/*==============================================================
1ms時(shí)標(biāo) 混合式調(diào)度器(一個(gè)搶占式任務(wù),多個(gè)合作式任務(wù))
作者:shadow.hu
===============================================================*/
#include
#define uchar? unsigned char
#define ushort unsigned short
#define SCH_MAX_TASKS 9
#define ERROR_SCH_TOO_MANY_TASKS? 9
#define ERROR_SCH_CANOT_DELETE_TASK 0
#define RETURN_ERROR 0
#define RETURN_NORMAL 1
#define INTERRPT_Timer_2_Overflow 5
#define SCH_REPORT_ERRORS
#ifdef? SCH_REPORT_ERRORS
#define Error_Port P1
#endif
typedef data struct
{
??? void (code *pTask)(void);
?ushort Delay;
?ushort Period;
?ushort RunMe;
?uchar? Co_op;//如果任務(wù)是合作式的,設(shè)置為1,如果任務(wù)是搶占式的,設(shè)置為0
}sTask;
sTask SCH_tasks_G[SCH_MAX_TASKS];
void SCH_Init_T2(void);
uchar SCH_Add_Task(void (code * pFunction)(),const ushort Delay,?? ushort PERIOD);
//????????????????????? 函數(shù)名指針???????????????? 延時(shí)的時(shí)標(biāo)數(shù)??? 執(zhí)行任務(wù)的時(shí)間間隔
//???????????????????????????????????????????????? 為0則立即執(zhí)行?? 如果為0,表示單次任務(wù)??
void SCH_Dispatch_Tasks(void);
void SCH_Start(void);
bit SCH_Delete_Task(const ushort TASK_INDEX);
void SCH_Go_To_Sleep(void);
void SCH_Report_Status(void);//報(bào)告系統(tǒng)狀況
void LED_Flash_Init(void);
void LED_Flash_Update_A(void);
void LED_Flash_Update_B(void);
void LED_Flash_Update_C(void);
void LED_Flash_Update_D(void);
void LED_Flash_Update_E(void);
void LED_Flash_Update_F(void);
void LED_Flash_Update_G(void);
void LED_Flash_Update_H(void);
uchar Error_code_G = 0;//
static ushort Error_tick_count_G;//記住自從上一次紀(jì)錄錯誤以來的時(shí)間
static uchar Last_error_code_G;//上次的錯誤代碼(在1分鐘之后復(fù)位)
uchar? LED_State_G_A = 0;
uchar? LED_State_G_B = 0;
uchar? LED_State_G_C = 0;
uchar? LED_State_G_D = 0;
uchar? LED_State_G_E = 0;
uchar? LED_State_G_F = 0;
uchar? LED_State_G_G = 0;
uchar? LED_State_G_H = 0;
sbit LED_pin_A = P1^0;
sbit LED_pin_B = P1^1;
sbit LED_pin_C = P1^2;
sbit LED_pin_D = P1^3;
sbit LED_pin_E = P1^4;
sbit LED_pin_F = P1^5;
sbit LED_pin_G = P1^6;
sbit LED_pin_H = P1^7;
//Error_code_G = ERROR_SCH_TOO_MANY_TASKS;
//Error_code_G = ERROR_SCH_WAITING_FOR_SLAVE_TO_ACK;
//Error_code_G = ERROR_SCH_WAITING_FOR_START_COMAND_FROM_MASTER;
//Error_code_G = ERROR_SCH_ONE_OR_MORE_SLAVES_DID_NOT_START;
//Error_code_G = ERROR_SCH_LOST_SLAVE;
//Error_code_G = ERROR_SCH_CAN_BUS_ERROR;
//Error_code_G = ERROR_I2C_WRITE_BYTE_AT24C64;
void main(void)
{
?SCH_Init_T2();
?LED_Flash_Init();
?SCH_Add_Task(LED_Flash_Update_A,0,1000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_B,0,2000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_C,0,3000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_D,0,4000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_E,0,5000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_F,0,6000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_G,0,7000);//添加一個(gè)任務(wù)
?SCH_Add_Task(LED_Flash_Update_H,0,8000);//添加一個(gè)任務(wù)
?SCH_Start();//開全局中斷
?while(1)
?{
? SCH_Dispatch_Tasks();
?}
}
/*------------------------------------------------------------
?這是調(diào)度器的中斷服務(wù)程序,初始化函數(shù)中的定時(shí)器設(shè)置決定了它
的調(diào)度頻率,這個(gè)版本的調(diào)度器由定時(shí)器2觸發(fā)中斷,定時(shí)器自動重裝。
-------------------------------------------------------------*/
void SCH_Update(void) interrupt INTERRPT_Timer_2_Overflow
{
?//刷新任務(wù)隊(duì)列
?uchar Index;
?TF2 = 0;//必須手工清除
?//注意:計(jì)算單位為時(shí)標(biāo)(不是毫秒)
?for(Index = 0;Index < SCH_MAX_TASKS;Index++)
?{?? //檢測這里是否有任務(wù)
? if(SCH_tasks_G[Index].pTask)
? {?
