├── .gitattributes ├── .gitignore ├── LICENSE ├── ReadMe.md └── TaskScheduler ├── TaskScheduler.cpp ├── TaskScheduler.h └── examples └── TaskSchedulerSketch └── TaskSchedulerSketch.ino /.gitattributes: -------------------------------------------------------------------------------- 1 | ############################################################################### 2 | # Set default behavior to automatically normalize line endings. 3 | ############################################################################### 4 | * text=auto 5 | 6 | ############################################################################### 7 | # Set default behavior for command prompt diff. 8 | # 9 | # This is need for earlier builds of msysgit that does not have it on by 10 | # default for csharp files. 11 | # Note: This is only used by command line 12 | ############################################################################### 13 | #*.cs diff=csharp 14 | 15 | ############################################################################### 16 | # Set the merge driver for project and solution files 17 | # 18 | # Merging from the command prompt will add diff markers to the files if there 19 | # are conflicts (Merging from VS is not affected by the settings below, in VS 20 | # the diff markers are never inserted). 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Backup files are not needed, because we have git ;-) 123 | _UpgradeReport_Files/ 124 | Backup*/ 125 | UpgradeLog*.XML 126 | UpgradeLog*.htm 127 | 128 | # SQL Server files 129 | App_Data/*.mdf 130 | App_Data/*.ldf 131 | 132 | 133 | #LightSwitch generated files 134 | GeneratedArtifacts/ 135 | _Pvt_Extensions/ 136 | ModelManifest.xml 137 | 138 | # ========================= 139 | # Windows detritus 140 | # ========================= 141 | 142 | # Windows image file caches 143 | Thumbs.db 144 | ehthumbs.db 145 | 146 | # Folder config file 147 | Desktop.ini 148 | 149 | # Recycle Bin used on file shares 150 | $RECYCLE.BIN/ 151 | 152 | # Mac desktop service store files 153 | .DS_Store 154 | 155 | # My Project 156 | TaskScheduler.ino 157 | TaskScheduler.sln 158 | TaskScheduler.vcxproj 159 | TaskScheduler.vcxproj.filters 160 | /Visual Micro 161 | 162 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 2, June 1991 3 | 4 | Copyright (C) 1989, 1991 Free Software Foundation, Inc., 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | Preamble 10 | 11 | The licenses for most software are designed to take away your 12 | freedom to share and change it. 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It is safest 289 | to attach them to the start of each source file to most effectively 290 | convey the exclusion of warranty; and each file should have at least 291 | the "copyright" line and a pointer to where the full notice is found. 292 | 293 | {description} 294 | Copyright (C) {year} {fullname} 295 | 296 | This program is free software; you can redistribute it and/or modify 297 | it under the terms of the GNU General Public License as published by 298 | the Free Software Foundation; either version 2 of the License, or 299 | (at your option) any later version. 300 | 301 | This program is distributed in the hope that it will be useful, 302 | but WITHOUT ANY WARRANTY; without even the implied warranty of 303 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 304 | GNU General Public License for more details. 305 | 306 | You should have received a copy of the GNU General Public License along 307 | with this program; if not, write to the Free Software Foundation, Inc., 308 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. 309 | 310 | Also add information on how to contact you by electronic and paper mail. 311 | 312 | If the program is interactive, make it output a short notice like this 313 | when it starts in an interactive mode: 314 | 315 | Gnomovision version 69, Copyright (C) year name of author 316 | Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 317 | This is free software, and you are welcome to redistribute it 318 | under certain conditions; type `show c' for details. 