Ticker is a naive embedded scheduler for HRT applications in just one include file. Code has currently been ported successfully to STM32, SPC5 and PICmicro families.
You need to adapt the code to your hardware platform by simply adding the proper include(s) and defining two macros in ticker.h.
#ifndef GetSysCount
/* Platform dependent */
#include "stm32f4xx_hal.h"
#define GetSysCount() HAL_GetTick()
#define SYSCNTxMS 1
#endif#include "ticker.h"
...
static ticker_t mainTicker;
...
tickerInit(&mainTicker);This is the most simple usage, just needs to add proper checks in your main loop.
while (1) {
tickerTick(&mainTicker);
if (mainTicker.Hz100) {
// toggle led2 @ 100Hz
}
if (mainTicker.Hz1) {
// toggle led1 @ 1Hz
}
...
}Same effect can be obtained using callbacks (note that this syntax uses function pointers).
static task_return_t myTaskOneShot(ticker_t *t, void *pdata)
{
// do something here
return TASK_DONE;
}
static task_return_t myTaskPeriodic(ticker_t *t, void *pdata)
{
// do something here
return TASK_REPEAT;
}
...
int pdata1 = 7;
char pdata[] = "hello";
...
tickerScheduleTaskMs(&mainTicker, 1000 /* ms */, myTaskOneShot, pdata1, TASK_FLAG_NONE);
tickerScheduleTaskMs(&mainTicker, 100 /* ms */, myTaskPeriodic, pdata2, TASK_FLAG_PERIODIC);
while (1) {
tickerTick(&mainTicker);
if (mainTicker.Hz100) {
// this is still valid if you want to mix usages
}
...
}