QuePatch.txt

#include "stm32f4xx.h"
#include "system_stm32f4xx.h"

#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <time.h>

#define MAX_SIZE 49

static volatile uint32_t msTicks100 = 0;

struct Task {
	int prior;
	int delay;
	void (*fncName)(void);
};

struct Queue {
	int currSize; 
	int maxSize;
	struct Task task[50];
};

static volatile uint8_t stopFlag = 0;


void SysTick_Handler(void);
void USART2_IRQHandler(void);
void EXTI0_IRQHandler(void);
static void sendUART(uint8_t * data, uint32_t length);
static uint8_t receiveUART(void);

//Tasks
void FirstTask(void);
void TaskA(void);
void TaskB(void);
void TaskC(void);
void TaskD(void);

//TaskScheduler functions
void Init(void);
void QueTask(void (*task)(void));
void Dispatch(void);
void ReRunMe(int delay);

//queue functions
void insertRQueue(struct Task);

//globals
static struct Queue readyQueue;
static struct Queue delayQueue;
static struct Task currTask;

static uint8_t msg1[] = "Scheduler is now running!\n\n";
static uint8_t msgA[] = "Task A has started running.\n";
static uint8_t msgB[] = "Task B has started running.\n";
static uint8_t msgC[] = "Task C has started running.\n";
static uint8_t msgD[] = "Task D has started running.\n";

static uint8_t msgA_done[] = "Task A has finished running.\n";
static uint8_t msgB_done[] = "Task B has finished running.\n";
static uint8_t msgC_done[] = "Task C has finished running.\n";
static uint8_t msgD_done[] = "Task D has finished running.\n";

void Init(){
	
	//init the 2 queues
	readyQueue.currSize = 0;
	readyQueue.maxSize = MAX_SIZE;
	
	delayQueue.currSize = 0;
	delayQueue.maxSize = MAX_SIZE;
	
}

void SysTick_Handler(void)  {
	msTicks100++;
	
	//check the delayQueue to put anything in the readyQueue
	//if the queue is not empty
	if (delayQueue.currSize != 0) {
		
		//start checking the delayQueue
		for (int j = delayQueue.currSize; j >= 0; j--) {
			delayQueue.task[j].delay--;
			
			//if the delay is now 0, it is now ready for the readyQueue and to
			//be removed from the delayQueue
			if (delayQueue.task[j].delay == 0) {
				insertRQueue(delayQueue.task[j]);
				delayQueue.currSize--;
			}	
		}
	}
}

void USART2_IRQHandler(void) {
	/* pause/resume UART messages */
	stopFlag = !stopFlag;
	
	/* dummy read */
	(void)receiveUART();
}

void EXTI0_IRQHandler(void) {
		/* Clear interrupt request */
		EXTI->PR |= 0x01;
}

static void sendUART(uint8_t * data, uint32_t length)
{
	 for (uint32_t i=0; i<length; ++i){
      // add new data without messing up DR register
      uint32_t value = (USART2->DR & 0x00) | data[i];
		  // send data
			USART2->DR = value;
      // busy wait for transmit complete
      while(!(USART2->SR & (1 << 6)));
		  // delay
      for(uint32_t j=0; j<1000; ++j);
      }
}

static uint8_t receiveUART()
{
	  // extract data
	  uint8_t data = USART2->DR & 0xFF;
	
	  return data;
}

static void gpioInit()
{	
    // enable GPIOA clock, bit 0 on AHB1ENR
    RCC->AHB1ENR |= (1 << 0);

    // set pin modes as alternate mode 7 (pins 2 and 3)
    // USART2 TX and RX pins are PA2 and PA3 respectively
    GPIOA->MODER &= ~(0xFU << 4); // Reset bits 4:5 for PA2 and 6:7 for PA3
    GPIOA->MODER |=  (0xAU << 4); // Set   bits 4:5 for PA2 and 6:7 for PA3 to alternate mode (10)

    // set pin modes as high speed
    GPIOA->OSPEEDR |= 0x000000A0; // Set pin 2/3 to high speed mode (0b10)

    // choose AF7 for USART2 in Alternate Function registers
    GPIOA->AFR[0] |= (0x7 << 8); // for pin A2
    GPIOA->AFR[0] |= (0x7 << 12); // for pin A3
}

static void uartInit()
{
	
    // enable USART2 clock, bit 17 on APB1ENR
    RCC->APB1ENR |= (1 << 17);
	
	  // USART2 TX enable, TE bit 3
    USART2->CR1 |= (1 << 3);

    // USART2 rx enable, RE bit 2
    USART2->CR1 |= (1 << 2);
	
	  // USART2 rx interrupt, RXNEIE bit 5
    USART2->CR1 |= (1 << 5);

    // baud rate = fCK / (8 * (2 - OVER8) * USARTDIV)
    //   for fCK = 16 Mhz, baud = 115200, OVER8 = 0
    //   USARTDIV = 16Mhz / 115200 / 16 = 8.6805
    // Fraction : 16*0.6805 = 11 (multiply fraction with 16)
    // Mantissa : 8
    // 12-bit mantissa and 4-bit fraction
    USART2->BRR |= (8 << 4);
    USART2->BRR |= 11;

