一、实现目的
在某些应用场景下，我们不需要使用操作系统，但是也希望能使用操作系统的api一样去调用自己的逻辑任务。如创建一个10ms的任务或定时器，只需要调用类似task_create或timer_create的接口就可以了。这样的好处一是我们只关心业务逻辑实现，不用关心什么时候要去执行这个任务，二是这样能促进各个模块独立解耦，代码结构也会很清晰。
二、实现
1.采用系统的定时器来提供系统时间粒度，一般为1ms。
void SysTick_Handler(void)
{
g_systick_cnt++;
timer_check();
}
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
uint32_t get_ticks(void)
{
return g_systick_cnt;
}
/**
* @brief initialize systick interrupt every 1ms
* @param none
* @retval none
*/
void systick_init(void)
{
/*
systick_clock_source_config(SYSTICK_CLOCK_SOURCE_AHBCLK_NODIV);
SysTick->LOAD = (uint32_t)(system_core_clock / 1000);
SysTick->VAL = 0x00;
SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk;
NVIC_SetPriority(SysTick_IRQn, 3);
*/
/* setup systick timer for 1000Hz interrupts */
if(SysTick_Config(SystemCoreClock / 1000U)) {
/* capture error */
while(1) {
}
}
/* configure the systick handler priority */
NVIC_SetPriority(SysTick_IRQn, 0x00U);
}你可能会有疑问，不用担心g_systick_cnt会溢出吗？后面解答。
2.然后在main的while(1)中实现调度器，它就跟根据你创建的任务开始调度了。
int main(void)
{
/* 任务初始化 */
//task_create(...);
while(1)
{
task_schedule();
}
}
/**
* @brief 任务调度
* @param None
* @retval none
*/
void task_schedule(void)
{
uint32_t current_ticks = 0;
uint32_t prio_grop = 0;
struct task_t* task;
struct task_t* n;
if (!g_priority_group)
{
// 没有任务需要执行
return;
}
// 获取最高优先级任务组
prio_grop = get_highest_prio();
// 循环执行任务组中的任务
list_for_each_entry_safe(task, n, &task_priority_table[prio_grop], node)
{
current_ticks = get_ticks();
// 任务执行周期到了，防止tick溢出
if (current_ticks - task->ticks < (TIME_TICKS_MAX / 2))
{
// 改变任务状态
task->state = TASK_RUNNING;
if (task->func)
{
task->func(task->param);
}
else
{
task->err_code = TASK_ERR_NOFUNC;
}
// 更新任务下一个执行时间
task->ticks = get_ticks() + task->period;
// 改变任务状态为suspend
task->state = TASK_SUSPEND;
}
}
}其中if (current_ticks - task->ticks < (TIME_TICKS_MAX / 2))就是为了防止溢出，就是当前时间片已经超过了0xffffffff，溢出会重新从0开始计数，此时减出来是负数，负数转为无符号。比如当前时间是10，任务到期时间是task->ticks是0xffffffff，10-0xffffffff相减最后就是11，条件成立，就任务任务已经到期，需要执行。注意有个前提是任务周期不能大于（0xffffffff/2）。Rtthread就是这样判断超时的，感兴趣的靓仔可以review一下rtthread的源码。
三、完整源码
1.所有任务都是挂在一条链表上的，链表是根据linux内核链表来的，下面粘贴一下内核链表完整文件。
/*
* list.h
*
* Created on: 2020.11.20
* Author:
* brief: linux kernel list, refer to https://blog.csdn.net/qq153471503/article/details/79180659
*/
#ifndef LIST_H_
#define LIST_H_
#include <stdio.h>
#define prefetch(x) __builtin_prefetch(x)
#ifndef container_of
/**
* container_of - cast a member of a structure out to the containing structure
*
* @ptr: the pointer to the member.
* @type: the type of the container struct this is embedded in.
* @member: the name of the member within the struct.
*
*/
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})
#endif
#undef offsetof
#ifdef __compiler_offsetof
#define offsetof(TYPE,MEMBER) __compiler_offsetof(TYPE,MEMBER)
#else
#define offsetof(TYPE, MEMBER) ((size_t) &((TYPE *)0)->MEMBER)
#endif
/*
* Simple doubly linked list implementation.
*
* Some of the internal functions ("__xxx") are useful when
* manipulating whole lists rather than single entries, as
* sometimes we already know the next/prev entries and we can
* generate better code by using them directly rather than
* using the generic single-entry routines.
