69 lines
1.7 KiB
C++
69 lines
1.7 KiB
C++
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/**
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* @file task_manager.cpp
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* @brief 任务调度管理器实现。
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*/
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#include "main.h"
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#include "sys/task_manager.h"
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#include "sys/config.h"
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task_scheduler_t g_scheduler = {0};
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void TaskManager::init()
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{
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g_scheduler.task_flags = 0U;
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g_scheduler.tick_100us = 0U;
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g_scheduler.tick_1ms = 0U;
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g_scheduler.tick_10ms = 0U;
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g_scheduler.tick_100ms = 0U;
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g_scheduler.tick_1s = 0U;
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}
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void TaskManager::set(uint32_t taskMask)
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{
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g_scheduler.task_flags |= taskMask;
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}
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uint32_t TaskManager::takePending()
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{
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uint32_t pending;
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__disable_irq();
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pending = g_scheduler.task_flags;
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g_scheduler.task_flags &= ~pending;
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__enable_irq();
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return pending;
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}
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void TaskManager::tick100us()
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{
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g_scheduler.tick_100us++;
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if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_VREF_SAMPLE_TICKS) == 0U) {
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set(1UL << TASK_ADC_VREF_SAMPLE);
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}
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if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_TEMP_SAMPLE_TICKS) == 0U) {
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g_scheduler.tick_1ms++;
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set((1UL << TASK_ADC_TEMP_SAMPLE) | (1UL << TASK_ADC_PROCESS));
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}
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if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_CAN_RX_TICKS) == 0U) {
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g_scheduler.tick_10ms++;
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set((1UL << TASK_CAN_RX_POLL) | (1UL << TASK_CAN_RX_PARSE));
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}
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if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_CAN_TX_TICKS) == 0U) {
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g_scheduler.tick_100ms++;
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set((1UL << TASK_CAN_TX_PREPARE) | (1UL << TASK_CAN_TX_SEND) | (1UL << TASK_STATUS_LED));
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}
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if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_HEARTBEAT_TICKS) == 0U) {
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g_scheduler.tick_1s++;
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set((1UL << TASK_HEARTBEAT) | (1UL << TASK_DIAGNOSTIC_PRINT));
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}
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}
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task_scheduler_t &TaskManager::state()
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{
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return g_scheduler;
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}
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