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Scheduler library for Arduino Due to the new format
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‎examples/MultipleBlinks/MultipleBlinks.ino

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/*
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Multiple Blinks
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Demonstrates the use of the Scheduler library for the Arduino Due
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Hardware required :
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* LEDs connected to pins 11, 12, and 13
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created 8 Oct 2012
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by Cristian Maglie
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Modified by
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Scott Fitzgerald 19 Oct 2012
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This example code is in the public domain
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http://arduino.cc/en/Tutorial/MultipleBlinks
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*/
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// Include Scheduler since we want to manage multiple tasks.
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#include <Scheduler.h>
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int led1 = 13;
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int led2 = 12;
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int led3 = 11;
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void setup() {
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Serial.begin(9600);
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// Setup the 3 pins as OUTPUT
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pinMode(led1, OUTPUT);
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pinMode(led2, OUTPUT);
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pinMode(led3, OUTPUT);
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// Add "loop2" and "loop3" to scheduling.
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// "loop" is always started by default.
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Scheduler.startLoop(loop2);
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Scheduler.startLoop(loop3);
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}
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// Task no.1: blink LED with 1 second delay.
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void loop() {
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digitalWrite(led1, HIGH);
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// IMPORTANT:
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// When multiple tasks are running 'delay' passes control to
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// other tasks while waiting and guarantees they get executed.
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delay(1000);
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digitalWrite(led1, LOW);
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delay(1000);
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}
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// Task no.2: blink LED with 0.1 second delay.
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void loop2() {
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digitalWrite(led2, HIGH);
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delay(100);
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digitalWrite(led2, LOW);
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delay(100);
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}
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// Task no.3: accept commands from Serial port
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// '0' turns off LED
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// '1' turns on LED
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void loop3() {
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if (Serial.available()) {
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char c = Serial.read();
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if (c=='0') {
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digitalWrite(led3, LOW);
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Serial.println("Led turned off!");
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}
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if (c=='1') {
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digitalWrite(led3, HIGH);
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Serial.println("Led turned on!");
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}
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}
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// IMPORTANT:
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// We must call 'yield' at a regular basis to pass
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// control to other tasks.
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yield();
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}

‎keywords.txt

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#######################################
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# Syntax Coloring Map For Scheduler
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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Scheduler KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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startLoop KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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‎library.properties

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name=Scheduler
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author=The Android Open Source Project
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email=info@arduino.cc
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sentence=The Scheduler library enables the Arduino Due to run multiple functions at the same time. This allows tasks to happen without interrupting each other.
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paragraph=The Scheduler library enables the Arduino Due to run multiple functions at the same time. This allows tasks to happen without interrupting each other.</br>This is a cooperative scheduler in that the CPU switches from one task to another. The library includes methods for passing control between tasks.
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url=http://arduino.cc/en/Reference/Scheduler
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architectures=*
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version=0.4
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dependencies= none
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core-dependencies=arduino (>=1.5.0)

‎src/Scheduler.cpp

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/*
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* Copyright (C) 2012 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "Scheduler.h"
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extern "C" {
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#define NUM_REGS 10 // r4-r11, sp, pc
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typedef struct CoopTask {
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uint32_t regs[NUM_REGS];
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void* stackPtr;
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struct CoopTask* next;
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struct CoopTask* prev;
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} CoopTask;
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static CoopTask *cur = 0;
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static CoopTask* __attribute__((noinline)) coopSchedule(char taskDied) {
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CoopTask* next = cur->next;
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if (taskDied) {
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// Halt if last task died.
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if (next == cur)
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while (1)
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;
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// Delete task
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if (cur->stackPtr)
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free(cur->stackPtr);
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cur->next->prev = cur->prev;
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cur->prev->next = cur->next;
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free(cur);
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}
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cur = next;
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return next;
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}
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static void __attribute__((naked)) __attribute__((noinline)) coopTaskStart(void) {
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asm (
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"mov r0, r5;"
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"blx r4;"
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"mov r0, #1;"
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"bl coopSchedule;"
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"ldmia r0, {r4-r12, lr};"
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"mov sp, r12;"
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"bx lr;"
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);
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}
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static void __attribute__((naked)) __attribute__((noinline)) coopDoYield(CoopTask* curTask) {
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asm (
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"mov r12, sp;"
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"stmia r0, {r4-r12, lr};"
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"mov r0, #0;"
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"bl coopSchedule;"
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"ldmia r0, {r4-r12, lr};"
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"mov sp, r12;"
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"bx lr;"
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);
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}
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static int coopInit(void) {
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CoopTask* task;
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task = reinterpret_cast<CoopTask *>(malloc(sizeof(CoopTask)));
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if (!task)
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return 0;
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task->next = task;
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task->prev = task;
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task->stackPtr = 0;
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cur = task;
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return 1;
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}
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static int coopSpawn(SchedulerParametricTask taskF, void* taskData, uint32_t stackSz) {
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uint8_t *stack = (uint8_t*)malloc(stackSz);
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if (!stack)
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return 0;
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CoopTask *task = reinterpret_cast<CoopTask *>(malloc(sizeof(CoopTask)));
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if (!task) {
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free(stack);
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return 0;
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}
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task->stackPtr = stack;
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task->regs[0] = (uint32_t) taskF;
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task->regs[1] = (uint32_t) taskData;
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task->regs[8] = ((uint32_t)(stack + stackSz)) & ~7;
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task->regs[9] = (uint32_t) & coopTaskStart;
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task->prev = cur;
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task->next = cur->next;
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cur->next->prev = task;
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cur->next = task;
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// These are here so compiler is sure that function is
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// referenced in both variants (cancels a warning)
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if (stackSz == 0xFFFFFFFF)
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coopSchedule(0);
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if (stackSz == 0xFFFFFFFE)
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coopSchedule(1);
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return 1;
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}
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void yield(void) {
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coopDoYield(cur);
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}
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}; // extern "C"
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SchedulerClass::SchedulerClass() {
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coopInit();
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}
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static void startLoopHelper(void *taskData) {
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SchedulerTask task = reinterpret_cast<SchedulerTask>(taskData);
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while (true)
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task();
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}
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void SchedulerClass::startLoop(SchedulerTask task, uint32_t stackSize) {
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coopSpawn(startLoopHelper, reinterpret_cast<void *>(task), stackSize);
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}
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static void startTaskHelper(void *taskData) {
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SchedulerTask task = reinterpret_cast<SchedulerTask>(taskData);
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task();
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}
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void SchedulerClass::start(SchedulerTask task, uint32_t stackSize) {
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coopSpawn(startTaskHelper, reinterpret_cast<void *>(task), stackSize);
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}
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void SchedulerClass::start(SchedulerParametricTask task, void *taskData, uint32_t stackSize) {
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coopSpawn(task, taskData, stackSize);
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}
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SchedulerClass Scheduler;
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‎src/Scheduler.h

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/*
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* Copyright (C) 2012 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef _SCHEDULDER_H_
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#define _SCHEDULDER_H_
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#include <Arduino.h>
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extern "C" {
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typedef void (*SchedulerTask)(void);
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typedef void (*SchedulerParametricTask)(void *);
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}
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class SchedulerClass {
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public:
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SchedulerClass();
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static void startLoop(SchedulerTask task, uint32_t stackSize = 1024);
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static void start(SchedulerTask task, uint32_t stackSize = 1024);
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static void start(SchedulerParametricTask task, void *data, uint32_t stackSize = 1024);
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static void yield() { ::yield(); };
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};
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extern SchedulerClass Scheduler;
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#endif
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