*/
struct list_head
{
struct list_head *next, *prev;
};
#define LIST_HEAD_INIT(name) { &(name), &(name) }
#define LIST_HEAD(name) \
struct list_head name = LIST_HEAD_INIT(name)
static inline void INIT_LIST_HEAD(struct list_head *list)
{
list->next = list;
list->prev = list;
}
/*
* Insert a new entry between two known consecutive entries.
*
* This is only for internal list manipulation where we know
* the prev/next entries already!
*/
static inline void __list_add(struct list_head *new, struct list_head *prev, struct list_head *next)
{
next->prev = new;
new->next = next;
new->prev = prev;
prev->next = new;
}
/**
* list_add - add a new entry
* @new: new entry to be added
* @head: list head to add it after
*
* Insert a new entry after the specified head.
* This is good for implementing stacks.
*/
static inline void list_add(struct list_head *new, struct list_head *head)
{
__list_add(new, head, head->next);
}
/**
* list_add_tail - add a new entry
* @new: new entry to be added
* @head: list head to add it before
*
* Insert a new entry before the specified head.
* This is useful for implementing queues.
*/
static inline void list_add_tail(struct list_head *new, struct list_head *head)
{
__list_add(new, head->prev, head);
}
/*
* Delete a list entry by making the prev/next entries
* point to each other.
*
* This is only for internal list manipulation where we know
* the prev/next entries already!
*/
static inline void __list_del(struct list_head *prev, struct list_head *next)
{
next->prev = prev;
prev->next = next;
}
/**
* list_del - deletes entry from list.
* @entry: the element to delete from the list.
* Note: list_empty() on entry does not return true after this, the entry is
* in an undefined state.
*/
static inline void list_del(struct list_head *entry)
{
__list_del(entry->prev, entry->next);
entry->next = NULL;
entry->prev = NULL;
}
/**
* list_replace - replace old entry by new one
* @old : the element to be replaced
* @new : the new element to insert
*
* If @old was empty, it will be overwritten.
*/
static inline void list_replace(struct list_head *old, struct list_head *new)
{
new->next = old->next;
new->next->prev = new;
new->prev = old->prev;
new->prev->next = new;
}
static inline void list_replace_init(struct list_head *old, struct list_head *new)
{
list_replace(old, new);
INIT_LIST_HEAD(old);
}
/**
* list_del_init - deletes entry from list and reinitialize it.
* @entry: the element to delete from the list.
*/
static inline void list_del_init(struct list_head *entry)
{
__list_del(entry->prev, entry->next);
INIT_LIST_HEAD(entry);
}
/**
* list_move - delete from one list and add as another's head
* @list: the entry to move
* @head: the head that will precede our entry
*/
static inline void list_move(struct list_head *list, struct list_head *head)
{
__list_del(list->prev, list->next);
list_add(list, head);
}
/**
* list_move_tail - delete from one list and add as another's tail
* @list: the entry to move
* @head: the head that will follow our entry
*/
static inline void list_move_tail(struct list_head *list, struct list_head *head)
{
__list_del(list->prev, list->next);
list_add_tail(list, head);
}
/**
* list_is_last - tests whether @list is the last entry in list @head
* @list: the entry to test
* @head: the head of the list
*/
static inline int list_is_last(const struct list_head *list, const struct list_head *head)
{
return list->next == head;
}
/**
* list_empty - tests whether a list is empty
* @head: the list to test.
*/
static inline int list_empty(const struct list_head *head)
{
return head->next == head;
}
/**
* list_empty_careful - tests whether a list is empty and not being modified
* @head: the list to test
*
* Description:
* tests whether a list is empty _and_ checks that no other CPU might be
* in the process of modifying either member (next or prev)
*
* NOTE: using list_empty_careful() without synchronization
* can only be safe if the only activity that can happen
* to the list entry is list_del_init(). Eg. it cannot be used
* if another CPU could re-list_add() it.
*/
static inline int list_empty_careful(const struct list_head *head)
{
struct list_head *next = head->next;
return (next == head) && (next == head->prev);
}
/**
* list_is_singular - tests whether a list has just one entry.
* @head: the list to test.
*/
static inline int list_is_singular(const struct list_head *head)
{
return !list_empty(head) && (head->next == head->prev);
}
static inline void __list_cut_position(struct list_head *list, struct list_head *head, struct list_head *entry)
{
struct list_head *new_first = entry->next;
list->next = head->next;
list->next->prev = list;
list->prev = entry;
entry->next = list;
head->next = new_first;
new_first->prev = head;
}
/**
* list_cut_position - cut a list into two
* @list: a new list to add all removed entries
* @head: a list with entries
* @entry: an entry within head, could be the head itself
* and if so we won't cut the list
*
* This helper moves the initial part of @head, up to and
* including @entry,from @head to @list. You should
* pass on @entry an element you know is on @head. @list
* should be an empty list or a list you do not care about
* losing its data.