319 | 320 | The hypothetical commands `show w' and `show c' should show the appropriate 321 | parts of the General Public License. Of course, the commands you use may 322 | be called something other than `show w' and `show c'; they could even be 323 | mouse-clicks or menu items--whatever suits your program. 324 | 325 | You should also get your employer (if you work as a programmer) or your 326 | school, if any, to sign a "copyright disclaimer" for the program, if 327 | necessary. Here is a sample; alter the names: 328 | 329 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 330 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 331 | 332 | {signature of Ty Coon}, 1 April 1989 333 | Ty Coon, President of Vice 334 | 335 | This General Public License does not permit incorporating your program into 336 | proprietary programs. If your program is a subroutine library, you may 337 | consider it more useful to permit linking proprietary applications with the 338 | library. If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | -------------------------------------------------------------------------------- /ReadMe.md: -------------------------------------------------------------------------------- 1 | This is a task scheduler for Arduinos with a ATmega328p microcontroller. Inspired by *[Patterns for Time-Triggered Embedded Systems](http://books.google.com/books?vid=ISBN0201331381&redir_esc=y&hl=zh-CN&sourceid=cndr)*. 2 | 3 | NOTE: This library uses Timer 1 on ATmega328p, so it is incompatible some libraries using the same timer. (Such as [Servo](http://www.arduino.cc/en/Reference/Servo), [Mozzi](http://sensorium.github.io/Mozzi/), or `analogWrite()` on pin 9 and 10) 4 | 5 | ## How to use? 6 | 7 | **STEP 1**. Put ```Sch.init();``` and ```Sch.start();``` into ```void setup()```, and put ```Sch.dispatchTasks();``` into ```void loop()```, like this: 8 | 9 | ```C 10 | void setup() 11 | { 12 | // Your code... 13 | 14 | Sch.init(); 15 | Sch.start(); 16 | } 17 | 18 | void loop() 19 | { 20 | Sch.dispatchTasks(); 21 | } 22 | ``` 23 | 24 | **STEP 2**. Put tasks at the end of your code, like this: 25 | ```C 26 | void setup() 27 | { 28 | // Your code... 29 | 30 | Sch.init(); 31 | Sch.start(); 32 | } 33 | 34 | void loop() 35 | { 36 | Sch.dispatchTasks(); 37 | } 38 | 39 | // Tasks 40 | 41 | void task1() 42 | { 43 | // Your code... 44 | } 45 | 46 | void task2() 47 | { 48 | // Your code... 49 | } 50 | ``` 51 | 52 | **STEP 3**. Use ```Sch.addTask()``` between ```Sch.init();``` and ```Sch.start();``` to add tasks into the task scheduler, like this: 53 | 54 | ```C 55 | void setup() 56 | { 57 | // Your code... 58 | 59 | Sch.init(); 60 | 61 | Sch.addTask(task1,0,1000,1); // Add task1. Starts at the 0th ms, and runs every 1000 ms 62 | Sch.addTask(task2,20,500,1); // Add task2. Starts at the 20th ms, and runs every 500 ms 63 | 64 | Sch.start(); 65 | } 66 | 67 | void loop() 68 | { 69 | Sch.dispatchTasks(); 70 | } 71 | ``` 72 | 中文简介在这里：http://blanboom.org/arduino-task-scheduler-library.html 73 | -------------------------------------------------------------------------------- /TaskScheduler/TaskScheduler.cpp: -------------------------------------------------------------------------------- 1 | // TaskScheduler.cpp 2 | // A task scheduler library for arduino 3 | // http://blanboom.org 4 | 5 | 6 | #include 7 | #include "TaskScheduler.h" 8 | 9 | uint8_t g_errorCode; 10 | Task g_Tasks[MAX_TASKS]; // Tasks array 11 | 12 | 13 | ////////////////////////////////////////////////////////////////// 14 | // void Schedule::init(void) 15 | // Initialize the task scheduler. 16 | ////////////////////////////////////////////////////////////////// 17 | void Schedule::init(void) 18 | { 19 | // Delete all tasks in the task array 20 | uint8_t i; 21 | for (i = 0; i < MAX_TASKS; i++) 22 | { 23 | deleteTask(i); 24 | } 25 | 26 | // Reset error code 27 | g_errorCode = 0; 28 | 29 | //Set up timer1. 