utask.h

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/*
     Copyright (c) 2010 Bartosz Bielawski, Marcin Zapolski
     Copyright (c) 2011 Bartosz Bielawski
    This software is licensed under MIT License, see LICENSE file.
*/


#ifndef UTASK_H
#define UTASK_H

//------------------------ USER CONFIG STARTS HERE ----------------------------------

#include <stdint.h>

#define UTASK_VER_STR   "0.3.3"

#define UTASK_VER_MAJOR 0

#define UTASK_VER_MINOR 3

#define UTASK_VER_REV   3

#define UTASK_SIMPLE_ADD

#define UTASK_EXIT

#define UTASK_STATS

#define UTASK_SUSPEND_RESUME

#define UTASK_NAME

#define UTASK_TID

#define UTASK_ARG

#define UTASK_SEM

#define UTASK_SEM_CHANGE

#define UTASK_DATA      1

#define UTASKS      10

#define UTASK_PACKED_STRUCT

#define UTASK_CHECK_MCU_SLEEP

typedef uint32_t utask_timer_t;
typedef uint32_t utask_state_t;
typedef uint32_t utask_sem_t;
typedef uint32_t utask_data_t;

#define UTASK_SLEEP_MAX 0xFFFFFFFF

/*
//suggested sizes for 16-bit uCs (MSP430, PIC24...)
typedef uint32_t utask_timer_t;
typedef uint16_t utask_state_t;
typedef uint16_t utask_istate_t;
typedef uint16_t utask_sem_t;
typedef uint16_t utask_data_t;  
#define UTASK_SLEEP_MAX 0xFFFFFFFF

//suggested sizes for 8-bit uCs (ATmega, AT90, PIC10/12/14/16/18)
typedef uint16_t utask_timer_t;
typedef uint8_t  utask_state_t;
typedef uint8_t  utask_istate_t;
typedef uint8_t  utask_sem_t;
typedef uint8_t  utask_data_t;
#define UTASK_SLEEP_MAX 0xFFFF
*/


//------------------------ END OF USER CONFIG ----------------------------------


#ifdef UTASK_SEM_CHANGE
    #ifndef UTASK_SEM
        #define UTASK_SEM
    #endif
#endif

#define UTS_NONE    0

#define UTS_SUSP    1

#define UTS_READY   2

#define UTS_SLEEP   3

#ifdef UTASK_SEM
#ifndef UTASK_SEM_CHANGE

    #define UTS_WAIT_Z  4

    #define UTS_WAIT_NZ 5
#else

    #define UTS_WAIT_E 4

    #define UTS_WAIT_NE 5
#endif
#endif

#ifdef UTASK_PACKED_STRUCT
    #pragma pack(1)
#endif

#ifdef UTASK_CHECK_MCU_SLEEP
    extern void (*utask_put_mcu_to_sleep)(utask_data_t d);
#endif


typedef struct utask
{
    volatile    utask_state_t   state;
    volatile    utask_state_t   istate;
    #ifdef UTASK_SEM

        volatile    utask_sem_t*    sem;
        #ifdef UTASK_SEM_CHANGE

            volatile utask_sem_t    sem_val;
        #endif
    #endif

    volatile    utask_timer_t   sleep;
    void        (*fun)(struct utask* t);

    #ifdef UTASK_DATA
        #if UTASK_DATA > 0

        utask_data_t    data[UTASK_DATA];
        #endif
    #endif

    #ifdef UTASK_ARG

        utask_data_t    arg;
    #endif

    #ifdef UTASK_TID

        utask_data_t    tid;
    #endif

    #ifdef UTASK_NAME

        const char*     name;
    #endif
} utask_t;

typedef void (*utask_fun)(utask_t* t);

void    utask_init(void);


void    utask_schedule(void);


void    utask_sleep_process(void);


utask_t*    utask_add(utask_fun fun);

#ifdef UTASK_NAME

utask_t*    utask_add_name(utask_fun fun, const char *name);
#endif


#ifdef UTASK_EXIT

void    utask_exit(utask_t* t);
#endif


void    utask_sleep (utask_t* t,utask_timer_t ticks);


#ifdef UTASK_SUSPEND_RESUME

void    utask_suspend(utask_t* t);


void utask_resume(utask_t* t);
#endif

void    utask_wait_zero(utask_t* t, utask_sem_t* sem, utask_timer_t timeout);

void    utask_wait_nzero(utask_t* t,utask_sem_t* sem, utask_timer_t timeout);

#ifdef UTASK_SEM_CHANGE

void    utask_wait_eq(utask_t* t, utask_sem_t* sem, utask_sem_t sem_val, utask_timer_t timeout);

void    utask_wait_neq(utask_t* t, utask_sem_t* sem, utask_sem_t sem_val, utask_timer_t timeout);
#endif


#ifdef UTASK_STATS

utask_data_t    utask_get_free_slots(void);


utask_data_t    utask_get_task_cnt(utask_fun fun);
#endif

#ifdef UTASK_TID

    utask_t*    utask_get_by_tid(utask_data_t tid);
#endif


#endif                  //UTASK_H