*
*/
static inline void list_cut_position(struct list_head *list, struct list_head *head, struct list_head *entry)
{
if (list_empty(head))
return;
if (list_is_singular(head) &&
(head->next != entry && head != entry))
return;
if (entry == head)
INIT_LIST_HEAD(list);
else
__list_cut_position(list, head, entry);
}
static inline void __list_splice(const struct list_head *list, struct list_head *prev, struct list_head *next)
{
struct list_head *first = list->next;
struct list_head *last = list->prev;
first->prev = prev;
prev->next = first;
last->next = next;
next->prev = last;
}
/**
* list_splice - join two lists, this is designed for stacks
* @list: the new list to add.
* @head: the place to add it in the first list.
*/
static inline void list_splice(const struct list_head *list, struct list_head *head)
{
if (!list_empty(list))
__list_splice(list, head, head->next);
}
/**
* list_splice_tail - join two lists, each list being a queue
* @list: the new list to add.
* @head: the place to add it in the first list.
*/
static inline void list_splice_tail(struct list_head *list, struct list_head *head)
{
if (!list_empty(list))
__list_splice(list, head->prev, head);
}
/**
* list_splice_init - join two lists and reinitialise the emptied list.
* @list: the new list to add.
* @head: the place to add it in the first list.
*
* The list at @list is reinitialised
*/
static inline void list_splice_init(struct list_head *list, struct list_head *head)
{
if (!list_empty(list))
{
__list_splice(list, head, head->next);
INIT_LIST_HEAD(list);
}
}
/**
* list_splice_tail_init - join two lists and reinitialise the emptied list
* @list: the new list to add.
* @head: the place to add it in the first list.
*
* Each of the lists is a queue.
* The list at @list is reinitialised
*/
static inline void list_splice_tail_init(struct list_head *list, struct list_head *head)
{
if (!list_empty(list))
{
__list_splice(list, head->prev, head);
INIT_LIST_HEAD(list);
}
}
/**
* list_entry - get the struct for this entry
* @ptr: the &struct list_head pointer.
* @type: the type of the struct this is embedded in.
* @member: the name of the list_struct within the struct.
*/
#define list_entry(ptr, type, member) \
container_of(ptr, type, member)
/**
* list_first_entry - get the first element from a list
* @ptr: the list head to take the element from.
* @type: the type of the struct this is embedded in.
* @member: the name of the list_struct within the struct.
*
* Note, that list is expected to be not empty.
*/
#define list_first_entry(ptr, type, member) \
list_entry((ptr)->next, type, member)
/**
* list_for_each - iterate over a list
* @pos: the &struct list_head to use as a loop cursor.
* @head: the head for your list.
*/
#define list_for_each(pos, head) \
for (pos = (head)->next; prefetch(pos->next), pos != (head); \
pos = pos->next)
/**
* __list_for_each - iterate over a list
* @pos: the &struct list_head to use as a loop cursor.
* @head: the head for your list.
*
* This variant differs from list_for_each() in that it's the
* simplest possible list iteration code, no prefetching is done.
* Use this for code that knows the list to be very short (empty
* or 1 entry) most of the time.
*/
#define __list_for_each(pos, head) \
for (pos = (head)->next; pos != (head); pos = pos->next)
/**
* list_for_each_prev - iterate over a list backwards
* @pos: the &struct list_head to use as a loop cursor.
* @head: the head for your list.
*/
#define list_for_each_prev(pos, head) \
for (pos = (head)->prev; prefetch(pos->prev), pos != (head); \
pos = pos->prev)
/**
* list_for_each_safe - iterate over a list safe against removal of list entry
* @pos: the &struct list_head to use as a loop cursor.
* @n: another &struct list_head to use as temporary storage
* @head: the head for your list.
*/
#define list_for_each_safe(pos, n, head) \
for (pos = (head)->next, n = pos->next; pos != (head); \
pos = n, n = pos->next)
/**
* list_for_each_prev_safe - iterate over a list backwards safe against removal of list entry
* @pos: the &struct list_head to use as a loop cursor.
* @n: another &struct list_head to use as temporary storage
* @head: the head for your list.
