タイムスライスなしのシンプルなタスクライブラリ。yield()を実行したときだけタスク切替する２プライオリティのラウンドロビン型スケジューリングを行う。休止状態からの起床時に優先度が一時的に高くなる。
【avr8_config.h】
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/* Taskクラスを使う設定 */ #define CONFIG_TASK_USE 1 /* Taskスタックサイズ指定省略時のスタックサイズ */ #define CONFIG_TASK_STACK_SIZE 256 |
【サンプルコード (Microchip Studio – Arduino風)】
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/* * Task Sample Program * */ #include "avr8_task.h" void task0(void *arg) { (void)arg; uint32_t tick = Timer.us2tick(500000); while (1) { print("task0\n"); Task::sleep(tick); } } void task1(void *arg) { (void)arg; uint32_t tick = Timer.us2tick(500000); while (1) { print("task1\n"); Task::sleep(tick); } } void setup(void) { Task::start(task0); Task::start(task1); } void loop(void) { } |
【ライブラリ】
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/* avr8_task.h - Task Library for Microchip AVR8 Series Copyright (c) 2025 Sasapea's Lab. All right reserved. 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 <https://www.gnu.org/licenses/>. */ #pragma once #include <stddef.h> #include <stdint.h> #include <stdbool.h> #include <setjmp.h> #include "avr8_alarm.h" #if CONFIG_TASK_USE #define TASK_STACK_SIZE(n) ((n) + Task::TCB_SIZE) class Task : public TimerClass { public: typedef void (*func_t)(void *arg); protected: typedef struct tcb { struct tcb *next; jmp_buf context; void *alloc; void *arg; func_t start; } tcb_t; typedef struct { Alarm alarm; sreg_t state; bool retval; } ctrl_t; static void enqueue0(tcb_t *tcb); static void enqueue1(tcb_t *tcb); static tcb_t *dequeue(void); static void switching(void); static void dispatch(void); public: static const int TCB_SIZE = sizeof(tcb_t); static void begin(size_t size = TASK_STACK_SIZE(CONFIG_TASK_STACK_SIZE)); static bool start(func_t func, void *arg = 0, int size = TASK_STACK_SIZE(CONFIG_TASK_STACK_SIZE), void *stack = 0); static void stop(void); static bool yield(void); static size_t current(void); static void sleep(int32_t tick, uint8_t busyLoop = 0); static void delay(uint32_t tick, uint8_t busyLoop = 0); private: static tcb_t *_disp; static tcb_t *_curr; static tcb_t *_head; static tcb_t *_tail[2]; static size_t _used; }; class Sync : protected Task { public: Sync(void); bool sleep(int32_t timeout = -1); size_t wakeup(size_t task = 0); protected: bool sleep(ctrl_t& ctrl); static bool timeup(Alarm& alarm); tcb_t *_head; tcb_t *_tail; }; class Mutex : protected Sync { public: Mutex(void); bool lock(int32_t timeout = -1); void unlock(void); protected: size_t _owner; size_t _count; }; class Sem : protected Sync { public: Sem(size_t limit = (size_t)-1, size_t count = 0); bool wait(size_t count = 1, int32_t timeout = -1); void post(size_t count = 1); protected: size_t _limit; size_t _count; size_t _wait; }; class Event : protected Sem { protected: Event(void); bool wait(int32_t timeout = -1); void signal(void); }; #endif |
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/* avr8_task.cpp - Task Library for Microchip AVR8 Series Copyright (c) 2025 Sasapea's Lab. All right reserved. 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 <https://www.gnu.org/licenses/>. */ #include <stdlib.h> #if !defined(alloca) #include <alloca.h> #endif #include "avr8_task.h" #if CONFIG_TASK_USE Task::tcb_t *Task::_disp; Task::tcb_t *Task::_curr; Task::tcb_t *Task::_head; Task::tcb_t *Task::_tail[]; size_t Task::_used; void Task::begin(size_t size) { /* Registration of main task */ static tcb_t tcb; _curr = &tcb; _used = size; AlarmTimer.begin(); } bool Task::start(func_t func, void *arg, int size, void *stack) { tcb_t *tcb; if (size < 0) { /* Use the current stack area */ size_t n = - size; size = _used; stack = 0; _used += n; } else if (stack) { /* Set the stack area to the variable area */ size = (char *)&tcb - (char *)stack - size + sizeof(*tcb); stack = 0; } else { /* Dynamically allocate stack area */ stack = malloc(size); if (!stack) return false; size = (char *)&tcb - (char *)stack - size + sizeof(*tcb); } tcb = (tcb_t *)alloca(size); tcb->alloc = stack; tcb->arg = arg; tcb->start = func; enqueue0(tcb); if (setjmp(tcb->context)) { _curr = _disp; _curr->start(_curr->arg); stop(); } return true; } void Task::stop(void) { if (_curr->start) { if (_curr->alloc) free(_curr->alloc); dispatch(); } } void Task::enqueue0(tcb_t *tcb) { sreg_t state = disableAndSaveInterrupts(); if (_tail[0]) { tcb->next = _tail[0]->next; _tail[0] = (_tail[0]->next = tcb); } else { tcb->next = _head; _tail[0] = (_head = tcb); } restoreInterrupts(state); } void Task::enqueue1(tcb_t *tcb) { sreg_t state = disableAndSaveInterrupts(); (_tail[1] = *(_tail[1] ? &_tail[1]->next : (_tail[0] ? &_tail[0]->next : &_head)) = tcb)->next = 0; restoreInterrupts(state); } Task::tcb_t *Task::dequeue(void) { tcb_t *tcb; sreg_t state = disableAndSaveInterrupts(); if ((tcb = _head)) { if (_head == _tail[0]) _tail[0] = 0; else if (_head == _tail[1]) _tail[1] = 0; _head = _head->next; } restoreInterrupts(state); return tcb; } size_t Task::current(void) { return (size_t)_curr; } bool Task::yield(void) { AlarmTimer.handle(); enqueue1(_curr); switching(); return !_curr->start; } void Task::switching(void) { if (!setjmp(_curr->context)) dispatch(); _curr = _disp; } void Task::dispatch(void) { while (1) { if ((_disp = dequeue())) longjmp(_disp->context, 1); idle(); AlarmTimer.handle(); } } void Task::sleep(int32_t tick, uint8_t busyLoop) { uint32_t t = Timer.read(); if (tick > busyLoop) { Sync sync; sync.sleep(tick -= busyLoop); t += tick; } if (busyLoop) { while (Timer.read() - t < busyLoop) continue; } } void Task::delay(uint32_t tick, uint8_t busyLoop) { uint32_t t = Timer.read(); if (tick > busyLoop) { tick -= busyLoop; while (Timer.read() - t < tick) yield(); t += tick; } if (busyLoop) { while (Timer.read() - t < busyLoop) continue; } } Sync::Sync(void) : _head(0), _tail(0) { } bool Sync::timeup(Alarm& alarm) { if (((Sync *)alarm.param(0))->wakeup((size_t)alarm.param(1))) *(bool *)alarm.param(2) = false; return false; } bool Sync::sleep(ctrl_t& ctrl) { tcb_t *tcb = (tcb_t *)current(); (_tail = *(_tail ? &_tail->next : &_head) = tcb)->next = 0; restoreInterrupts(ctrl.state); ctrl.alarm.param(0, this); ctrl.alarm.param(1, tcb); ctrl.alarm.param(2, &ctrl.retval); ctrl.alarm.handler(timeup); AlarmTimer.start(ctrl.alarm); switching(); return ctrl.retval; } bool Sync::sleep(int32_t timeout) { if (timeout == 0) return false; ctrl_t ctrl; ctrl.alarm.interval(timeout); ctrl.retval = true; ctrl.state = disableAndSaveInterrupts(); return sleep(ctrl); } size_t Sync::wakeup(size_t task) { tcb_t *tcb = 0; sreg_t state = disableAndSaveInterrupts(); if (task) { for (tcb_t **p = &_head; *p; p = &(*p)->next) { if (*p == (tcb_t *)task) { if (!(*p = (*p)->next)) _tail = (p == &_head ? 0 : (tcb_t *)p); tcb = (tcb_t *)task; break; } } } else _head = ((tcb = _head) != _tail ? _head->next : _tail = 0); restoreInterrupts(state); if (tcb) { AlarmTimer.cancel(1, tcb); enqueue0(tcb); } return (size_t)tcb; } Mutex::Mutex(void) : _owner(0) { } bool Mutex::lock(int32_t timeout) { ctrl_t ctrl; ctrl.alarm.interval(timeout); ctrl.retval = true; ctrl.state = disableAndSaveInterrupts(); size_t task = current(); if (!_owner) { _owner = task; _count = 1; } else if (_owner == task) ++_count; else if (timeout == 0) ctrl.retval = false; else return sleep(ctrl); restoreInterrupts(ctrl.state); return ctrl.retval; } void Mutex::unlock(void) { sreg_t state = disableAndSaveInterrupts(); if (_owner == current()) { if (--_count == 0) { _owner = wakeup(); _count = 1; } } restoreInterrupts(state); } Sem::Sem(size_t limit, size_t count) : _limit(limit), _count(count), _wait(0) { } bool Sem::wait(size_t count, int32_t timeout) { ctrl_t ctrl; ctrl.alarm.interval(timeout); ctrl.retval = true; ctrl.state = disableAndSaveInterrupts(); if ((count == 0) || (count > _limit)) ctrl.retval = false; else if (!_wait && (_count >= count)) _count -= count; else if (timeout == 0) ctrl.retval = false; else { ++_wait; ((tcb_t *)current())->arg = (void *)count; sleep(ctrl); disableAndSaveInterrupts(); --_wait; while (_head) { count = (size_t)_head->arg; if (_count < count) break; _count -= count; wakeup(); } } restoreInterrupts(ctrl.state); return ctrl.retval; } void Sem::post(size_t count) { sreg_t state = disableAndSaveInterrupts(); if (count && (count + _count <= _limit)) { _count += count; if (_head) { count = (size_t)_head->arg; if (_count >= count) { _count -= count; wakeup(); } } } restoreInterrupts(state); } Event::Event(void) : Sem(1) { } bool Event::wait(int32_t timeout) { return Sem::wait(1, timeout); } void Event::signal(void) { Sem::post(); } #endif |
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