    // enable usart2 - UE, bit 13
    USART2->CR1 |= (1 << 13);
}


void FirstTask() {
	sendUART(msg1, sizeof(msg1));
}

void TaskA() {
	
	sendUART(msgA, sizeof(msgA));
	sendUART(msgA_done, sizeof(msgA_done));
}

void TaskB() {
	
	sendUART(msgB, sizeof(msgB));
	sendUART(msgB_done, sizeof(msgB_done));
}

void TaskC() {
	
	sendUART(msgC, sizeof(msgC));
	sendUART(msgC_done, sizeof(msgC_done));
}

void TaskD() {
	
	sendUART(msgD, sizeof(msgD));
	sendUART(msgD_done, sizeof(msgD_done));
}


void QueTask(void (*task)(void)) {
	
	//to support 8 modes of priority
	int priority;
	
	if (task == *TaskB)
		priority = 7;
	else if (task == *TaskD || task == *TaskA)
		priority = 4;
	else //TaskC
		priority = 0;
	
	struct Task newTask;
	
	newTask.delay = 0;
	newTask.prior = priority;
	newTask.fncName = task;
	
	insertRQueue(newTask);
}


void insertRQueue(struct Task T) {
	
	//if the queue is full, just return
	if (readyQueue.currSize == readyQueue.maxSize) {
		static uint8_t msgQFull[] = "Queue is currently full, please wait for tasks to finish!\n";
		sendUART( (uint8_t*) msgQFull, sizeof(msgQFull) );
		return;
	}
	
  for (int i = 0; i < readyQueue.currSize; i++) {

		//if the current tasks's priority is more than what we're currently
		//pointing to, we want to place it in that position
		if (T.prior > readyQueue.task[i].prior) {
			
			//start shifting everything to the right to make space
			for (int j = readyQueue.currSize + 1; j > i; j--)
					readyQueue.task[j] = readyQueue.task[j - 1];

			readyQueue.task[i] = T;
			readyQueue.currSize = readyQueue.currSize + 1;
		
			return;
		}
	}

	//if the priority is smaller than everything else, place it at the end.
	readyQueue.task[readyQueue.currSize] = T;
	readyQueue.currSize = readyQueue.currSize + 1;

}

void ReRunMe(int delay) {
	
	struct Task rerunTask;
	
	rerunTask.delay = delay;
	rerunTask.prior = currTask.prior;
	rerunTask.fncName = currTask.fncName;
	
	//instantly put into readyQueue
	if (delay == 0)
		insertRQueue(rerunTask);
	
	//negative number, then do nothing
	else if (delay < 0)
		return;
	
	//needs to be put into the delayQueue
	else {
		
		//if the queue is full, do nothing
		if (delayQueue.currSize == delayQueue.maxSize)
			return;
		
		for (int i = 0; i <= delayQueue.currSize; i++) {

			//if the current tasks's priority is more than what we're currently
			//pointing to, we want to place it in that position
			if (rerunTask.delay > delayQueue.task[i].delay) {
				
				//start shifting everything to the right to make space
				for (int j = delayQueue.currSize + 1; j > i; j--)
						delayQueue.task[j] = delayQueue.task[j - 1];

				delayQueue.task[i] = rerunTask;
				delayQueue.currSize = delayQueue.currSize + 1;
			
				return;
			}
		}

		//if the delay is smaller than everything else, place it at the end.
		delayQueue.currSize = delayQueue.currSize + 1;
		delayQueue.task[delayQueue.currSize] = rerunTask;
	}
}


void Dispatch() {
	
	//if the queue is not empty
	if (readyQueue.currSize != 0) {
		void (*runTask)(void) = readyQueue.task[0].fncName;
		currTask = readyQueue.task[0];
		(*runTask)();
		
		static uint8_t msgX[] = "\n";
		sendUART( (uint8_t*) msgX, sizeof(msgX) );
		
		//start shifting everything to the left
		for (int j = 0; j < readyQueue.currSize; j++)
				readyQueue.task[j] = readyQueue.task[j + 1];
	
		readyQueue.currSize = readyQueue.currSize - 1;
		
	}
}

int main()
{	
	/* startup code initialization */
	SystemInit();
	SystemCoreClockUpdate();
	/* intialize UART */
	gpioInit();
	/* intialize UART */
	uartInit();
	
	/* enable SysTick timer to interrupt system every 100ms */
	//it's not exactly 100ms, but the professor mentioned that it makes
	//sense since this is a simulation and not real hardware
	SysTick_Config(SystemCoreClock/3);
	
	
	/* enable interrupt controller for USART2 external interrupt */
	NVIC_EnableIRQ(USART2_IRQn);
	/* Unmask External interrupt 0 */
	EXTI->IMR |= 0x0001;
	/* Enable rising and falling edge triggering for External interrupt 0 */
	EXTI->RTSR |= 0x0001;
	EXTI->FTSR |= 0x0001;
	/* enable interrupt controller for External interrupt 0 */
	NVIC_EnableIRQ(EXTI0_IRQn);

	
	//initialize all
	Init();

	//queueing start schedule string
	QueTask(FirstTask);
	Dispatch();
	
	//queueing the tasks
	QueTask(TaskA);
	QueTask(TaskB);
	QueTask(TaskC);
	QueTask(TaskD);
	
	
	while(1)
	{
		Dispatch();
	}
}