*/
#define list_for_each_prev_safe(pos, n, head) \
for (pos = (head)->prev, n = pos->prev; \
prefetch(pos->prev), pos != (head); \
pos = n, n = pos->prev)
/**
* list_for_each_entry - iterate over list of given type
* @pos: the type * to use as a loop cursor.
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*/
#define list_for_each_entry(pos, head, member) \
for (pos = list_entry((head)->next, typeof(*pos), member); \
prefetch(pos->member.next), &pos->member != (head); \
pos = list_entry(pos->member.next, typeof(*pos), member))
/**
* list_for_each_entry_reverse - iterate backwards over list of given type.
* @pos: the type * to use as a loop cursor.
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*/
#define list_for_each_entry_reverse(pos, head, member) \
for (pos = list_entry((head)->prev, typeof(*pos), member); \
prefetch(pos->member.prev), &pos->member != (head); \
pos = list_entry(pos->member.prev, typeof(*pos), member))
/**
* list_prepare_entry - prepare a pos entry for use in list_for_each_entry_continue()
* @pos: the type * to use as a start point
* @head: the head of the list
* @member: the name of the list_struct within the struct.
*
* Prepares a pos entry for use as a start point in list_for_each_entry_continue().
*/
#define list_prepare_entry(pos, head, member) \
((pos) ? : list_entry(head, typeof(*pos), member))
/**
* list_for_each_entry_continue - continue iteration over list of given type
* @pos: the type * to use as a loop cursor.
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*
* Continue to iterate over list of given type, continuing after
* the current position.
*/
#define list_for_each_entry_continue(pos, head, member) \
for (pos = list_entry(pos->member.next, typeof(*pos), member); \
prefetch(pos->member.next), &pos->member != (head); \
pos = list_entry(pos->member.next, typeof(*pos), member))
/**
* list_for_each_entry_continue_reverse - iterate backwards from the given point
* @pos: the type * to use as a loop cursor.
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*
* Start to iterate over list of given type backwards, continuing aftafter
* the current position.
*/
#define list_for_each_entry_continue_reverse(pos, head, member) \
for (pos = list_entry(pos->member.prev, typeof(*pos), member); \
prefetch(pos->member.prev), &pos->member != (head); \
pos = list_entry(pos->member.prev, typeof(*pos), member))
/**
* list_for_each_entry_from - iterate over list of given type from the current point
* @pos: the type * to use as a loop cursor.
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*
* Iterate over list of given type, continuing from current position.
*/
#define list_for_each_entry_from(pos, head, member) \
for (; prefetch(pos->member.next), &pos->member != (head); \
pos = list_entry(pos->member.next, typeof(*pos), member))
/**
* list_for_each_entry_safe - iterate over list of given type safe against removal of list entry
* @pos: the type * to use as a loop cursor.
* @n: another type * to use as temporary storage
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*/
#define list_for_each_entry_safe(pos, n, head, member) \
for (pos = list_entry((head)->next, typeof(*pos), member), \
n = list_entry(pos->member.next, typeof(*pos), member); \
&pos->member != (head); \
pos = n, n = list_entry(n->member.next, typeof(*n), member))
/**
* list_for_each_entry_safe_continue
* @pos: the type * to use as a loop cursor.
* @n: another type * to use as temporary storage
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*
* Iterate over list of given type, continuing after current point,
* safe against removal of list entry.
*/
#define list_for_each_entry_safe_continue(pos, n, head, member) \
for (pos = list_entry(pos->member.next, typeof(*pos), member), \
n = list_entry(pos->member.next, typeof(*pos), member); \
&pos->member != (head); \
pos = n, n = list_entry(n->member.next, typeof(*n), member))
/**
* list_for_each_entry_safe_from
* @pos: the type * to use as a loop cursor.
* @n: another type * to use as temporary storage
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*
* Iterate over list of given type from current point, safe against
* removal of list entry.
*/
#define list_for_each_entry_safe_from(pos, n, head, member) \
for (n = list_entry(pos->member.next, typeof(*pos), member); \
&pos->member != (head); \
pos = n, n = list_entry(n->member.next, typeof(*n), member))
/**
* list_for_each_entry_safe_reverse
* @pos: the type * to use as a loop cursor.
* @n: another type * to use as temporary storage
* @head: the head for your list.
* @member: the name of the list_struct within the struct.
*
* Iterate backwards over list of given type, safe against removal
* of list entry.
*/
#define list_for_each_entry_safe_reverse(pos, n, head, member) \
for (pos = list_entry((head)->prev, typeof(*pos), member), \
n = list_entry(pos->member.prev, typeof(*pos), member); \
&pos->member != (head); \
pos = n, n = list_entry(n->member.prev, typeof(*n), member))
/*
* Double linked lists with a single pointer list head.
