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#include "stdlib.h"
#include "r_typedefs.h"
#include "init.h"
#include "Sys_Scheduler.h"
#include "Sys_Tick.h"
typedef struct
{
uint8_t ID2ms;
uint8_t ID5ms;
uint8_t ID10ms;
uint8_t ID20ms;
uint8_t ID50ms;
uint8_t ID100ms;
} Sys_Task_Group_st_t;
typedef struct
{
uint16_t msRocBak;
Sys_Task_Group_st_t TaskGroup;
} Sys_Scheduling_st_t;
Sys_Scheduling_st_t SysScheduling;
static void Sys_Exact_50us_Task_Handler(void);
static void Sys_Exact_100ms_Task_Handler(void);
void Sys_Init(void)
{
SysScheduling.msRocBak = 0U;
SysScheduling.TaskGroup.ID2ms = 0U;
SysScheduling.TaskGroup.ID10ms = 0U;
SysScheduling.TaskGroup.ID20ms = 0U;
SysScheduling.TaskGroup.ID50ms = 0U;
SysScheduling.TaskGroup.ID100ms = 0U;
Sys_Tick_Timer_Call_Back_Reg(SYS_TICK_50us_CB, Sys_Exact_50us_Task_Handler);
Sys_Tick_Timer_Call_Back_Reg(SYS_TICK_1ms_CB, NULL);
Sys_Tick_Timer_Call_Back_Reg(SYS_TICK_100ms_CB, Sys_Exact_100ms_Task_Handler);
Sys_Startup_Init();
}
void Sys_Scheduling_Service(void)
{
uint16_t u16msROC;
Sys_Run_Mode_Pseudo_Real_Time_Tasks();
u16msROC = SYS_ROLLING_COUNTER_1ms;
if (u16msROC - SysScheduling.msRocBak >= 1U)
{
SysScheduling.msRocBak = u16msROC;
SysScheduling.TaskGroup.ID2ms++;
if (SysScheduling.TaskGroup.ID2ms >= 2u)
{
SysScheduling.TaskGroup.ID2ms = 0u;
Sys_Run_Mode_2ms_Tasks();
}
SysScheduling.TaskGroup.ID5ms++;
if (SysScheduling.TaskGroup.ID5ms >= 5u)
{
SysScheduling.TaskGroup.ID5ms = 0u;
Sys_Run_Mode_5ms_Tasks();
}
SysScheduling.TaskGroup.ID10ms++;
if (SysScheduling.TaskGroup.ID10ms >= 10u)
{
SysScheduling.TaskGroup.ID10ms = 0u;
Sys_Run_Mode_10ms_Tasks();
}
SysScheduling.TaskGroup.ID20ms++;
if (SysScheduling.TaskGroup.ID20ms >= 20u)
{
SysScheduling.TaskGroup.ID20ms = 0u;
Sys_Run_Mode_20ms_Tasks();
}
SysScheduling.TaskGroup.ID50ms++;
if (SysScheduling.TaskGroup.ID50ms >= 50u)
{
SysScheduling.TaskGroup.ID50ms = 0u;
Sys_Run_Mode_50ms_Tasks();
}
SysScheduling.TaskGroup.ID100ms++;
if (SysScheduling.TaskGroup.ID100ms >= 100u)
{
SysScheduling.TaskGroup.ID100ms = 0u;
Sys_Run_Mode_100ms_Tasks();
}
}
}
static void Sys_Exact_50us_Task_Handler(void)
{
Sys_Exact_50us_Tasks();
}
static void Sys_Exact_100ms_Task_Handler(void)
{
Sys_Exact_100ms_Tasks();
}