+++ /dev/null
-/*
- * Copyright Droids Corporation (2007)
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * Revision : $Id: scheduler.h,v 1.8.4.11 2009-05-18 12:30:36 zer0 Exp $
- *
- */
-
-/* Olivier MATZ <zer0@droids-corp.org>
- * Interface of the SCHEDULER Module
- */
-
-/** \file scheduler.h
- *
- * This module provides a function scheduler. You can call
- * scheduler_add_event for adding a function to the scheduler, and
- * specifying what interval between each call. During the execution of
- * the function, interrupts are masked !! So use this module with
- * caution (small functions) for avoiding problems.
- *
- * Functions with a high priority value will be call before others
- * (default is 128).
- *
- * This module uses Timer 0
- */
-
-
-#ifndef _SCHEDULER_H_
-#define _SCHEDULER_H_
-
-#include <aversive.h>
-
-#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
-#include <timer.h>
-#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
-
-#include <scheduler_config.h>
-
-#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
-#if SCHEDULER_TIMER_NUM == 0
-#define SCHEDULER_TIMER_REGISTER() timer0_register_OV_intr(scheduler_interrupt)
-#define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
-#ifdef TCNT0H
-#define SCHEDULER_TIMER_BITS 16
-#else
-#define SCHEDULER_TIMER_BITS 8
-#endif
-
-#elif SCHEDULER_TIMER_NUM == 1
-#define SCHEDULER_TIMER_REGISTER() timer1_register_OV_intr(scheduler_interrupt)
-#define SCHEDULER_CLOCK_PRESCALER timer1_get_prescaler_div()
-#ifdef TCNT1H
-#define SCHEDULER_TIMER_BITS 16
-#else
-#define SCHEDULER_TIMER_BITS 8
-#endif
-
-#elif SCHEDULER_TIMER_NUM == 2
-#define SCHEDULER_TIMER_REGISTER() timer2_register_OV_intr(scheduler_interrupt)
-#define SCHEDULER_CLOCK_PRESCALER timer2_get_prescaler_div()
-#ifdef TCNT2H
-#define SCHEDULER_TIMER_BITS 16
-#else
-#define SCHEDULER_TIMER_BITS 8
-#endif
-
-#elif SCHEDULER_TIMER_NUM == 3
-#define SCHEDULER_TIMER_REGISTER() timer3_register_OV_intr(scheduler_interrupt)
-#define SCHEDULER_CLOCK_PRESCALER timer3_get_prescaler_div()
-#ifdef TCNT3H
-#define SCHEDULER_TIMER_BITS 16
-#else
-#define SCHEDULER_TIMER_BITS 8
-#endif
-
-#else
-#error "Bad SCHEDULER_TIMER_NUM value in config file"
-#endif
-
-#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
-
-#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
-#define SCHEDULER_TIMER_BITS 8
-#endif /* CONFIG_MODULE_SCHEDULER_TIMER0 */
-
-#ifndef CONFIG_MODULE_SCHEDULER_MANUAL
-
-/** TIME_UNIT is the number of microseconds between each interruption
- * if the prescaler equals 1 */
-#if SCHEDULER_TIMER_BITS == 8
-#define TIMER_UNIT_FLOAT ( 256000000.0 / (double)(CONFIG_QUARTZ) )
-#else
-#define TIMER_UNIT_FLOAT ( 65536000000.0 / (double)(CONFIG_QUARTZ) )
-#endif
-
-/** SCHEDULER_UNIT is the number of microseconds between each
- * scheduler interruption. We can use it like this :
- * scheduler_add_periodical_event(f, 1000L/SCHEDULER_UNIT);
- * The function f will be called every ms.
- */
-#define SCHEDULER_UNIT_FLOAT ( TIMER_UNIT_FLOAT * (double)SCHEDULER_CLOCK_PRESCALER )
-#define SCHEDULER_UNIT ( (unsigned long) SCHEDULER_UNIT_FLOAT )
-
-#endif /* ! CONFIG_MODULE_SCHEDULER_MANUAL */
-
-
-
-#define SCHEDULER_PERIODICAL 0
-#define SCHEDULER_SINGLE 1
-
-#define SCHEDULER_DEFAULT_PRIORITY 128
-
-
-/** Initialisation of the module */
-void scheduler_init(void);
-
-/** dump all loaded events */
-void scheduler_dump_events(void);
-
-/**
- * Add an event to the event table.
- * Return the id of the event on succes and -1 on error
- * You can use static inline funcs below for simpler use.
- */
-int8_t scheduler_add_event(uint8_t unicity, void (*f)(void *), void * data, uint16_t period, uint8_t priority);
-
-
-/**
- * Add a single event to the event table, specifying the priority
- */
-static inline int8_t scheduler_add_single_event_priority(void (*f)(void *), void * data, uint16_t period, uint8_t priority)
-{
- return scheduler_add_event(SCHEDULER_SINGLE, f, data, period, priority);
-}
-
-/**
- * Add a periodical event to the event table, specifying the priority
- */
-static inline int8_t scheduler_add_periodical_event_priority(void (*f)(void *), void * data, uint16_t period, uint8_t priority)
-{
- return scheduler_add_event(SCHEDULER_PERIODICAL, f, data, period, priority);
-}
-
-/**
- * Add a single event to the event table, with the default priority
- */
-static inline int8_t scheduler_add_single_event(void (*f)(void *), void * data, uint16_t period)
-{
- return scheduler_add_event(SCHEDULER_SINGLE, f, data, period, SCHEDULER_DEFAULT_PRIORITY);
-}
-
-/**
- * Add a periodical event to the event table, with the default priority
- */
-static inline int8_t scheduler_add_periodical_event(void (*f)(void *), void * data, uint16_t period)
-{
- return scheduler_add_event(SCHEDULER_PERIODICAL, f, data, period, SCHEDULER_DEFAULT_PRIORITY);
-}
-
-/**
- * Dels an event from the table by its ID. If there is no event,
- * nothing is done.
- */
-int8_t scheduler_del_event(int8_t num);
-
-/** Function called by the interruption. It is public in case of host
- * version, because you have to call it by hand. In AVR version, you
- * don't have to do anything with this function, it is called
- * automatilcally by the timer interruption, except if
- * CONFIG_MODULE_SCHEDULER_MANUAL is defined. In this case you have
- * to call it manually too. */
-void scheduler_interrupt(void);
-
-/**
- * Temporarily disable scheduler events. You may loose precision in
- * events schedule. It returns the current priority of the scheduler.
- */
-uint8_t scheduler_disable_save(void);
-
-/**
- * Re-enable scheduler after a call to scheduler_disable_save().
- */
-void scheduler_enable_restore(uint8_t old_prio);
-
-#endif
git.droids-corp.org / protos / xbee-avr.git / blobdiff