int8_t nrk_wait (nrk_time_t t)
{
uint8_t timer;
uint16_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 (t);
//printf( "t2 %u\n",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_wait_until_next_n_periods (uint16_t p)
{
uint8_t timer;
nrk_stack_check ();
if (p == 0)
p = 1;
// Next Period Wakeup Time is Set inside scheduler when a task becomes Runnable
nrk_int_disable ();
nrk_cur_task_TCB->suspend_flag = 1;
nrk_cur_task_TCB->num_periods = p;
timer = _nrk_os_timer_get ();
//nrk_cur_task_TCB->cpu_remaining=_nrk_prev_timer_val+1;
// +2 allows for potential time conflict resolution
if (timer < (MAX_SCHED_WAKEUP_TIME - TIME_PAD)) // 254 8bit overflow point - 2
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_wait_until_next_period() {
uint8_t timer;
nrk_stack_check();
// Next Period Wakeup Time is Set inside scheduler when a task becomes Runnable
nrk_int_disable();
nrk_cur_task_TCB->num_periods = 1;
nrk_cur_task_TCB->suspend_flag = 1;
timer = _nrk_os_timer_get();
//nrk_cur_task_TCB->cpu_remaining=_nrk_prev_timer_val+1;
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);
}
printf("Task %u finished in %u. \r\n",nrk_cur_task_TCB->task_ID,timer);
nrk_int_enable();
_nrk_wait_for_scheduler();
return NRK_OK;
}
int8_t nrk_wait_until_next_period ()
{
uint16_t timer;
nrk_stack_check ();
// Next Period Wakeup Time is Set inside scheduler when a task becomes Runnable // EXCEPT THIS CAUSES A FIRST-TIME-THROUGH BUG
nrk_int_disable ();
nrk_cur_task_TCB->num_periods = 1;
nrk_cur_task_TCB->suspend_flag = 1;
nrk_cur_task_TCB->next_wakeup = nrk_cur_task_TCB->next_period;
timer = _nrk_os_timer_get ();
//nrk_cur_task_TCB->cpu_remaining=_nrk_prev_timer_val+1;
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_wait_until_next_period ()
{
uint8_t timer;
nrk_stack_check ();
// Next Period Wakeup Time is Set inside scheduler when a task becomes Runnable
nrk_int_disable ();
nrk_cur_task_TCB->num_periods = 1;
nrk_cur_task_TCB->suspend_flag = 1;
timer = _nrk_os_timer_get ();
//nrk_cur_task_TCB->cpu_remaining=_nrk_prev_timer_val+1;
if (timer < (MAX_SCHED_WAKEUP_TIME - TIME_PAD))
if ((timer + TIME_PAD) <= _nrk_get_next_wakeup ())
{
timer += TIME_PAD;
_nrk_prev_timer_val = timer; // pdiener: why is this only set in this special case?
_nrk_set_next_wakeup (timer); // pdiener: Set next wakeup to NOW
}
nrk_int_enable ();
_nrk_wait_for_scheduler ();
return NRK_OK;
}
void nrk_idle_task()
{
volatile unsigned char *stkc;
// unsigned int *stk ; // 2 bytes
while(1)
{
nrk_stack_check();
if(_nrk_get_next_wakeup()<=NRK_SLEEP_WAKEUP_TIME)
{
_nrk_cpu_state=1;
nrk_idle();
}
else {
#ifndef NRK_NO_POWER_DOWN
// Allow last UART byte to get out
nrk_spin_wait_us(10);
_nrk_cpu_state=2;
nrk_sleep();
#else
nrk_idle();
#endif
}
#ifdef NRK_STACK_CHECK
if(nrk_idle_task_stk[0]!=STK_CANARY_VAL) nrk_error_add(NRK_STACK_SMASH);
#ifdef KERNEL_STK_ARRAY
if(nrk_kernel_stk[0]!=STK_CANARY_VAL) nrk_error_add(NRK_STACK_SMASH);
#else
stkc=(unsigned char*)(NRK_KERNEL_STK_TOP-NRK_KERNEL_STACKSIZE);
if(*stkc!=STK_CANARY_VAL) nrk_error_add(NRK_STACK_SMASH);
#endif
#endif
}
}