?? if(SCH_tasks_G[Index].Delay == 0)
?? {
??? //任務(wù)需要運(yùn)行,間隔的時(shí)間已經(jīng)到了
??? if(SCH_tasks_G[Index].Co_op)
??? {
???? //如果是合作式任務(wù),RunMe標(biāo)志加1
???? SCH_tasks_G[Index].RunMe += 1;//要執(zhí)行任務(wù)的標(biāo)志加1
??? }
??? else//如果它是搶占式任務(wù),立即運(yùn)行它
??? {
???? (*SCH_tasks_G[Index].pTask)();//運(yùn)行任務(wù)
???? SCH_tasks_G[Index].RunMe -= 1;
???? //周期性的任務(wù)將自動再次運(yùn)行,單次任務(wù)就刪除
???? if(SCH_tasks_G[Index].Period == 0)
???? {
????? SCH_tasks_G[Index].pTask = 0;
???? }
??? }???
??? if(SCH_tasks_G[Index].Period)//時(shí)標(biāo)間隔不等于0
??? {
???? //調(diào)度周期性的任務(wù)再次運(yùn)行,每隔這個(gè)固定的時(shí)標(biāo)長度執(zhí)行一次任務(wù)
???? SCH_tasks_G[Index].Delay = SCH_tasks_G[Index].Period;
??? }
?? }
?? else //任務(wù)有延遲執(zhí)行要求,還沒到達(dá)延遲的時(shí)間
?? {
??? //還沒有準(zhǔn)備好運(yùn)行,延遲減1
??? SCH_tasks_G[Index].Delay -= 1;
?? }
? }
?}
}
void SCH_Init_T2(void)
{
??? uchar i;
?for(i=0;i
? SCH_Delete_Task(i);
?}
?Error_code_G = 0;
?T2CON = 0x04;
?TMOD = 0x00;
?TH2?? = 0xfc;
?RCAP2H = 0xfc;
?TL2?? = 0x18;
?RCAP2L = 0x18;
?ET2?? = 1;
?TR2?? = 1;
}
/*----------------------------------------------------------------------------
任務(wù)函數(shù)每隔一定時(shí)間間隔或在用戶定義的延遲之后運(yùn)行
pFunction -- 將被調(diào)用的函數(shù)名稱。注意:被調(diào)函數(shù)必須是“void void”型
DELAY???? -- 在任務(wù)第一次被執(zhí)行之前的間隔
PERIOD??? -- 如果它為0,則只調(diào)用該函數(shù)一次,由DELAY確定其調(diào)用的時(shí)間
???????????? 如果非0,那么它就是被重復(fù)調(diào)用的時(shí)間間隔
Co_op???? -- 如果是合作式任務(wù)則設(shè)置為1,如果是搶占式任務(wù)則設(shè)置為0.
注意:如果以后要刪除任務(wù),將需要返回值
例子:
Task_ID = SCH_Add_Task(Do_X,1000,0,0);
使函數(shù)Do_X()在1000個(gè)調(diào)度器時(shí)標(biāo)之后運(yùn)行一次(搶占式任務(wù))
Task_ID = SCH_Add_Task(Do_X,0,1000,1);
使函數(shù)Do_X()每隔1000個(gè)調(diào)度器時(shí)標(biāo)運(yùn)行一次(合作式任務(wù))
Task_ID = SCH_Add_Task(Do_X,300,1000,0);
使函數(shù)Do_X()每隔1000個(gè)調(diào)度器時(shí)標(biāo)運(yùn)行一次,任務(wù)首先在T=300個(gè)時(shí)標(biāo)時(shí)被執(zhí)行
?? 然后是1300個(gè)時(shí)標(biāo).........(搶占式任務(wù))
-----------------------------------------------------------------------------*/
uchar SCH_Add_Task(void (code * pFunction)(),const ushort DELAY, ushort PERIOD,bit Co_op)
{
?uchar Index = 0;
?//首先在隊(duì)列中找到一個(gè)空隙(如果有的話,否則就不添加新任務(wù))
?while((SCH_tasks_G[Index].pTask != 0)&&(Index < SCH_MAX_TASKS))
?{
? Index++;//當(dāng)一個(gè)新任務(wù)被添加,且沒有超過任務(wù)上限
?}
?//是否達(dá)到任務(wù)隊(duì)列的結(jié)尾?
