📄 sch51.lst
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=2
=2 #define RETURN_NORMAL (bit) 0
=2 #define RETURN_ERROR (bit) 1
=2
=2
=2 //------------------------------------------------------------------
=2 // Interrupts
=2 // - see Chapter 13.
=2 //------------------------------------------------------------------
=2
=2 // Generic 8051/52 timer interrupts (used in most schedulers)
=2 #define INTERRUPT_Timer_0_Overflow 1
=2 #define INTERRUPT_Timer_1_Overflow 3
=2 #define INTERRUPT_Timer_2_Overflow 5
=2
=2 // Additional interrupts (used in shared-clock schedulers)
=2 #define INTERRUPT_EXTERNAL_0 0
=2 #define INTERRUPT_EXTERNAL_1 2
=2 #define INTERRUPT_UART_Rx_Tx 4
=2 #define INTERRUPT_CAN_c515c 17
C51 COMPILER V6.10 SCH51 04/18/2001 16:48:04 PAGE 10
=2
=2 //------------------------------------------------------------------
=2 // Error codes
=2 // - see Chapter 14.
=2 //------------------------------------------------------------------
=2
=2 #define ERROR_SCH_TOO_MANY_TASKS (1)
=2 #define ERROR_SCH_CANNOT_DELETE_TASK (2)
=2
=2 #define ERROR_SCH_WAITING_FOR_SLAVE_TO_ACK (3)
=2 #define ERROR_SCH_WAITING_FOR_START_COMMAND_FROM_MASTER (3)
=2
=2 #define ERROR_SCH_ONE_OR_MORE_SLAVES_DID_NOT_START (4)
=2 #define ERROR_SCH_LOST_SLAVE (5)
=2
=2 #define ERROR_SCH_CAN_BUS_ERROR (6)
=2
=2 #define ERROR_I2C_WRITE_BYTE (10)
=2 #define ERROR_I2C_READ_BYTE (11)
=2 #define ERROR_I2C_WRITE_BYTE_AT24C64 (12)
=2 #define ERROR_I2C_READ_BYTE_AT24C64 (13)
=2 #define ERROR_I2C_DS1621 (14)
=2
=2 #define ERROR_USART_TI (21)
=2 #define ERROR_USART_WRITE_CHAR (22)
=2
=2 #define ERROR_SPI_EXCHANGE_BYTES_TIMEOUT (31)
=2 #define ERROR_SPI_X25_TIMEOUT (32)
=2 #define ERROR_SPI_MAX1110_TIMEOUT (33)
=2
=2 #define ERROR_ADC_MAX150_TIMEOUT (44)
=2
=2 #endif
115 =2
116 =2 /*------------------------------------------------------------------*-
117 =2 ---- END OF FILE -------------------------------------------------
118 =2 -*------------------------------------------------------------------*/
28 =1
29 =1 // ------ Public data type declarations ----------------------------
30 =1
31 =1 // Store in DATA area, if possible, for rapid access
32 =1 // Total memory per task is 7 bytes
33 =1 typedef data struct
34 =1 {
35 =1 // Pointer to the task (must be a 'void (void)' function)
36 =1 void (code * pTask)(void);
37 =1
38 =1 // Delay (ticks) until the function will (next) be run
39 =1 // - see SCH_Add_Task() for further details
40 =1 tWord Delay;
41 =1
42 =1 // Interval (ticks) between subsequent runs.
43 =1 // - see SCH_Add_Task() for further details
44 =1 tWord Period;
45 =1
46 =1 // Incremented (by scheduler) when task is due to execute
47 =1 tByte RunMe;
48 =1 } sTask;
49 =1
50 =1 // ------ Public function prototypes -------------------------------
51 =1
52 =1 // Core scheduler functions
C51 COMPILER V6.10 SCH51 04/18/2001 16:48:04 PAGE 11
53 =1 void SCH_Dispatch_Tasks(void);
54 =1 tByte SCH_Add_Task(void (code*) (void), const tWord, const tWord);
55 =1 bit SCH_Delete_Task(const tByte);
56 =1 void SCH_Report_Status(void);
57 =1
58 =1 // ------ Public constants -----------------------------------------
59 =1
60 =1 // The maximum number of tasks required at any one time
61 =1 // during the execution of the program
62 =1 //
63 =1 // MUST BE ADJUSTED FOR EACH NEW PROJECT
64 =1 #define SCH_MAX_TASKS (2)
65 =1
66 =1 #endif
67 =1
68 =1 /*------------------------------------------------------------------*-
69 =1 ---- END OF FILE -------------------------------------------------
70 =1 -*------------------------------------------------------------------*/
71 =1
36
37 // ------ Public variable definitions ------------------------------
38
39 // The array of tasks
40 sTask SCH_tasks_G[SCH_MAX_TASKS];
41
42 // Used to display the error code
43 // See Main.H for details of error codes
44 // See Port.H for details of the error port
45 tByte Error_code_G = 0;
46
47 // ------ Private function prototypes ------------------------------
48
49 static void SCH_Go_To_Sleep(void);
50
51 // ------ Private variables ----------------------------------------
52
53 // Keeps track of time since last error was recorded (see below)
54 static tWord Error_tick_count_G;
55
56 // The code of the last error (reset after ~1 minute)
57 static tByte Last_error_code_G;
58
59
60 /*------------------------------------------------------------------*-
61
62 SCH_Dispatch_Tasks()
63
64 This is the 'dispatcher' function. When a task (function)
65 is due to run, SCH_Dispatch_Tasks() will run it.
