adding dependencies

2022-10-10 12:39:30 +01:00
parent 0e8e1e4db6
commit 2327ae7aab
867 changed files with 137599 additions and 0 deletions
@@ -0,0 +1,62 @@
+/*
+ * This file is part of the libopeninv project.
+ *
+ * Copyright (C) 2017 Johannes Huebner <dev@johanneshuebner.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef STM32SCHEDULER_H
+#define STM32SCHEDULER_H
+#include <stdint.h>
+#include <libopencm3/stm32/timer.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/stm32/rcc.h>
+
+#define MAX_TASKS 4
+
+/** @brief Schedules up to 4 tasks using a timer peripheral */
+class Stm32Scheduler
+{
+   public:
+      /** @brief construct a new scheduler using given timer
+       * @pre Timer clock and NVIC interrupt must be enabled
+       * @param timer Address of timer peripheral to use
+       */
+      Stm32Scheduler(uint32_t timer);
+
+      /** @brief Add a periodic task, can be called up to 4 times
+       * @param function the task function
+       * @param period The calling period in 100*ms
+       */
+      void AddTask(void (*function)(void), uint16_t period);
+
+      /** @brief Run the scheduler, must be called by the scheduler timer ISR */
+      void Run();
+
+      /** @brief Return CPU load caused by scheduler tasks
+       * @return load in 0.1%
+       */
+      int GetCpuLoad();
+
+   protected:
+   private:
+      static const enum tim_oc_id ocMap[MAX_TASKS];
+      void (*functions[MAX_TASKS]) (void);
+      uint16_t periods[MAX_TASKS];
+      uint16_t execTicks[MAX_TASKS];
+      uint32_t timer;
+      int nextTask;
+};
+
+#endif // STM32SCHEDULER_H