115 lines
3.0 KiB
C
115 lines
3.0 KiB
C
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/**
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* @copyright 2015 Indie Semiconductor.
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*
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* This file is proprietary to Indie Semiconductor.
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* All rights reserved. Reproduction or distribution, in whole
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* or in part, is forbidden except by express written permission
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* of Indie Semiconductor.
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*
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* @file taskManager.c
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* @Author: Jack.Pan
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* @E-mail:jack.pan@indiemicro.com
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* @Date: 2020/09/10
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*/
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#include <taskManager.h>
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#include <SoftTimerTask.h>
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#include <applicationTask.h>
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#include <linslaveTask.h>
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#include <pdsTask.h>
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#include <linStackTask.h>
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#include <measureTask.h>
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#include <safetyMonitorTask.h>
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#include <wdt_device.h>
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#include <motorControlTask.h>
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static volatile uint16_t taskFlags = 0U;
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static uint16_t tasksMask = 0xFFFFU;
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void IdleTask(void);
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typedef void (*taskHandler_t)(void);
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static taskHandler_t taskHandlers[] = {
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[TASK_ID_SOFT_TIMER] = SoftTimer_TaskHandler, /* Global Timer task */
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[TASK_ID_MOTOR] = MotorCtrl_TaskHandler, /* Motor Control task */
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[TASK_ID_LIN_STACK] = LinStack_TaskHandler, /* LIN stack task */
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[TASK_ID_LINS] = LINS_TaskHandler, /* LIN Slave task */
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[TASK_ID_PDS] = PDS_TaskHandler, /*!< Task ID of persistance data storage*/
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[TASK_ID_ADC_MEASURE] = MES_TaskHandler, /* ADC measurement, chip temperature, Led PN volt, Battery Volt etc. */
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[TASK_ID_SAFETY_MONITOR] = SAFM_TaskHandler, /* safe monitor task */
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[TASK_ID_APPL] = APPL_TaskHandler, /* design for debug and demo */
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};
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void IdleTask(void)
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{
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}
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void TM_RunTasks(void)
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{
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uint8_t taskId;
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for (taskId = 0U; taskId < (uint8_t)(sizeof(taskHandlers) / sizeof(taskHandlers[0])); taskId++){
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if ( (((uint16_t)1UL << taskId) & (taskFlags & tasksMask)) != 0U ){
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__atomic_enter()
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taskFlags &= ~((uint16_t)1UL << taskId);
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__atomic_exit()
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if (taskHandlers[taskId] != NULL){
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taskHandlers[taskId]();
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}
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break;
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}
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}
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#if WATCH_DOG_EN == 1U
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WDTA_Clear(); /* Feeding Watch dog */
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#endif
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if (taskFlags == 0U){
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IdleTask();
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}
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}
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/*
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* Disables specified task.
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* @param [in] taskId - task to be disabled.
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* @return none
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*/
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void TM_DisableTask(TM_TaskId_t taskId)
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{
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tasksMask &= ~(uint16_t)(1UL << taskId);
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}
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/*
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* brief Enables specified task.
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* @param [in] taskId - task to be enabled.
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* @return none
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*/
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void TM_EnableTask(TM_TaskId_t taskId)
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{
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tasksMask |= (uint16_t)(1UL << taskId);
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}
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/*
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* brief runs specified task.
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* @param [in] taskId - task to be run.
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* @return none
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*/
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void TM_PostTask(TM_TaskId_t taskId)
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{
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__atomic_enter()
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taskFlags |= (uint16_t)(1UL << taskId);
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__atomic_exit()
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}
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uint8_t TM_TaskIsPending(TM_TaskId_t taskId)
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{
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uint16_t flags = taskFlags;
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uint16_t tasks = (uint16_t)1U << taskId;
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if ( (tasks & flags)!= 0U ){
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return 1U;
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}else{
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return 0U;
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}
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}
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