\doxysection{kernel.\+hpp}
\label{kernel_8hpp_source}\index{C:/Users/yoneda/Documents/Pico\_Projects/tinykernel/tinykernel/include/tinykernel/kernel.hpp@{C:/Users/yoneda/Documents/Pico\_Projects/tinykernel/tinykernel/include/tinykernel/kernel.hpp}}
\textbf{ [詳解]}
\begin{DoxyCode}{0}
\DoxyCodeLine{00001\ \textcolor{comment}{//\ tinykernel:\ minimal\ preemptive\ task\ scheduler\ for\ RP2350\ (Pico\ 2,\ Cortex-\/M33)}}
\DoxyCodeLine{00002\ \textcolor{preprocessor}{\#pragma\ once}}
\DoxyCodeLine{00003\ }
\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <stdint.h>}}
\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <stddef.h>}}
\DoxyCodeLine{00006\ }
\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ "{}pico/runtime.h"{}}\ \ \textcolor{comment}{//\ PICO\_RUNTIME\_INIT\_FUNC\ (static\ task\ registration)}}
\DoxyCodeLine{00008\ }
\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#ifndef\ TK\_TICKS\_PER\_SEC}}
\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#define\ TK\_TICKS\_PER\_SEC\ 1000u}}
\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#endif}}
\DoxyCodeLine{00013\ }
\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#ifndef\ TK\_TIME\_SLICE\_MS}}
\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#define\ TK\_TIME\_SLICE\_MS\ 10u}}
\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#endif}}
\DoxyCodeLine{00018\ }
\DoxyCodeLine{00020\ \textcolor{preprocessor}{\#ifndef\ TK\_MAX\_TASKS}}
\DoxyCodeLine{00021\ \textcolor{preprocessor}{\#define\ TK\_MAX\_TASKS\ 32u}}
\DoxyCodeLine{00022\ \textcolor{preprocessor}{\#endif}}
\DoxyCodeLine{00023\ }
\DoxyCodeLine{00025\ \textcolor{preprocessor}{\#ifndef\ TK\_DEFAULT\_STACK\_SIZE}}
\DoxyCodeLine{00026\ \textcolor{preprocessor}{\#define\ TK\_DEFAULT\_STACK\_SIZE\ (4\ *\ 1024)}}
\DoxyCodeLine{00027\ \textcolor{preprocessor}{\#endif}}
\DoxyCodeLine{00028\ }
\DoxyCodeLine{00029\ \textcolor{keyword}{namespace\ }tk\ \{}
\DoxyCodeLine{00030\ }
\DoxyCodeLine{00032\ \textcolor{keyword}{using\ }TaskFn\ =\ void\ (*)(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00033\ }
\DoxyCodeLine{00039\ \textcolor{keyword}{enum}\ Prio\ :\ uint32\_t\ \{}
\DoxyCodeLine{00040\ \ \ \ \ PRIO\_REALTIME\ =\ 1,\ \ \ }
\DoxyCodeLine{00041\ \ \ \ \ PRIO\_HIGH\ \ \ \ \ =\ 5,\ \ \ }
\DoxyCodeLine{00042\ \ \ \ \ PRIO\_NORMAL\ \ \ =\ 9,\ \ \ }
\DoxyCodeLine{00043\ \ \ \ \ PRIO\_LOW\ \ \ \ \ \ =\ 13,\ \ }
\DoxyCodeLine{00044\ \};}
\DoxyCodeLine{00045\ }
\DoxyCodeLine{00049\ \textcolor{keyword}{struct\ }TaskHandle\ \{}
\DoxyCodeLine{00050\ \ \ \ \ uint8\_t\ slot\{0xFF\};\ \ }
\DoxyCodeLine{00051\ }
\DoxyCodeLine{00053\ \ \ \ \ \textcolor{keywordtype}{bool}\ is\_valid()\textcolor{keyword}{\ const\ }\{\ \textcolor{keywordflow}{return}\ slot\ !=\ 0xFF;\ \}}
\DoxyCodeLine{00054\ \};}
\DoxyCodeLine{00055\ }
