void task_schedule(GameState *state, task_t *tasks, uint8_t num_tasks) {
uint8_t i;
timer_tick_t now;
task_t *next_task;
GameMode initial_mode = state->mode;
timer_init();
now = timer_get();
/* Start by scheduling the first task. */
next_task = tasks;
while (state->mode == initial_mode) {
timer_tick_t sleep_min;
/* Wait until the next task is ready to run. */
timer_wait_until (next_task->reschedule);
/* Schedule the task. */
next_task->func (state);
/* Update the reschedule time. */
next_task->reschedule += next_task->period;
sleep_min = ~0;
now = timer_get ();
/* Search array of tasks. Schedule the first task (highest priority)
that needs to run otherwise wait until first task ready. */
for (i = 0; i < num_tasks; i++) {
task_t * task = tasks + i;
timer_tick_t overrun;
overrun = now - task->reschedule;
if (overrun < TASK_OVERRUN_MAX) {
/* Have found a task that can run immediately. */
next_task = task;
break;
}
else {
timer_tick_t sleep;
sleep = -overrun;
if (sleep < sleep_min)
{
sleep_min = sleep;
next_task = task;
}
}
}
}
}
int main (void)
{
timer_tick_t now;
system_init ();
timer_init ();
led_init ();
now = timer_get ();
while (1)
{
led_set (LED1, 1);
now = timer_wait_until (now + (timer_tick_t)(TIMER_RATE * 0.5));
led_set (LED1, 0);
now = timer_wait_until (now + (timer_tick_t)(TIMER_RATE * 0.75));
}
return 0;
}