1ms per interrupt 30 | cli(); //disable global interrupt 31 | TCCR1A = 0; 32 | TCCR1B = 0; 33 | TCNT1 = 0; 34 | OCR1A = 1999; 35 | TCCR1B |= (1 << WGM12); 36 | TCCR1B |= (1 << CS11); 37 | TIMSK1 |= (1 << OCIE1A); 38 | } 39 | 40 | ////////////////////////////////////////////////////////////////// 41 | // void Schedule::start(void) 42 | // Start the task scheduler 43 | ////////////////////////////////////////////////////////////////// 44 | void Schedule::start(void) 45 | { 46 | sei(); //enable global interrupt 47 | } 48 | 49 | ///////////////////////////////////////////////////////////////// 50 | // unsigned char Schedule::addTask(void (*pFn)(), uint16_t del, uint16_t per, boolean co_op） 51 | // Add a task 52 | // 53 | // pFn - The task (function name) to be scheduled 54 | // del - The interval before the task is first executed 55 | // per - Repeat period of the task 56 | // If it is 0, it will run only once 57 | // co_op - If it is 1, it's a co-operative task 58 | // If it is 0, it's a pre-emptive task 59 | // 60 | // Return: Task IDs, which can be used in deleteTask() function 61 | ////////////////////////////////////////////////////////////////// 62 | unsigned char Schedule::addTask(void (*pFn)(), uint16_t del, uint16_t per, boolean co_op) 63 | { 64 | uint8_t index = 0; 65 | 66 | // Find a gap in the array 67 | while ((g_Tasks[index].pTask != 0) && (index < MAX_TASKS)) 68 | { 69 | index++; 70 | } 71 | 72 | if (index == MAX_TASKS) 73 | { 74 | // The task array is full.Can't add more tasks 75 | g_errorCode = ERROR_TOO_MANY_TASKS; 76 | return MAX_TASKS; 77 | } 78 | 79 | // Put the task into task array 80 | g_Tasks[index].pTask = pFn; 81 | 82 | g_Tasks[index].delay = del; 83 | g_Tasks[index].period = per; 84 | 85 | g_Tasks[index].co_op = co_op; 86 | 87 | g_Tasks[index].runMe = 0; 88 | 89 | return index; // Return task ID 90 | } 91 | 92 | ///////////////////////////////////////////////////////////////// 93 | // boolean Schedule::deleteTask(uint8_t taskIndex) 94 | // Delete a task 95 | // 96 | // taskIndex - ID of the task to be deleted 97 | // 98 | // Return: 99 | // RETURN_ERROR - Can't delete the task. 100 | // RETURN_NORMAL - Succeed in deleting the task 101 | ////////////////////////////////////////////////////////////////// 102 | boolean Schedule::deleteTask(uint8_t taskIndex) 103 | { 104 | boolean returnCode; 105 | 106 | if (g_Tasks[taskIndex].pTask == 0) 107 | { 108 | // There is no task 109 | g_errorCode = ERROR_CANNOT_DELETE_TASK; 110 | returnCode = RETURN_ERROR; // Return an error code 111 | } 112 | else 113 | { 114 | returnCode = RETURN_NORMAL; 115 | } 116 | 117 | g_Tasks[taskIndex].pTask = 0; 118 | g_Tasks[taskIndex].delay = 0; 119 | g_Tasks[taskIndex].period = 0; 120 | 121 | g_Tasks[taskIndex].runMe = 0; 122 | 123 | return returnCode; // return status 124 | } 125 | 126 | ///////////////////////////////////////////////////////////////// 127 | // void Schedule::dispatchTasks(void) 128 | // Run tasks 129 | ///////////////////////////////////////////////////////////////// 130 | void Schedule::dispatchTasks(void) 131 | { 132 | uint8_t index; 133 | for (index = 0; index < MAX_TASKS; index++) 134 | { 135 | // Run co-operative tasks only 136 | if ((g_Tasks[index].co_op) && (g_Tasks[index].runMe > 0)) 137 | { 138 | (*g_Tasks[index].pTask)(); // Run the task 139 | 140 | g_Tasks[index].runMe -= 1; 141 | 142 | // If period = 0, this task will only run once 143 | if (g_Tasks[index].period == 0) 144 | { 145 | g_Tasks[index].pTask = 0; // Delete the task 146 | } 147 | } 148 | } 149 | _reportStatus(); // Report errors (if necessary) 150 | _goToSleep(); // Go to sleep (idle) mode 151 | } 152 | 153 | ////////////////////////////////////////////////////////////////// 154 | // void Schedule::_reportStatus(void) 155 | // Report errors 156 | // Define REPORT_ERRORS and error codes in "Scheduler.h" first 157 | ////////////////////////////////////////////////////////////////// 158 | void Schedule::_reportStatus(void) 159 | { 160 | #ifdef REPORT_ERRORS 161 | // Put you codes to report errors 162 | #endif 163 | } 164 | 165 | 166 | ////////////////////////////////////////////////////////////////// 167 | // void Schedule::_goToSleep() 168 | // Enable sleep mode. 169 | ////////////////////////////////////////////////////////////////// 170 | void Schedule::_goToSleep() 171 | { 172 | set_sleep_mode(SLEEP_MODE_IDLE); 173 | sleep_enable(); 174 | sleep_mode(); 175 | } 176 | 177 | ////////////////////////////////////////////////////////////////// 178 | // ISR (TIMER1_COMPA_vect) 179 | // Update task informations and run pre-emptive tasks 180 | ////////////////////////////////////////////////////////////////// 181 | ISR (TIMER1_COMPA_vect) 182 | { 183 | uint8_t index; 184 | for (index = 0; index < MAX_TASKS; index++) 185 | { 186 | // Check if there is a task 187 | if (g_Tasks[index].pTask) 188 | { 189 | if (g_Tasks[index].delay == 0) 190 | { 191 | if (g_Tasks[index].co_op) 192 | { 193 | // A co-operative task 194 | g_Tasks[index].runMe += 1; 195 | } 196 | else 197 | { 198 | // A pre-emptive task 199 | (*g_Tasks[index].pTask)(); // Run the task now 200 | 201 | g_Tasks[index].runMe -= 1; 202 | 203 | // Remove the task that the period = 0 204 | if (g_Tasks[index].period == 0) 205 | { 206 | g_Tasks[index].pTask = 0; 207 | } 208 | } 209 | 210 | if (g_Tasks[index].period) 211 | { 212 | // Schedule the task to run again 213 | g_Tasks[index].delay = g_Tasks[index].period; 214 | } 215 | } 216 | else 217 | { 218 | // Decrease the delay 219 | g_Tasks[index].delay -= 1; 220 | } 221 | } 222 | } 223 | } 224 | -------------------------------------------------------------------------------- /TaskScheduler/TaskScheduler.h: -------------------------------------------------------------------------------- 1 | // TaskScheduler.h 2 | // A task scheduler library for arduino - header file 3 | // http://blanboom.org 4 | 5 | #ifndef TASK_SCHEDULER_H 6 | #define TASK_SCHEDULER_H 7 | 8 | #if ARDUINO >= 100 9 | #include "Arduino.h" 10 | #else 11 | #include "WProgram.h" 12 | #endif 13 | 14 | 15 | #define RETURN_ERROR 0 16 | #define RETURN_NORMAL 1 17 | 18 | // Error codes 19 | //#define REPORT_ERRORS // Remove "//" to enable error report 20 | #define ERROR_TOO_MANY_TASKS (1) 21 | #define ERROR_CANNOT_DELETE_TASK (2) 22 | 23 | // The max number of tasks 24 | #define MAX_TASKS (10) 25 | 26 | // The data structure of per task 27 | typedef struct 28 | { 29 | void (*pTask)(void); // The task to be scheduled 30 | uint16_t delay; // The interval before the task is first executed 31 | uint16_t period; // Repeat period of the task 32 | uint8_t runMe; // Is the task should be dispatched 33 | uint8_t co_op; // If it is 1, it's a co-operative task 34 | // If it is 0, it's a pre-emptive task 35 | } Task; 36 | 37 | class Schedule 38 | { 39 | //Scheduler functions 40 | private: 41 | void _reportStatus(void); 42 | void _goToSleep(void); 43 | public: 44 | void init(void); 45 | void start(void); 46 | void dispatchTasks(void); 47 | uint8_t addTask(void ( *)(void), uint16_t, uint16_t, boolean); 48 | boolean deleteTask(uint8_t); 49 | }; 50 | 51 | static Schedule Sch; 52 | 53 | #endif 54 | -------------------------------------------------------------------------------- /TaskScheduler/examples/TaskSchedulerSketch/TaskSchedulerSketch.ino: -------------------------------------------------------------------------------- 1 | // Blink LEDs on digital pin 12 and 13 2 | 3 | #include "TaskScheduler.h" // include this file to use this library 4 | 5 | // the state of LEDs 6 | boolean g_led1State=1; 7 | boolean g_led2State=0; 8 | 9 | void setup() 10 | { 11 | pinMode(13,OUTPUT); 12 | pinMode(12,OUTPUT); 13 | 14 | Sch.init(); // Initialize task scheduler 15 | 16 | /* 17 | * use Sch.addTask(task, start_time, period, priority) to add tasks 18 | * task - tasks to be scheduled 19 | * start_time - when the task starts (ms) 20 | * period - repeat period of the task (ms) 21 | * priority - 1: mormal priority, 0: high priority 22 | */ 23 | Sch.addTask(led1Update,0,1000,1); //从第 0 毫秒开始闪烁 LED，每隔 1s, LED 状态改变一次 24 | Sch.addTask(led2Update,20,500,1); //从第 20 毫秒开始闪烁 LED，每隔 0.5s, LED 状态改变一次 25 | 26 | Sch.start(); // Start the task scheduler 27 | } 28 | 29 | void loop() 30 | { 31 | Sch.dispatchTasks(); 32 | } 33 | 34 | // Put task to be scheduled below 35 | 36 | // Blink LED on pin 13 37 | void led1Update() 38 | { 39 | if(g_led1State==0) 40 | { 41 | g_led1State=1; 42 | digitalWrite(13,HIGH); 43 | } 44 | else 45 | { 46 | g_led1State=0; 47 | digitalWrite(13,LOW); 48 | } 49 | } 50 | 51 | // Blink LED on pin 12 52 | void led2Update() 53 | { 54 | if(g_led2State==0) 55 | { 56 | g_led2State=1; 57 | digitalWrite(12,HIGH); 58 | } 59 | else 60 | { 61 | g_led2State=0; 62 | digitalWrite(12,LOW); 63 | } 64 | } 65 | --------------------------------------------------------------------------------