* Mostly useful for hash tables where the two pointer list head is
* too wasteful.
* You lose the ability to access the tail in O(1).
*/
struct hlist_head
{
struct hlist_node *first;
};
struct hlist_node
{
struct hlist_node *next, * *pprev;
};
#define HLIST_HEAD_INIT { .first = NULL }
#define HLIST_HEAD(name) struct hlist_head name = { .first = NULL }
#define INIT_HLIST_HEAD(ptr) ((ptr)->first = NULL)
static inline void INIT_HLIST_NODE(struct hlist_node *h)
{
h->next = NULL;
h->pprev = NULL;
}
static inline int hlist_unhashed(const struct hlist_node *h)
{
return !h->pprev;
}
static inline int hlist_empty(const struct hlist_head *h)
{
return !h->first;
}
static inline void __hlist_del(struct hlist_node *n)
{
struct hlist_node *next = n->next;
struct hlist_node **pprev = n->pprev;
*pprev = next;
if (next)
next->pprev = pprev;
}
static inline void hlist_del(struct hlist_node *n)
{
__hlist_del(n);
n->next = NULL;
n->pprev = NULL;
}
static inline void hlist_del_init(struct hlist_node *n)
{
if (!hlist_unhashed(n))
{
__hlist_del(n);
INIT_HLIST_NODE(n);
}
}
static inline void hlist_add_head(struct hlist_node *n, struct hlist_head *h)
{
struct hlist_node *first = h->first;
n->next = first;
if (first)
first->pprev = &n->next;
h->first = n;
n->pprev = &h->first;
}
static inline void hlist_add_before(struct hlist_node *n, struct hlist_node *next)
{
n->pprev = next->pprev;
n->next = next;
next->pprev = &n->next;
*(n->pprev) = n;
}
static inline void hlist_add_after(struct hlist_node *n, struct hlist_node *next)
{
next->next = n->next;
n->next = next;
next->pprev = &n->next;
if (next->next)
next->next->pprev = &next->next;
}
/*
* Move a list from one list head to another. Fixup the pprev
* reference of the first entry if it exists.
*/
static inline void hlist_move_list(struct hlist_head *old, struct hlist_head *new)
{
new->first = old->first;
if (new->first)
new->first->pprev = &new->first;
old->first = NULL;
}
#define hlist_entry(ptr, type, member) container_of(ptr,type,member)
#define hlist_for_each(pos, head) \
for (pos = (head)->first; pos && ({ prefetch(pos->next); 1; }); \
pos = pos->next)
#define hlist_for_each_safe(pos, n, head) \
for (pos = (head)->first; pos && ({ n = pos->next; 1; }); \
pos = n)
/**
* hlist_for_each_entry - iterate over list of given type
* @tpos: the type * to use as a loop cursor.
* @pos: the &struct hlist_node to use as a loop cursor.
* @head: the head for your list.
* @member: the name of the hlist_node within the struct.
*/
#define hlist_for_each_entry(tpos, pos, head, member) \
for (pos = (head)->first; \
pos && ({ prefetch(pos->next); 1;}) && \
({ tpos = hlist_entry(pos, typeof(*tpos), member); 1;}); \
pos = pos->next)
/**
* hlist_for_each_entry_continue - iterate over a hlist continuing after current point
* @tpos: the type * to use as a loop cursor.
* @pos: the &struct hlist_node to use as a loop cursor.
* @member: the name of the hlist_node within the struct.
*/
#define hlist_for_each_entry_continue(tpos, pos, member) \
for (pos = (pos)->next; \
pos && ({ prefetch(pos->next); 1;}) && \
({ tpos = hlist_entry(pos, typeof(*tpos), member); 1;}); \
pos = pos->next)
/**
* hlist_for_each_entry_from - iterate over a hlist continuing from current point
* @tpos: the type * to use as a loop cursor.
* @pos: the &struct hlist_node to use as a loop cursor.
* @member: the name of the hlist_node within the struct.
*/
#define hlist_for_each_entry_from(tpos, pos, member) \
for (; pos && ({ prefetch(pos->next); 1;}) && \
({ tpos = hlist_entry(pos, typeof(*tpos), member); 1;}); \
pos = pos->next)
/**
* hlist_for_each_entry_safe - iterate over list of given type safe against removal of list entry
* @tpos: the type * to use as a loop cursor.
* @pos: the &struct hlist_node to use as a loop cursor.