66 This function must be called (repeatedly) from the main loop.
67
68 -*------------------------------------------------------------------*/
69 void SCH_Dispatch_Tasks(void)
70 {
71 1 tByte Index;
72 1
73 1 // Dispatches (runs) the next task (if one is ready)
74 1 for (Index = 0; Index < SCH_MAX_TASKS; Index++)
75 1 {
76 2 if (SCH_tasks_G[Index].RunMe > 0)
77 2 {
78 3 (*SCH_tasks_G[Index].pTask)(); // Run the task
C51 COMPILER V6.10 SCH51 04/18/2001 16:48:04 PAGE 12
79 3
80 3 SCH_tasks_G[Index].RunMe -= 1; // Reset / reduce RunMe flag
81 3
82 3 // Periodic tasks will automatically run again
83 3 // - if this is a 'one shot' task, remove it from the array
84 3 if (SCH_tasks_G[Index].Period == 0)
85 3 {
86 4 SCH_Delete_Task(Index);
87 4 }
88 3 }
89 2 }
90 1
91 1 // Report system status
92 1 SCH_Report_Status();
93 1
94 1 // The scheduler enters idle mode at this point
95 1 SCH_Go_To_Sleep();
96 1 }
97
98 /*------------------------------------------------------------------*-
99
100 SCH_Add_Task()
101
102 Causes a task (function) to be executed at regular intervals
103 or after a user-defined delay
104
105 Fn_P - The name of the function which is to be scheduled.
106 NOTE: All scheduled functions must be 'void, void' -
107 that is, they must take no parameters, and have
108 a void return type.
109
110 DELAY - The interval (TICKS) before the task is first executed
111
112 PERIOD - If 'PERIOD' is 0, the function is only called once,
113 at the time determined by 'DELAY'. If PERIOD is non-zero,
114 then the function is called repeatedly at an interval
115 determined by the value of PERIOD (see below for examples
116 which should help clarify this).
117
118
119 RETURN VALUE:
120
121 Returns the position in the task array at which the task has been
122 added. If the return value is SCH_MAX_TASKS then the task could
123 not be added to the array (there was insufficient space). If the
124 return value is < SCH_MAX_TASKS, then the task was added
125 successfully.
126
127 Note: this return value may be required, if a task is
128 to be subsequently deleted - see SCH_Delete_Task().
129
130 EXAMPLES:
131
132 Task_ID = SCH_Add_Task(Do_X,1000,0);
133 Causes the function Do_X() to be executed once after 1000 sch ticks.
134
135 Task_ID = SCH_Add_Task(Do_X,0,1000);
136 Causes the function Do_X() to be executed regularly, every 1000 sch ticks.
137
138 Task_ID = SCH_Add_Task(Do_X,300,1000);
139 Causes the function Do_X() to be executed regularly, every 1000 ticks.
140 Task will be first executed at T = 300 ticks, then 1300, 2300, etc.
C51 COMPILER V6.10 SCH51 04/18/2001 16:48:04 PAGE 13
141
142 -*------------------------------------------------------------------*/
143 tByte SCH_Add_Task(void (code * pFunction)(),
144 const tWord DELAY,
145 const tWord PERIOD)
146 {
147 1 tByte Index = 0;
148 1
149 1 // First find a gap in the array (if there is one)
150 1 while ((SCH_tasks_G[Index].pTask != 0) && (Index < SCH_MAX_TASKS))
151 1 {
152 2 Index++;
153 2 }
154 1
155 1 // Have we reached the end of the list?
156 1 if (Index == SCH_MAX_TASKS)
157 1 {
158 2 // Task list is full
159 2 //
160 2 // Set the global error variable
161 2 Error_code_G = ERROR_SCH_TOO_MANY_TASKS;
162 2
163 2 // Also return an error code
164 2 return SCH_MAX_TASKS;
165 2 }
166 1
167 1 // If we're here, there is a space in the task array
168 1 SCH_tasks_G[Index].pTask = pFunction;
169 1
170 1 SCH_tasks_G[Index].Delay = DELAY;
171 1 SCH_tasks_G[Index].Period = PERIOD;
172 1
173 1 SCH_tasks_G[Index].RunMe = 0;
174 1
175 1 return Index; // return position of task (to allow later deletion)
176 1 }
177
178 /*------------------------------------------------------------------*-
179
180 SCH_Delete_Task()
181
182 Removes a task from the scheduler. Note that this does
183 *not* delete the associated function from memory:
184 it simply means that it is no longer called by the scheduler.
185
186 TASK_INDEX - The task index. Provided by SCH_Add_Task().
187
188 RETURN VALUE: RETURN_ERROR or RETURN_NORMAL
189
190 -*------------------------------------------------------------------*/
191 bit SCH_Delete_Task(const tByte TASK_INDEX)
192 {
193 1 bit Return_code;
194 1
195 1 if (SCH_tasks_G[TASK_INDEX].pTask == 0)
196 1 {
197 2 // No task at this location...
198 2 //
199 2 // Set the global error variable
200 2 Error_code_G = ERROR_SCH_CANNOT_DELETE_TASK;
201 2
202 2 // ...also return an error code
C51 COMPILER V6.10 SCH51 04/18/2001 16:48:04 PAGE 14
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