic);
  97. }
  98. /**@brief Returns true, if there are any event flags awaiting in the system scheduler.
  99. */
  100. static inline bool sys_tasks_pending(void)
  101. {
  102. return g_tasks != 0;
  103. }
  104. /**@brief Handle tasks in the main function.
  105. *
  106. * @details Handle tasks in the main function.
  107. */
  108. void sys_task_run(void);
  109. /** @} */
  110. #endif // SYS_TASK_SCHEDULER_H_INCLUDED