diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
index 692b352c4fec6146976af844e5aff0a8dfc3c904..5189e667c728126281ede7c9e0bb90d6a3c52478 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
@@ -59,6 +59,11 @@ void Scheduling::startUninterruptibleSynchronousTask()
scheduling_start_uninterruptible_synchronous_task();
}
+void Scheduling::stopUninterruptibleSynchronousTask()
+{
+ scheduling_stop_uninterruptible_synchronous_task();
+}
+
// Asynchronous tasks
@@ -74,8 +79,10 @@ void Scheduling::startAsynchronousTask(uint8_t task_number)
scheduling_start_asynchronous_task(task_number);
}
-#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
-
+void Scheduling::stopAsynchronousTask(uint8_t task_number)
+{
+ scheduling_stop_asynchronous_task(task_number);
+}
// Suspend asynchronous tasks
@@ -88,3 +95,5 @@ void Scheduling::suspendCurrentTaskUs(uint32_t duration_us)
{
k_sleep(K_USEC(duration_us));
}
+
+#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
index 52a6e5f5524cc05c938a9ddedbe56b736500d2d6..1ebff44b450f85f67a912e4731f8977940789abf 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
@@ -46,6 +46,11 @@ public:
* execute a periodic, non-interruptible user task.
* Use this function to define such a task.
* Only one task of this kind can be defined.
+ * This function can be used to redefine (replace) a
+ * previously defined uninterruptible synchronous task,
+ * but the previously defined task must have been suspended
+ * (or never started). An error will be returned if the
+ * previously defined task is still running.
*
* @param periodic_task Pointer to the void(void) function
* to be executed periodically.
@@ -65,6 +70,14 @@ public:
*/
void startUninterruptibleSynchronousTask();
+ /**
+ * @brief Stop the previously started uninterruptible
+ * synchronous task.
+ * The task can be then resumed by calling
+ * startAsynchronousTask() again.
+ */
+ void stopUninterruptibleSynchronousTask();
+
#ifdef CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
@@ -86,10 +99,24 @@ public:
/**
* @brief Use this function to start a previously defined
* asynchronous task using its task number.
+ *
+ * @param task_number
+ * Number of the task to start, obtained using the
+ * defineAsynchronousTask() function.
*/
void startAsynchronousTask(uint8_t task_number);
-#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
+ /**
+ * @brief Use this function to stop a previously started
+ * asynchronous task using its task number.
+ * The task can be then resumed by calling
+ * startAsynchronousTask() again.
+ *
+ * @param task_number
+ * Number of the task to stop, obtained using the
+ * defineAsynchronousTask() function.
+ */
+ void stopAsynchronousTask(uint8_t task_number);
/**
* @brief This function allows to suspend an asynchronous
@@ -113,6 +140,8 @@ public:
*/
void suspendCurrentTaskUs(uint32_t duration_us);
+#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
+
private:
static const int DEFAULT_PRIORITY;
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.cpp b/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.cpp
index 1156b155810fbd19166ee80c6cca8da88eb02b03..c6472f235a60a3fc2f470300f4886c441c3d5633 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.cpp
@@ -31,7 +31,7 @@
static K_THREAD_STACK_ARRAY_DEFINE(asynchronous_thread_stack, CONFIG_OWNTECH_SCHEDULING_MAX_ASYNCHRONOUS_TASKS, CONFIG_OWNTECH_SCHEDULING_ASYNCHRONOUS_TASKS_STACK_SIZE);
-static task_information_t tasks_informations[CONFIG_OWNTECH_SCHEDULING_MAX_ASYNCHRONOUS_TASKS];
+static task_information_t tasks_information[CONFIG_OWNTECH_SCHEDULING_MAX_ASYNCHRONOUS_TASKS];
static uint8_t task_count = 0;
static const int ASYNCHRONOUS_THREADS_PRIORITY = 14;
@@ -53,11 +53,12 @@ int8_t scheduling_define_asynchronous_task(task_function_t routine)
uint8_t task_number = task_count;
task_count++;
- tasks_informations[task_number].routine = routine;
- tasks_informations[task_number].priority = ASYNCHRONOUS_THREADS_PRIORITY;
- tasks_informations[task_number].task_number = task_number;
- tasks_informations[task_number].stack = asynchronous_thread_stack[task_number];
- tasks_informations[task_number].stack_size = K_THREAD_STACK_SIZEOF(asynchronous_thread_stack[task_number]);
+ tasks_information[task_number].routine = routine;
+ tasks_information[task_number].priority = ASYNCHRONOUS_THREADS_PRIORITY;
+ tasks_information[task_number].task_number = task_number;
+ tasks_information[task_number].stack = asynchronous_thread_stack[task_number];
+ tasks_information[task_number].stack_size = K_THREAD_STACK_SIZEOF(asynchronous_thread_stack[task_number]);
+ tasks_information[task_number].status = task_status_t::defined;
return task_number;
}
@@ -71,7 +72,28 @@ void scheduling_start_asynchronous_task(uint8_t task_number)
{
if (task_number < task_count)
{
