mantis_tta_scheduler

/*

 * scheduler.cpp

 *

 *  Created on: 17-Feb-2011

 *      Author: nrqm

 *      Based on code by Jacob Schwartz

 *  Modified on: 16 Aug 2013

 *      Auther: MHMC

 */

#include "scheduler.h"

#include "../include/includes.h"

#include "sdio_hardware.h"

#include "sdio_typedef.h"

// a descriptor for each "task" (time-triggered callback function)

typedef struct {

    S32 period;

    S32 remaining_time;

    task_cb callback;

} task_t;

 

U8 next_task; // next entry in "tasks" that is not used

 

task_t tasks[MAXTASKS];

 

U32 last_runtime;  // last updated current time

 

void Scheduler_Init(void)

{

 last_runtime = now; // get the current time "now" in milliseconds

 next_task = 0;

}

 

void Scheduler_StartTask(S16 start, S16 period, task_cb task)

{

 if (next_task == MAXTASKS) return;

 tasks[next_task].remaining_time = start;

 tasks[next_task].period         = period;

 tasks[next_task].callback       = task;

 ++next_task;

}

 

 

U32 min(U32 a,U32 b)

{

 if(a>=b)

  return b;

 else

   return a;

 

}

 

 

U32 Scheduler_Dispatch()

{

 U8 i;

 

 U32 ct = now; // get the current time again

 U32 elapsed = ct - last_runtime;  // how many milliseconds have elapsed since last "Dispatch()"?

 last_runtime = ct;

 task_cb running = NULL;

 U32 idle_time = 0xFFFF;

 

 // update each task's remaining time, and identify the "first" expired task (if there is one).

 for (i = 0; i < next_task; i++)

 {

  // update the task's remaining time

  tasks[i].remaining_time -= elapsed;

  if (tasks[i].remaining_time <= 0)

  {  // this task has expired

   if (running == NULL)

   {

    // if this task is ready to run, and we haven't already selected a task to run,

    // select this one.

    running = tasks[i].callback;

    // prepare for next cycle

    tasks[i].remaining_time += tasks[i].period;

   }

   idle_time = 0;

  }

  else

  {

   // keep track of the "minimal" time that can be idle

   idle_time = min((U32)tasks[i].remaining_time, idle_time);

  }

 // serial_puts("we are in loop i\n");

 }

 

 

 if (running != NULL)

 {

  // If a task was selected to run, call its function.

  running();

  return idle_time - (now -ct);  // need to subtract the execution of "running()"

 } else

      return idle_time;

}