* @n: another &struct hlist_node to use as temporary storage
* @head: the head for your list.
* @member: the name of the hlist_node within the struct.
*/
#define hlist_for_each_entry_safe(tpos, pos, n, head, member) \
for (pos = (head)->first; \
pos && ({ n = pos->next; 1; }) && \
({ tpos = hlist_entry(pos, typeof(*tpos), member); 1;}); \
pos = n)
#endif /* LIST_H_ */
2.剩下的内容不用过多介绍了，直接上完整源码。
task.c
/*
* Copyright (c) 2023, UP3D system I team
*
* @brief 任务管理中心
*
* Change Logs:
* Date Author Notes
* 2023-03-24 lj the first version
*/
#include <stdlib.h>
#include <string.h>
#include "task.h"
#include "mc_delay.h"
#include "common/common.h"
#define PRIORITY_MAX 32
#define TIME_TICKS_MAX (0xffffffff)
// 任务链表
struct list_head g_task_list;
struct list_head task_priority_table[PRIORITY_MAX];
// 控制优先级
static uint32_t g_priority_group = 0;
// 位图优先级表
const uint8_t __lowest_bit_bitmap[] =
{
/* 00 */ 0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 10 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 20 */ 5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 30 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 40 */ 6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 50 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 60 */ 5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 70 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 80 */ 7, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* 90 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* A0 */ 5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* B0 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* C0 */ 6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* D0 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* E0 */ 5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
/* F0 */ 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0
};
// 位图获取最高优先级
int __rt_ffs(int value)
{
if (value == 0) return 0;
if (value & 0xff)
return __lowest_bit_bitmap[value & 0xff] + 1;
if (value & 0xff00)
return __lowest_bit_bitmap[(value & 0xff00) >> 8] + 9;
if (value & 0xff0000)
return __lowest_bit_bitmap[(value & 0xff0000) >> 16] + 17;
return __lowest_bit_bitmap[(value & 0xff000000) >> 24] + 25;
}
/**
* @brief 获取最高优先级线程
* @param None
* @retval none
*/
uint32_t get_highest_prio(void)
{
register uint32_t highest_ready_priority;
highest_ready_priority = __rt_ffs(g_priority_group) - 1;
return highest_ready_priority;
}
/**
* @brief 初始化任务管理器
* @param None
* @retval none
*/
void task_init(void)
{
int i;
for (i=0; i<PRIORITY_MAX; i++)
{
INIT_LIST_HEAD(&task_priority_table[i]);
}
g_priority_group = 0;
}
/**
* @brief 初始化任务管理器
* @param None
* @retval none
*/
void task_set_period(struct task_t* task, uint32_t period)
{
if (NULL == task)
return;
task->period = period;
}
/**
* @brief 创建任务
* @param name:任务名
* @param param:任务回调参数
* @param func:任务回调函数
* @param prio:任务优先级
* @param period:任务周期
* @retval 任务结构体
*/
struct task_t* task_create(char *name, task_func_t func, void *param, uint8_t prio, uint32_t period)
{
uint16_t tmp_len = 0;
struct task_t* task;
if (0 == period)
return NULL;
task = malloc(sizeof(struct task_t));
if (NULL == task)
return NULL;
if (NULL != name)
{
tmp_len = strlen(name);
memcpy(task->name, name, tmp_len);
task->name[tmp_len] = '\0';
}
else
{
memcpy(task->name, "unknown", 7);
task->name[7] = '\0';
}
task->func = func;
task->prio = prio;
task->period = period;
task->param = param;
task->state = TASK_INIT;
task->ticks = get_ticks() + task->period;
task->err_code = 0;
// 将任务添加至优先级调度链表
list_add_tail(&task->node, &task_priority_table[task->prio]);