- scheduling_common_start_task(tasks_informations[task_number], _scheduling_user_asynchronous_task_entry_point);
+ if (tasks_information[task_number].status == task_status_t::defined)
+ {
+ scheduling_common_start_task(tasks_information[task_number], _scheduling_user_asynchronous_task_entry_point);
+ tasks_information[task_number].status = task_status_t::running;
+ }
+ else if (tasks_information[task_number].status == task_status_t::suspended)
+ {
+ scheduling_common_resume_task(tasks_information[task_number]);
+ tasks_information[task_number].status = task_status_t::running;
+ }
+ }
+}
+
+void scheduling_stop_asynchronous_task(uint8_t task_number)
+{
+ if (task_number < task_count)
+ {
+ if (tasks_information[task_number].status == task_status_t::running)
+ {
+ scheduling_common_suspend_task(tasks_information[task_number]);
+ tasks_information[task_number].status = task_status_t::suspended;
+ }
}
}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.hpp b/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.hpp
index 0deca6573253ab323d6c1c4b851b27c59981f334..0e216d00a827609a871aeafa09b93ea75bebf9d1 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.hpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/asynchronous_tasks.hpp
@@ -35,6 +35,7 @@
int8_t scheduling_define_asynchronous_task(task_function_t routine);
void scheduling_start_asynchronous_task(uint8_t task_number);
+void scheduling_stop_asynchronous_task(uint8_t task_number);
#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.cpp b/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.cpp
index 6630aac9c0ac1b5187aa14ac2da710c8d1f97c6d..9496612d6d061ac9e435c425427794b910db3987 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.cpp
@@ -39,3 +39,13 @@ void scheduling_common_start_task(task_information_t& task_info, k_thread_entry_
task_info.thread_id = tid;
}
+
+void scheduling_common_suspend_task(task_information_t& task_info)
+{
+ k_thread_suspend(task_info.thread_id);
+}
+
+void scheduling_common_resume_task(task_information_t& task_info)
+{
+ k_thread_resume(task_info.thread_id);
+}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.hpp b/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.hpp
index e4c23f82c1c92340af83379b25a5097c80d8d5fc..0a902cd98432a9d9d22df67091116468ecd80ed3 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.hpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/scheduling_common.hpp
@@ -29,6 +29,14 @@
// OwnTech Power API
#include "Scheduling.h"
+enum class task_status_t
+{
+ inexistent,
+ defined,
+ running,
+ suspended
+};
+
typedef struct
{
task_function_t routine;
@@ -38,8 +46,11 @@ typedef struct
size_t stack_size;
k_tid_t thread_id;
k_thread thread_data;
+ task_status_t status;
} task_information_t;
void scheduling_common_start_task(task_information_t& task_info, k_thread_entry_t entry_point);
+void scheduling_common_suspend_task(task_information_t& task_info);
+void scheduling_common_resume_task(task_information_t& task_info);
#endif // SCHEDULING_COMMON_HPP_
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp
index e2c1199e669e56205921152547f9dc7ca1bc0cdb..8e6da288696759463af795b5708ce3b3c9d43596 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp
@@ -25,26 +25,45 @@
// OwnTech Power API
#include "timer.h"
+#include "scheduling_common.hpp"
+
+/////
+// Local variables
+
+// Timer device
static const struct device* timer6 = DEVICE_DT_GET(TIMER6_DEVICE);
-static bool uninterruptibleTaskDefined = false;
+
+// Task status
+static task_status_t uninterruptibleTaskStatus = task_status_t::inexistent;
+
+
+/////
+// API
int8_t scheduling_define_uninterruptible_synchronous_task(void (*periodic_task)(), uint32_t task_period_us)
{
- if ( (periodic_task != NULL) && (device_is_ready(timer6) == true) && (uninterruptibleTaskDefined == false) )
+ if (device_is_ready(timer6) == true)
{
- // Configure and start timer
+ if ( (uninterruptibleTaskStatus == task_status_t::inexistent) || (uninterruptibleTaskStatus == task_status_t::suspended))
+ {
+ // Configure and start timer
- struct timer_config_t timer_cfg = {0};
- timer_cfg.timer_enable_irq = 1;
- timer_cfg.timer_irq_callback = periodic_task;
- timer_cfg.timer_irq_t_usec = task_period_us;
+ struct timer_config_t timer_cfg = {0};
+ timer_cfg.timer_enable_irq = 1;
+ timer_cfg.timer_irq_callback = periodic_task;
+ timer_cfg.timer_irq_t_usec = task_period_us;
- timer_config(timer6, &timer_cfg);
+ timer_config(timer6, &timer_cfg);
- uninterruptibleTaskDefined = true;
+ uninterruptibleTaskStatus = task_status_t::defined;
- return 0;
+ return 0;
+ }
+ else
+ {
+ return -1;
+ }
}
else
{
@@ -54,8 +73,24 @@ int8_t scheduling_define_uninterruptible_synchronous_task(void (*periodic_task)(
void scheduling_start_uninterruptible_synchronous_task()
{
