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Port Scheduler library to Arduino Zero. #3958

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Oct 28, 2015
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Port Scheduler library to Arduino Zero. #3958

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8 changes: 4 additions & 4 deletions libraries/Scheduler/library.properties
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
name=Scheduler
version=0.4.3
version=0.4.4
author=Arduino
maintainer=Arduino <[email protected]>
sentence=Allows multiple tasks to run at the same time, without interrupting each other. For Arduino DUE only.
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.
sentence=Allows multiple tasks to run at the same time, without interrupting each other. For Arduino sam and samd architectures only (Due, Zero...).
paragraph=The Scheduler library enables the Arduino 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.
category=Other
url=http://www.arduino.cc/en/Reference/Scheduler
architectures=sam
architectures=sam,samd
57 changes: 55 additions & 2 deletions libraries/Scheduler/src/Scheduler.cpp
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Expand Up @@ -53,22 +53,75 @@ static void __attribute__((naked)) __attribute__((noinline)) coopTaskStart(void)
asm (
"mov r0, r5;"
"blx r4;"
"mov r0, #1;"
/* schedule. */
"mov r0, #1;" /* returned from task func: task done */
"bl coopSchedule;"
/* r0 holds address of next task context */
#if defined(ARDUINO_ARCH_SAMD)
/* for cortex m0, ldm and stm are restricted to low registers */
/* load high registers */
"add r0, #16;" /* they are 4 words higher in memory */
"ldmia r0, {r1-r6};" /* load them in low registers first... */
"mov r8, r1;" /* ...and move them into high registers... */
"mov r9, r2;"
"mov r10, r3;"
"mov r11, r4;"
"mov r12, r5;"
"mov lr, r6;"
/* load low registers */
"sub r0, r0, #40;" /* back to begin of context */
"ldmia r0, {r4-r7};"
#else
"ldmia r0, {r4-r12, lr};"
#endif
/* restore task stack */
"mov sp, r12;"
/* resume task */
"bx lr;"
);
}

static void __attribute__((naked)) __attribute__((noinline)) coopDoYield(CoopTask* curTask) {
asm (
"mov r12, sp;"
#if defined(ARDUINO_ARCH_SAMD)
/* store low registers */
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Shall this be put inside ifdef too, so we can use the more efficient store instruction when available (without copying the high registers into the low registers)?

"stmia r0, {r4-r7};"
/* store high registers */
"mov r1, r8;" /* move them to low registers first. */
"mov r2, r9;"
"mov r3, r10;"
"mov r4, r11;"
"mov r5, r12;"
"mov r6, lr;"
"stmia r0, {r1-r6};"
#else
"stmia r0, {r4-r12, lr};"
"mov r0, #0;"
#endif
/* schedule. */
"mov r0, #0;" /* previous task did not complete */
"bl coopSchedule;"
/* r0 holds address of next task context */
#if defined(ARDUINO_ARCH_SAMD)
/* for cortex m0, ldm and stm are restricted to low registers */
/* load high registers */
"add r0, #16;" /* they are 4 words higher in memory */
"ldmia r0, {r1-r6};" /* load them in low registers first... */
"mov r8, r1;" /* ...and move them into high registers... */
"mov r9, r2;"
"mov r10, r3;"
"mov r11, r4;"
"mov r12, r5;"
"mov lr, r6;"
/* load low registers */
"sub r0, r0, #40;" /* back to begin of context */
"ldmia r0, {r4-r7};"
#else
"ldmia r0, {r4-r12, lr};"
#endif
/* restore task stack */
"mov sp, r12;"
/* resume task */
"bx lr;"
);
}
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