if (prio > (PRIORITY_MAX-1))
prio = PRIORITY_MAX-1;
g_priority_group |= (1<< prio);
return task;
}
/**
* @brief 删除任务
* @param task：要删除的任务
* @retval none
*/
void task_delete(struct task_t *task)
{
if (NULL == task)
return;
list_del(&task->node);
free(task);
}
/**
* @brief 任务调度
* @param None
* @retval none
*/
void task_schedule(void)
{
uint32_t current_ticks = 0;
uint32_t prio_grop = 0;
struct task_t* task;
struct task_t* n;
if (!g_priority_group)
{
// 没有任务需要执行
return;
}
// 获取最高优先级任务组
prio_grop = get_highest_prio();
// 循环执行任务组中的任务
list_for_each_entry_safe(task, n, &task_priority_table[prio_grop], node)
{
current_ticks = get_ticks();
// 任务执行周期到了，防止tick溢出
if (current_ticks - task->ticks < (TIME_TICKS_MAX / 2))
{
// 改变任务状态
task->state = TASK_RUNNING;
if (task->func)
{
task->func(task->param);
}
else
{
task->err_code = TASK_ERR_NOFUNC;
}
// 更新任务下一个执行时间
task->ticks = get_ticks() + task->period;
// 改变任务状态为suspend
task->state = TASK_SUSPEND;
}
}
}
/**
* @brief 显示任务信息
* @param None
* @retval none
*/
void list_task(void)
{
/* need modify */
// uint32_t prio_grop = 0;
// struct task_t* task;
// struct task_t* n;
//
// prio_grop = get_highest_prio();
//
// PRINTF("\r\nname\tprio\tticks\terror\tstate\r\n");
// PRINTF("---\t---\t---\t---\t---\r\n");
//
// list_for_each_entry_safe(task, n, &task_priority_table[prio_grop], node)
// {
// PRINTF("%s\t%d\t%d\t%d\t", task->name, task->prio, task->ticks, task->err_code);
// if (task->state == TASK_SUSPEND)
// PRINTF(" suspend \r\n");
// else if (task->state == TASK_RUNNING)
// PRINTF(" running \r\n");
// else if (task->state == TASK_INIT)
// PRINTF(" init \r\n");
// }
// PRINTF("current ticks:%d\r\n", get_ticks());
/* need modify */
}
//========================================timer
// 定时器链表
struct list_head g_timer_list;
/**
* @brief 初始化定时器
* @param None
* @retval none
*/
void timer_init(void)
{
INIT_LIST_HEAD(&g_timer_list);
}
/**
* @brief 创建任务
* @param name:任务名
* @param param:任务回调参数
* @param func:任务回调函数
* @param prio:任务优先级
* @param period:任务周期
* @retval 任务结构体
*/
struct timer_t* timer_create(char *name, task_func_t func, void *param, uint32_t time, uint8_t flag)
{
uint16_t tmp_len = 0;
struct timer_t* timer;
timer = malloc(sizeof(struct timer_t));
if (NULL == timer)
return NULL;
if (NULL != name)
{
tmp_len = strlen(name);
memcpy(timer->name, name, tmp_len);
timer->name[tmp_len] = '\0';
}
else
{
memcpy(timer->name, "unknown", 7);
timer->name[7] = '\0';
}
timer->flag = flag;
timer->flag &= ~RT_TIMER_FLAG_ACTIVATED;
timer->func = func;
timer->param = param;
timer->init_tick = time;
timer->timeout_tick = 0;
// 将任务添加至定时器链表
list_add_tail(&timer->node, &g_timer_list);
return timer;
}
/**
* @brief 删除任务
* @param task：要删除的任务
* @retval none
*/
void timer_delete(struct timer_t *timer)
{
if (NULL == timer)
return;
list_del(&timer->node);
free(timer);
}
/**
* @brief 停止定时器
* @param task：要停止的定时器
* @retval none
*/
void timer_start(struct timer_t *timer)
{
if (NULL == timer)
return;
__disable_irq();
timer->timeout_tick = get_ticks() + timer->init_tick;
timer->flag |= RT_TIMER_FLAG_ACTIVATED;
if ((timer->rflag & RT_TIMER_FLAG_PERIODIC))
{
timer->flag |= RT_TIMER_FLAG_PERIODIC;
}
__enable_irq();
}
/**
* @brief 开始定时器
* @param task：要开始的定时器
* @retval none
*/
void timer_stop(struct timer_t *timer)
{
if (NULL == timer)
return;
__disable_irq();
timer->flag &= ~RT_TIMER_FLAG_ACTIVATED;
if ((timer->flag & RT_TIMER_FLAG_PERIODIC))
{
timer->flag &= ~RT_TIMER_FLAG_PERIODIC;
timer->rflag |= RT_TIMER_FLAG_PERIODIC;
}
__enable_irq();
}
void timer_check(void)
{
