#include "timebase.h" volatile uint32_t TIME_MS; #define PERIODIC_TASK_COUNT 5 #define FUTURE_TASK_COUNT 5 // --- time scheduler system --- typedef struct { /** User callback */ void (*callback)(void); /** Callback interval */ uint32_t interval_ms; /** Counter, when reaches interval_ms, is cleared and callback is called. */ uint32_t countup; } periodic_task_t; static uint8_t periodic_task_n = 0; static periodic_task_t periodic_tasks[PERIODIC_TASK_COUNT]; // --- future call system --- typedef struct { /** 1 for active tasks */ bool active; /** User callback */ void (*callback)(void); /** Counter, when reaches 0ms, callback is called and the task is removed */ uint32_t countdown_ms; } future_task_t; static future_task_t future_tasks[FUTURE_TASK_COUNT]; bool register_periodic_task(void (*callback)(void), uint32_t interval_ms) { if (periodic_task_n >= PERIODIC_TASK_COUNT) return false; // add the task periodic_task_t *task = &periodic_tasks[periodic_task_n++]; task->callback = callback; task->countup = 0; task->interval_ms = interval_ms; return true; } bool register_future_task(void (*callback)(void), uint32_t delay_ms) { for (int i = 0; i < FUTURE_TASK_COUNT; i++) { future_task_t *task = &future_tasks[i]; if (task->active) continue; task->callback = callback; task->countdown_ms = delay_ms; task->active = true; } return false; } /** IRQ */ void SysTick_Handler(void) { TIME_MS++; // run scheduled tasks for (int i = 0; i < periodic_task_n; i++) { periodic_task_t *task = &periodic_tasks[i]; if (task->countup++ >= task->interval_ms) { task->callback(); task->countup = 0; } } // run future tasks for (int i = 0; i < FUTURE_TASK_COUNT; i++) { future_task_t *task = &future_tasks[i]; if (!task->active) continue; if (task->countdown_ms-- == 0) { task->callback(); task->active = 0; } } } void delay_ms(uint32_t ms) { uint32_t last_ms = TIME_MS; while (ms-- != 0) { while (TIME_MS == last_ms); last_ms = TIME_MS; } } void delay_s(uint32_t s) { while (s-- != 0) { delay_ms(1000); } }