int8_t nrk_TCB_init (nrk_task_type *Task, NRK_STK *ptos, NRK_STK *pbos, uint16_t stk_size, void *pext, uint16_t opt)
{
// Already in critical section so no needenter critical section
if(Task->Type!=IDLE_TASK)
Task->task_ID=nrk_task_init_cnt;
else Task->task_ID=NRK_IDLE_TASK_ID;
if(nrk_task_init_cnt>=NRK_MAX_TASKS) nrk_kernel_error_add(NRK_EXTRA_TASK,0);
if(Task->Type!=IDLE_TASK) nrk_task_init_cnt++;
if(nrk_task_init_cnt==NRK_IDLE_TASK_ID) nrk_task_init_cnt++;
//initialize member of TCB structure
nrk_task_TCB[Task->task_ID].OSTaskStkPtr = ptos;
nrk_task_TCB[Task->task_ID].task_prio = Task->prio;
nrk_task_TCB[Task->task_ID].task_state = SUSPENDED;
nrk_task_TCB[Task->task_ID].task_ID = Task->task_ID;
nrk_task_TCB[Task->task_ID].suspend_flag = 0;
nrk_task_TCB[Task->task_ID].period= _nrk_time_to_ticks_long( &(Task->period) );
if(Task->period.secs > 4294967) nrk_kernel_error_add(NRK_PERIOD_OVERFLOW,Task->task_ID);
nrk_task_TCB[Task->task_ID].next_wakeup= _nrk_time_to_ticks_long( &(Task->offset));
nrk_task_TCB[Task->task_ID].next_period= nrk_task_TCB[Task->task_ID].period+nrk_task_TCB[Task->task_ID].next_wakeup;
nrk_task_TCB[Task->task_ID].cpu_reserve= _nrk_time_to_ticks_long(&(Task->cpu_reserve));
nrk_task_TCB[Task->task_ID].cpu_remaining = nrk_task_TCB[Task->task_ID].cpu_reserve;
nrk_task_TCB[Task->task_ID].num_periods = 1;
nrk_task_TCB[Task->task_ID].OSTCBStkBottom = pbos;
nrk_task_TCB[Task->task_ID].errno= NRK_OK;
return NRK_OK;
}
int8_t nrk_wait (nrk_time_t t)
{
uint8_t timer;
uint32_t nw;
nrk_stack_check ();
nrk_int_disable ();
nrk_cur_task_TCB->suspend_flag = 1;
nrk_cur_task_TCB->num_periods = 1;
timer = _nrk_os_timer_get ();
//printf( "t1 %lu %lu\n",t.secs, t.nano_secs/NANOS_PER_MS);
nw = _nrk_time_to_ticks_long (&t);
// printf( "t2 %u %u\r\n",timer, nw);
nrk_cur_task_TCB->next_wakeup = nw + timer;
//printf( "wu %u\n",nrk_cur_task_TCB->next_wakeup );
if (timer < (MAX_SCHED_WAKEUP_TIME - TIME_PAD))
{
if ((timer + TIME_PAD) <= _nrk_get_next_wakeup ())
{
timer += TIME_PAD;
_nrk_prev_timer_val = timer;
_nrk_set_next_wakeup (timer);
}
}
nrk_int_enable ();
_nrk_wait_for_scheduler ();
return NRK_OK;
}
int8_t nrk_reserve_set (uint8_t id, nrk_time_t * period, int16_t access_count,
void *errhandler)
{
nrk_time_t tmp_time;
if (id >= NRK_MAX_RESERVES)
return NRK_ERROR;
if (_nrk_reserve[id].active == -1)
return NRK_ERROR;
tmp_time.secs = period->secs;
tmp_time.nano_secs = period->nano_secs;
_nrk_reserve[id].period_ticks = _nrk_time_to_ticks_long (tmp_time);
_nrk_reserve[id].set_access = access_count;
_nrk_reserve[id].cur_access = 0;
nrk_time_get (&tmp_time);
_nrk_reserve[id].cur_time = (uint32_t) _nrk_time_to_ticks_long (tmp_time);
_nrk_reserve[id].set_time =
_nrk_reserve[id].cur_time + _nrk_reserve[id].period_ticks;
_nrk_reserve[id].error = (void *) errhandler;
return NRK_OK;
}
void _nrk_reserve_update (uint8_t reserve_id)
{
nrk_time_t t;
nrk_int_disable ();
nrk_time_get (&t);
_nrk_reserve[reserve_id].cur_time = (int32_t) _nrk_time_to_ticks_long (t);
if (_nrk_reserve[reserve_id].cur_time >= _nrk_reserve[reserve_id].set_time) {
// If the reserve is passed its period then replenish it
_nrk_reserve[reserve_id].set_time =
_nrk_reserve[reserve_id].cur_time +
_nrk_reserve[reserve_id].period_ticks;
_nrk_reserve[reserve_id].cur_access = 0;
}
nrk_int_enable ();
}
int8_t nrk_set_next_wakeup (nrk_time_t t)
{
uint8_t timer;
uint16_t nw;
nrk_int_disable ();
timer = _nrk_os_timer_get ();
nw = _nrk_time_to_ticks_long(&t);
if (nw <= TIME_PAD)
return NRK_ERROR;
nrk_cur_task_TCB->next_wakeup = nw + timer;
/* if(timer<(254-TIME_PAD))
if((timer+TIME_PAD)<=_nrk_get_next_wakeup())
{
timer+=TIME_PAD;
_nrk_prev_timer_val=timer;
_nrk_set_next_wakeup(timer);
}
*/
// nrk_cur_task_TCB->nw_flag=1;
nrk_int_enable ();
return NRK_OK;
}