struct timer_t* timer;
struct timer_t* n;
uint32_t current_tick = get_ticks();
list_for_each_entry_safe(timer, n, &g_timer_list, node)
{
if (current_tick - timer->timeout_tick < (TIME_TICKS_MAX / 2))
{
if (timer->flag & RT_TIMER_FLAG_ACTIVATED)
{
//timer->flag &= ~RT_TIMER_FLAG_ACTIVATED;
timer->func(timer->param);
timer->timeout_tick = get_ticks() + timer->init_tick;
/*
if ((timer->flag & RT_TIMER_FLAG_PERIODIC))
{
timer->timeout_tick = get_ticks() + timer->init_tick;
timer->flag |= RT_TIMER_FLAG_ACTIVATED;
}*/
}
}
}
}
task.h
/*
* Copyright (c) 2023, UP3D system I team
*
* @brief 任务管理中心
*
* Change Logs:
* Date Author Notes
* 2023-03-24 lj the first version
*/
#ifndef APPLICATION_TASK_H
#define APPLICATION_TASK_H
#include <stdint.h>
#include "list.h"
#define TASK_NAME_MAX 10
/**
* @brief 任务状态
*/
typedef enum {
TASK_INIT,
TASK_SUSPEND,
TASK_RUNNING,
TASK_ERR
}task_state;
/**
* @brief 任务状态
*/
typedef enum {
TASK_ERR_NOFUNC, //没有执行函数
TASK_ERR_TIMEOUT,
}task_err_code_t;
typedef void (*task_func_t) (void *);
struct task_t{
char name[TASK_NAME_MAX]; // 任务名称
uint8_t state; // 任务状态
uint8_t prio; // 任务优先级 0~255
uint32_t ticks; // 任务运行时间
uint32_t period; // 任务运行周期
task_func_t func; // 任务回调函数
void *param; // 任务参数
uint8_t err_code; // 任务错误码
struct list_head node;
};
typedef struct task_t* task_type_t;
/**
* @brief 初始化任务管理器
* @param None
* @retval none
*/
void task_init(void);
/**
* @brief 创建任务
* @param name:任务名
* @param param:任务回调参数
* @param func:任务回调函数
* @param prio:任务优先级
* @param period:任务周期
* @retval 任务结构体
*/
struct task_t* task_create(char *name, task_func_t func, void *param, uint8_t prio, uint32_t period);
/**
* @brief 任务删除
* @param task:要删除的任务
* @retval none
*/
void task_delete(struct task_t *task);
/**
* @brief 任务调度
* @param None
* @retval none
*/
void task_schedule(void);
/**
* @brief 初始化任务管理器
* @param None
* @retval none
*/
void task_set_period(struct task_t* task, uint32_t period);
/**
* @brief 显示任务信息
* @param None
* @retval none
*/
void list_task(void);
#define RT_TIMER_FLAG_DEACTIVATED 0x0 /**< timer is deactive */
#define RT_TIMER_FLAG_ACTIVATED 0x1 /**< timer is active */
#define RT_TIMER_FLAG_ONE_SHOT 0x0 /**< one shot timer */
#define RT_TIMER_FLAG_PERIODIC 0x2 /**< periodic timer */
struct timer_t{
char name[TASK_NAME_MAX]; // 任务名称
// uint8_t state; // 任务状态
uint8_t flag; // 任务优先级 0~255
uint8_t rflag;
uint32_t timeout_tick; // 任务运行时间
uint32_t init_tick; // 任务运行周期
task_func_t func; // 任务回调函数
void *param; // 任务参数
struct list_head node;
};
typedef struct timer_t* timer_type_t;
/**
* @brief 初始化定时器
* @param None
* @retval none
*/
void timer_init(void);
/**
* @brief 创建任务
* @param name:任务名
* @param param:任务回调参数
* @param func:任务回调函数
* @param prio:任务优先级
* @param period:任务周期
* @retval 任务结构体
*/
struct timer_t* timer_create(char *name, task_func_t func, void *param, uint32_t time, uint8_t flag);
/**
* @brief 删除任务
* @param task：要删除的任务
* @retval none
*/
void timer_delete(struct timer_t *timer);
/**
* @brief 开始定时器
* @param task：要开始的定时器
* @retval none
*/
void timer_start(struct timer_t *timer);
/**
* @brief 停止定时器
* @param task：要停止的定时器
* @retval none
*/
void timer_stop(struct timer_t *timer);
#endif /* task.h */
四、使用例子
timer_type_t m_key_timer = NULL;
task_type_t lk_tid = NULL;
// 创建一个5ms的周期定时器，RT_TIMER_FLAG_PERIODIC：周期
m_key_timer= timer_create("key_timer", key_timer_timeout, NULL, 5, RT_TIMER_FLAG_PERIODIC);
// 开始定时器
timer_start(m_key_timer);
// 创建一个名为lk，入口函数为lk_dis_task，优先级为1，执行周期为10ms的任务
lk_tid = task_create("lk", lk_dis_task, NULL, 1, 10);
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