- if ( (device_is_ready(timer6) == true) && (uninterruptibleTaskDefined == true ) )
+ if (device_is_ready(timer6) == true)
+ {
+ if ( (uninterruptibleTaskStatus == task_status_t::defined) || (uninterruptibleTaskStatus == task_status_t::suspended) )
+ {
+ timer_start(timer6);
+ uninterruptibleTaskStatus = task_status_t::running;
+ }
+ }
+}
+
+void scheduling_stop_uninterruptible_synchronous_task()
+{
+ if (device_is_ready(timer6) == true)
{
- timer_start(timer6);
+ if (uninterruptibleTaskStatus == task_status_t::running)
+ {
+ timer_stop(timer6);
+ uninterruptibleTaskStatus = task_status_t::suspended;
+ }
}
}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp
index 55a4cf41085dfe3af2b76c9a745dfd5ceb8b586d..6134011207770134ead65996add603960aee6bb2 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp
@@ -29,7 +29,10 @@
// OwnTech Power API
#include "Scheduling.h"
+
int8_t scheduling_define_uninterruptible_synchronous_task(void (*periodic_task)(), uint32_t task_period_us);
void scheduling_start_uninterruptible_synchronous_task();
+void scheduling_stop_uninterruptible_synchronous_task();
+
#endif // UNINTERRUPTIBLESYNCHRONOUSTASK_HPP_
diff --git a/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h b/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h
index f65f7a4bd85283adc1b1078abeadf65c7ccaea88..a6cc88d1bb82dafeee201cf87c86346a75a09f9c 100644
--- a/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h
+++ b/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h
@@ -101,12 +101,14 @@ struct timer_config_t
typedef void (*timer_api_config) (const struct device* dev, const struct timer_config_t* config);
typedef void (*timer_api_start) (const struct device* dev);
+typedef void (*timer_api_stop) (const struct device* dev);
typedef uint32_t (*timer_api_get_count)(const struct device* dev);
__subsystem struct timer_driver_api
{
- timer_api_config config;
+ timer_api_config config;
timer_api_start start;
+ timer_api_stop stop;
timer_api_get_count get_count;
};
@@ -125,7 +127,8 @@ static inline void timer_config(const struct device* dev, const struct timer_con
}
/**
- * Configure the timer dev with given time t_usec in microseconds.
+ * Start the timer dev. If timer is configured to provide a perdiodic
+ * interrupt, it will also enable it.
*
* @param dev Zephyr device representing the timer.
*/
@@ -136,6 +139,19 @@ static inline void timer_start(const struct device* dev)
api->start(dev);
}
+/**
+ * Stop the timer dev. If timer is configured to provide a perdiodic
+ * interrupt, it will also disable it.
+ *
+ * @param dev Zephyr device representing the timer.
+ */
+static inline void timer_stop(const struct device* dev)
+{
+ const struct timer_driver_api* api = (const struct timer_driver_api*)(dev->api);
+
+ api->stop(dev);
+}
+
/**
* Get the current timer counter value.
*
diff --git a/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.c b/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.c
index 71d56ca96126219fe6c524df656b6cb5ac586980..803bff4019d3b02a0c8f30ca0b54b34a6f7546ca 100644
--- a/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.c
+++ b/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.c
@@ -76,6 +76,7 @@ static const struct timer_driver_api timer_funcs =
{
.config = timer_stm32_config,
.start = timer_stm32_start,
+ .stop = timer_stm32_stop,
.get_count = timer_stm32_get_count
};
@@ -162,6 +163,28 @@ void timer_stm32_start(const struct device* dev)
}
}
+void timer_stm32_stop(const struct device* dev)
+{
+ struct stm32_timer_driver_data* data = (struct stm32_timer_driver_data*)dev->data;
+ TIM_TypeDef* tim_dev = data->timer_struct;
+
+ if ( (tim_dev == TIM6) || (tim_dev == TIM7) )
+ {
+ if (data->timer_mode == periodic_interrupt)
+ {
+ LL_TIM_DisableCounter(tim_dev);
+ LL_TIM_DisableIT_UPDATE(tim_dev);
+ }
+ }
+ else if (tim_dev == TIM4)
+ {
+ if (data->timer_mode == incremental_coder)
+ {
+ LL_TIM_DisableCounter(tim_dev);
+ }
+ }
+}
+
void timer_stm32_clear(const struct device* dev)
{
TIM_TypeDef* tim_dev = ((struct stm32_timer_driver_data*)dev->data)->timer_struct;
diff --git a/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.h b/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.h
index 50a280f313bf5175f88a267d6af726e0cbe64003..2235ffadf1cbe17f66c1ff59f6b004038badede4 100644
--- a/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.h
+++ b/zephyr/modules/owntech_timer_driver/zephyr/src/stm32_timer_driver.h
@@ -82,6 +82,7 @@ struct stm32_timer_driver_data
static int timer_stm32_init(const struct device* dev);
void timer_stm32_config(const struct device* dev, const struct timer_config_t* config);
void timer_stm32_start(const struct device* dev);
+void timer_stm32_stop(const struct device* dev);
uint32_t timer_stm32_get_count(const struct device* dev);
void timer_stm32_clear(const struct device* dev);