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