?if(Index == SCH_MAX_TASKS)//任務(wù)數(shù)量達(dá)到上限
?{
? Error_code_G = ERROR_SCH_TOO_MANY_TASKS;
? return SCH_MAX_TASKS;//直接返回,不添加這個(gè)新任務(wù)
?}
?//如果能運(yùn)行到這里,說明任務(wù)隊(duì)列中有空隙,添加任務(wù)。
?SCH_tasks_G[Index].pTask = pFunction;
?SCH_tasks_G[Index].Delay = DELAY;
?SCH_tasks_G[Index].Period = PERIOD;
?SCH_tasks_G[Index].Co_op = Co_op;
?SCH_tasks_G[Index].RunMe? = 0;
?return Index;//返回任務(wù)的位置(以便以后刪除)
}
void SCH_Dispatch_Tasks(void)
{
?uchar Index;
?//調(diào)度(運(yùn)行)下一個(gè)任務(wù)(如果有任務(wù)就緒)
?for(Index = 0;Index < SCH_MAX_TASKS;Index++)
?{
? //只調(diào)度合作式任務(wù)
? if((SCH_tasks_G[Index].RunMe > 0)&&(SCH_tasks_G[Index].Co_op))
? {
?? (*SCH_tasks_G[Index].pTask)();//執(zhí)行任務(wù)
?? SCH_tasks_G[Index].RunMe -= 1;//清除任務(wù)需要執(zhí)行的標(biāo)志
? }
? //如果這是個(gè)“單次”任務(wù),將它從隊(duì)列中刪除
? if(SCH_tasks_G[Index].Period == 0)
? {
?? SCH_tasks_G[Index].pTask = 0;// 比通過調(diào)用來刪除任務(wù)更快SCH_Delete_Task(Index);
? }
?}
?SCH_Report_Status();//報(bào)告系統(tǒng)狀況
?SCH_Go_To_Sleep();
}
void SCH_Start(void)
{
?EA = 1;
}
bit SCH_Delete_Task(const ushort TASK_INDEX)
{
?bit Return_code;
?if(SCH_tasks_G[TASK_INDEX].pTask == 0)
?{
? //這里沒有任務(wù)。。。設(shè)置全局錯誤變量
? Error_code_G = ERROR_SCH_CANOT_DELETE_TASK;
? Return_code = RETURN_ERROR;//返回錯誤代碼
?}
?else
?{
? Return_code = RETURN_NORMAL;
?}
?//刪除任務(wù)
?SCH_tasks_G[TASK_INDEX].pTask = 0x0000;
?SCH_tasks_G[TASK_INDEX].Delay = 0;
?SCH_tasks_G[TASK_INDEX].Period = 0;
?SCH_tasks_G[TASK_INDEX].RunMe = 0;
?return Return_code;
}
void SCH_Go_To_Sleep()
{
?PCON |= 0x01;//進(jìn)入休眠模式
}
void SCH_Report_Status(void)
{
/* #ifdef SCH_REPORT_ERRORS
?if(Error_code_G != Last_error_code_G)
?{
? Error_Port = 255 - Error_code_G;
? Last_error_code_G = Error_code_G;
? if(Error_code_G != 0)
? {
?? Error_tick_count_G = 60000;
? }
? else
? {
?? Error_tick_count_G = 0;
? }
?}
?else
?{
? if(Error_tick_count_G != 0)
? {
?? if(--Error_count_G == 0)
?? {
??? Error_code_G = 0;
?? }
? }
?}
?#endif??? */
}
void LED_Flash_Update_A(void)
{
?if(LED_State_G_A == 1)
?{
? LED_State_G_A = 0;
? LED_pin_A = 0;
?}
?else
?{
? LED_State_G_A = 1;
? LED_pin_A = 1;
?}
}
void LED_Flash_Update_B(void)
{
?if(LED_State_G_B == 1)
?{
? LED_State_G_B = 0;
? LED_pin_B = 0;
?}
?else
?{
? LED_State_G_B = 1;
? LED_pin_B = 1;
?}
}
void LED_Flash_Update_C(void)
{
?if(LED_State_G_C == 1)
?{
? LED_State_G_C = 0;
? LED_pin_C = 0;
?}
?else
?{
? LED_State_G_C = 1;
? LED_pin_C = 1;
?}
}
void LED_Flash_Update_D(void)
{
?if(LED_State_G_D == 1)
?{
? LED_State_G_D = 0;
? LED_pin_D = 0;
?}
?else
?{
? LED_State_G_D = 1;
? LED_pin_D = 1;
?}
}
void LED_Flash_Update_E(void)
{
?if(LED_State_G_E == 1)
?{
? LED_State_G_E = 0;
? LED_pin_E = 0;
?}
?else
?{
? LED_State_G_E = 1;
? LED_pin_E = 1;
?}
}
void LED_Flash_Update_F(void)
{
?if(LED_State_G_F == 1)
?{
? LED_State_G_F = 0;
? LED_pin_F = 0;
?}
?else
?{
? LED_State_G_F = 1;
? LED_pin_F = 1;
?}
}
void LED_Flash_Update_G(void)
{
?if(LED_State_G_G == 1)
?{
? LED_State_G_G = 0;
? LED_pin_G = 0;
?}
?else
?{
? LED_State_G_G = 1;
? LED_pin_G = 1;
?}
}
void LED_Flash_Update_H(void)
{
?if(LED_State_G_H == 1)
?{
? LED_State_G_H = 0;
? LED_pin_H = 0;
?}
?else
?{
? LED_State_G_H = 1;
? LED_pin_H = 1;
?}
}
void LED_Flash_Init(void)
{
?LED_State_G_A= 0;//初始化LED狀態(tài)
?LED_State_G_B= 0;//初始化LED狀態(tài)
?LED_State_G_C= 0;//初始化LED狀態(tài)
}
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