1 files changed, 94 insertions, 0 deletions
diff --git a/include/tasks.h b/include/tasks.h
new file mode 100644
index 0000000..27bd968
--- /dev/null
+++ b/include/tasks.h
@@ -0,0 +1,94 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <avr/interrupt.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "mcu/mcu_def.h"
+#include "timer.h"
+
+#ifndef _IOE_TASKS_H_
+#define _IOE_TASKS_H_
+
+#ifdef CONFIG_IOE_TASKS
+
+#ifndef CONFIG_IOE_TIMERS
+#error "To use tasks you must enable timers (CONFIG_IOE_TIMERS)."
+#endif
+
+int8_t tasks_run(void);
+
+union StackPointer {
+    uint8_t lh8[2];
+    uint16_t lh16;
+};
+typedef struct {
+    uint8_t flags;
+    void (*func) (void *data);
+    void *data;
+    uint8_t _rflags;
+    uint8_t _stack_size;
+    union StackPointer _sp;
+} Task;
+int8_t task_spawn(Task * t, uint8_t stack_size);
+void taks_exit(void);
+int8_t task_kill(Task * t);
+int8_t task_safe(void);
+int8_t task_unsafe(void);
+
+int8_t task_delay(uint16_t cycles);
+int8_t task_delay_ms(uint16_t ms);
+int8_t task_delay_till(volatile int8_t * boolean, uint16_t ms);
+
+#define MUTEX_F_TIMED (1<<0)
+#define MUTEX_F_TAKEN (1<<7)
+typedef struct {
+    uint8_t flags;
+    Task *_task_took;
+} Mutex;
+int8_t mutex_init(Mutex * mtx);
+int8_t mutex_free(Mutex * mtx);
+int8_t mutex_take(Mutex * mtx, uint16_t timeout);
+int8_t mutex_give(Mutex * mtx);
+
+typedef struct {
+    uint8_t flags;
+    uint8_t _count;
+    Task **_tasks;
+    uint8_t _tasks_len;
+} Semaphore;
+int8_t semaphore_init(Semaphore * sem, uint8_t count);
+int8_t semaphore_free(Semaphore * sem);
+int8_t semaphore_take(Semaphore * sem, uint16_t timeout);
+int8_t semaphore_give(Semaphore * sem);
+
+#else /* CONFIG_IOE_TASKS */
+
+typedef struct {
+} Task;
+#define task_spawn(T, STACK_SIZE)
+#define task_exit()
+#define task_kill(T)
+#define task_safe()
+#define task_unsafe()
+
+#define task_delay(US) _delay_us(US) // TODO this should be cycles
+#define task_delay_ms(MS) _delay_ms(MS)
+int8_t task_delay_till(volatile int8_t * boolean, uint16_t ms);
+
+typedef struct {
+} Mutex;
+#define mutex_init(MTX, FLAGS)
+#define mutex_free(MTX)
+#define mutex_take(MTX, TIMEOUT)
+#define mutex_give(MTX);
+
+typedef struct {
+} Semaphore;
+#define semaphore_init(SEM, FLAGS, COUNT)
+#define semaphore_free(SEM)
+#define semaphore_take(SEM, TIMEOUT)
+#define semaphore_give(SEM)
+
+#endif /* CONFIG_IOE_TASKS */
+#endif /* _IOE_TASKS_H_ */