void os_task_tick( uint8_t id, uint16_t tickSize ) {
uint8_t index;
/* Search all tasks and decrement time for waiting tasks */
for ( index = 0; index != nTasks; ++index ) {
TaskState_t state;
state = task_list[ index ].state;
if (( state == WAITING_TIME ) || ( state == WAITING_EVENT_TIMEOUT )){
/* Found a waiting task, is it ready? */
if ( task_list[ index ].clockId == id ) {
if ( task_list[ index ].time <= tickSize ) {
task_list[ index ].time = 0;
if ( state == WAITING_EVENT_TIMEOUT ) {
os_task_clear_wait_queue( index );
}
task_ready_set( index );
}
else {
task_list[ index ].time -= tickSize;
}
}
}
else if ( state == WAITING_SEM ) {
task_list[ index ].time++;
}
/* If the task has a message queue, decrement the delayed message timers */
if ( id == 0 ) {
if ( task_list[ index ].msgQ != NO_QUEUE ) {
os_msgQ_tick( task_list[ index ].msgQ );
}
}
}
}
void os_task_signal_event( Evt_t eventId ) {
uint8_t index;
uint8_t eventListIndex;
uint8_t shift;
eventListIndex = eventId / 8;
shift = eventId & 0x07;
for ( index = 0; index != nTasks; index++ ) {
uint8_t taskWaitingForEvent;
uint8_t taskWaitStateOK;
TaskState_t state;
state = task_list[ index ].state;
taskWaitStateOK = 0;
if (( state == WAITING_EVENT ) || ( state == WAITING_EVENT_TIMEOUT )) {
taskWaitStateOK = 1;
}
taskWaitingForEvent = task_list[ index ].eventQueue.eventList[eventListIndex] & (1<<shift);
if ( taskWaitingForEvent && taskWaitStateOK ) {
task_list[ index ].eventQueue.eventList[eventListIndex] &= ~(1<<shift);
if ( task_list[ index ].waitSingleEvent || os_task_wait_queue_empty( index ) ) {
os_task_clear_wait_queue( index );
task_ready_set( index );
}
}
}
}
void os_task_signal_event( uint8_t evId ) {
uint8_t index;
uint8_t taskWaitingForEvent;
for ( index = 0; index != nTasks; index++ ) {
taskWaitingForEvent = task_list[ index ]->eventQueue & evId;
if (( taskWaitingForEvent ) && ( task_list[ index ]->state != PENDING )) {
task_list[ index ]->eventQueue &= ~evId;
if ( task_list[ index ]->waitSingleEvent || ( task_list[ index ]->eventQueue == 0 ) ) {
os_task_clear_wait_queue( index );
}
}
}
}
uint8_t task_create( taskproctype taskproc, uint8_t prio, Msg_t *msgPool, uint8_t poolSize, uint16_t msgSize ) {
uint8_t taskId;
tcb *task;
os_assert( os_running() == 0 );
os_assert( nTasks < N_TASKS );
os_assert( taskproc != NULL );
taskId = nTasks;
/* Check that no other task has the same prio */
while ( taskId != 0 ) {
--taskId;
os_assert( task_list[ taskId ].prio != prio );
}
task = &task_list[ nTasks ];
task->tid = nTasks;
task->prio = prio;
task->state = READY;
task->savedState = READY;
task->semaphore = 0;
task->internal_state = 0;
task->taskproc = taskproc;
task->waitSingleEvent = 0;
task->time = 0;
if ( poolSize > 0 ) {
task->msgQ = os_msgQ_create( msgPool, poolSize, msgSize );
}
else {
task->msgQ = NO_QUEUE;
}
os_task_clear_wait_queue( nTasks );
nTasks++;
return task->tid;
}
