85 lines
2.1 KiB
Plaintext
85 lines
2.1 KiB
Plaintext
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/**
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* @file task_manager.cpp
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* @brief 任务标志调度与时基驱动实现。
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*/
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#include "../main.h"
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#include "task_manager.h"
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task_scheduler_t g_scheduler = {0};
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/**
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* @brief 初始化任务管理器内部状态。
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*/
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void task_manager_init(void)
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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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/**
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* @brief 设置一个或多个待执行任务标志。
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* @param[in] task_mask 待置位的任务位图掩码。
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*/
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void task_manager_set(uint32_t task_mask)
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{
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g_scheduler.task_flags |= task_mask;
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}
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/**
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* @brief 原子地取出当前所有待执行任务标志并清零。
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* @retval 返回当前待执行任务位图。
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*/
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uint32_t task_manager_take_pending(void)
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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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/**
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* @brief 推进一次 100us 调度节拍并按周期置位待执行任务。
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* @note 按 500us / 1ms / 10ms / 100ms / 1s 档次分别置位对应任务组。
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*/
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void task_manager_tick_100us(void)
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{
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g_scheduler.tick_100us++;
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if((g_scheduler.tick_100us % 5U) == 0U) {
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task_manager_set(1UL << TASK_ADC_VREF_SAMPLE);
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}
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if((g_scheduler.tick_100us % 10U) == 0U) {
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g_scheduler.tick_1ms++;
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task_manager_set((1UL << TASK_ADC_TEMP_SAMPLE) |
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(1UL << TASK_ADC_PROCESS));
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}
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if((g_scheduler.tick_100us % 100U) == 0U) {
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g_scheduler.tick_10ms++;
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task_manager_set((1UL << TASK_CAN_RX_POLL) |
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(1UL << TASK_CAN_RX_PARSE));
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}
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if((g_scheduler.tick_100us % 1000U) == 0U) {
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g_scheduler.tick_100ms++;
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task_manager_set((1UL << TASK_CAN_TX_PREPARE) |
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(1UL << TASK_CAN_TX_SEND) |
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(1UL << TASK_STATUS_LED));
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}
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if((g_scheduler.tick_100us % 10000U) == 0U) {
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g_scheduler.tick_1s++;
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task_manager_set((1UL << TASK_HEARTBEAT) |
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(1UL << TASK_DIAGNOSTIC_PRINT));
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}
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}
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