127 lines
2.7 KiB
C
127 lines
2.7 KiB
C
/**
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* @file tasker.h
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* @author Trevor Barnes
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* @brief
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* @version 0.1
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* @date 2022-02-11
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include <inttypes.h>
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// RCC
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typedef struct {
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uint32_t CR;
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uint32_t PLL_CFGR;
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uint32_t CFGR;
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uint32_t CIR;
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uint32_t AHB1RSTR;
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uint32_t AHB2RSTR;
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uint32_t AHB3RSTR;
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uint32_t _RESERVED_1_;
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uint32_t APB1RSTR;
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uint32_t APB2RSTR;
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uint32_t _RESERVED_2_;
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uint32_t _RESERVED_3_;
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uint32_t AHB1ENR;
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uint32_t AHB2ENR;
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uint32_t AHB3ENR;
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uint32_t _RESERVED_4_;
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uint32_t APB1ENR;
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uint32_t APB2ENR;
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uint32_t _RESERVED_5_;
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uint32_t _RESERVED_6_;
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} RCC;
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// GPIO
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typedef struct {
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uint32_t MODER;
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uint32_t OTYPER;
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uint32_t OSPEEDER;
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uint32_t PUPDR;
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uint32_t IDR;
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uint32_t ODR;
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uint32_t BSRR;
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uint32_t LCKR;
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uint32_t AFRL;
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uint32_t AFRH;
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} GPIO;
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typedef struct {
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uint32_t CR1; // Control Register 1
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uint32_t CR2; // Control Register 2
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uint32_t SMCR; // Slave Mode Control Register
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uint32_t DIER; // DMA/Interrupt Enable Register
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uint32_t SR; // Status Register
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uint32_t EGR; // Event Generation Register
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uint32_t CCMR1; // Capture/Compare Mode Register 1
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uint32_t CCMR2; // Capture/Compare Mode Register 2
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uint32_t CCER; // Capture/Compare Enable Register
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uint32_t CNT; // Counter
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uint32_t PSC; // Prescaler
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uint32_t ARR; // Auto-Reload Register
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uint32_t _RESERVED_1_;
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uint32_t CCR1; // Capture/Compare Register 1
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uint32_t CCR2; // Capture/Compare Register 2
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uint32_t CCR3; // Capture/Compare Register 3
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uint32_t CCR4; // Capture/Compare Register 4
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uint32_t _RESERVED_2_;
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uint32_t DCR; // DMA Control Register
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uint32_t DMAR; // DMA Address for Full Transfer
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uint32_t TIM2_OR; // TIM2 Option Register
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uint32_t TIM5_OR; // TIM5 Option Register
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} TIM;
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// Will have to include timer for task switching interrupt
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// SYSCFG
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typedef struct {
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uint32_t MEMRMP;
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uint32_t PMC;
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uint32_t EXTICR1;
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uint32_t EXTICR2;
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uint32_t EXTICR3;
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uint32_t EXTICR4;
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uint32_t CMPCR;
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uint32_t CFGR;
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} SYSCFG;
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// Interrupt
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#define NVIC_ISER1 (volatile uint32_t*) 0xE000E104
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typedef struct {
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uint32_t IMR;
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uint32_t EMR;
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uint32_t RTSR;
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uint32_t FTSR;
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uint32_t SWIER;
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uint32_t PR;
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} EXTI;
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typedef enum{PAUSED, ACTIVE} task_state;
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#define SCB_ICSR 0xE000D04
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#define PENDSVSET 28
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extern int num_tasks;
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extern int current_task;
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extern int next_task;
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extern Task tasks[];
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typedef struct {
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uint32_t* stack_pointer;
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uint32_t ticks_starting;
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uint32_t ticks_remaining;
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task_state state;
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} Task;
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void tasker_tick();
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void init_tasker(uint32_t total_tasks, uint32_t main_ticks);
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void init_task(uint32_t task_num, uint32_t stacksize,
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void(*entry_point)(void), uint32_t ticks);
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void PendSV_Handler(void __attribute__((naked))); |