\DoxyCodeLine{00066\ TaskHandle\ create(TaskFn\ fn,\ \textcolor{keywordtype}{void}*\ arg\ =\ \textcolor{keyword}{nullptr},\ uint32\_t\ prio\ =\ PRIO\_NORMAL);}
\DoxyCodeLine{00067\ }
\DoxyCodeLine{00074\ \textcolor{keywordtype}{void}\ start();}
\DoxyCodeLine{00075\ }
\DoxyCodeLine{00081\ \textcolor{keywordtype}{void}\ yield();}
\DoxyCodeLine{00082\ }
\DoxyCodeLine{00091\ \textcolor{keywordtype}{void}\ sleep\_ms(uint32\_t\ ms);}
\DoxyCodeLine{00092\ }
\DoxyCodeLine{00099\ \textcolor{keywordtype}{void}\ exit(\textcolor{keywordtype}{int}\ code\ =\ 0);}
\DoxyCodeLine{00100\ }
\DoxyCodeLine{00106\ uint64\_t\ now\_ms();}
\DoxyCodeLine{00107\ }
\DoxyCodeLine{00115\ \textcolor{keywordtype}{bool}\ lock();}
\DoxyCodeLine{00116\ }
\DoxyCodeLine{00122\ \textcolor{keywordtype}{void}\ unlock(\textcolor{keywordtype}{bool}\ was\_enabled);}
\DoxyCodeLine{00123\ }
\DoxyCodeLine{00132\ \textcolor{keywordtype}{void}\ preempt\_disable();}
\DoxyCodeLine{00133\ }
\DoxyCodeLine{00141\ \textcolor{keywordtype}{void}\ preempt\_enable();}
\DoxyCodeLine{00142\ }
\DoxyCodeLine{00156\ \textcolor{keyword}{class\ }PreemptGuard\ \{}
\DoxyCodeLine{00157\ \textcolor{keyword}{public}:}
\DoxyCodeLine{00158\ \ \ \ \ PreemptGuard()\ \{\ preempt\_disable();\ \}}
\DoxyCodeLine{00159\ \ \ \ \ \string~PreemptGuard()\ \{\ preempt\_enable();\ \}}
\DoxyCodeLine{00160\ }
\DoxyCodeLine{00161\ \ \ \ \ PreemptGuard(\textcolor{keyword}{const}\ PreemptGuard\&)\ =\ \textcolor{keyword}{delete};}
\DoxyCodeLine{00162\ \ \ \ \ PreemptGuard\&\ operator=(\textcolor{keyword}{const}\ PreemptGuard\&)\ =\ \textcolor{keyword}{delete};}
\DoxyCodeLine{00163\ \};}
\DoxyCodeLine{00164\ }
\DoxyCodeLine{00165\ \textcolor{keyword}{using\ }task\_mask\_t\ =\ uint32\_t;}
\DoxyCodeLine{00166\ }
\DoxyCodeLine{00167\ \textcolor{keyword}{namespace\ }detail\ \{}
\DoxyCodeLine{00168\ \textcolor{keywordtype}{void}\ static\_register(\textcolor{keyword}{const}\ \textcolor{keywordtype}{char}*\ name,\ TaskFn\ fn,\ uint32\_t\ prio);}
\DoxyCodeLine{00169\ uint32\_t\ sched\_lock();}
\DoxyCodeLine{00170\ \textcolor{keywordtype}{void}\ sched\_unlock(uint32\_t\ save);}
\DoxyCodeLine{00171\ \textcolor{keywordtype}{void}\ block\_current\_task\_locked();}
\DoxyCodeLine{00172\ \textcolor{keywordtype}{void}\ wake\_task\_locked(TaskHandle\ handle);}
\DoxyCodeLine{00173\ uint8\_t\ current\_task\_slot();}
\DoxyCodeLine{00174\ uint8\_t\ find\_highest\_prio\_waiter(task\_mask\_t\ wait\_mask);}
\DoxyCodeLine{00175\ \}\ \ \textcolor{comment}{//\ namespace\ detail}}
\DoxyCodeLine{00176\ }
\DoxyCodeLine{00177\ \}\ \ \textcolor{comment}{//\ namespace\ tk}}
\DoxyCodeLine{00178\ }
\DoxyCodeLine{00187\ \textcolor{preprocessor}{\#define\ TK\_TASK(fn,\ prio)\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \(\backslash\)}}
\DoxyCodeLine{00188\ \textcolor{preprocessor}{\ \ \ \ static\ void\ tk\_register\_\#\#fn(void)\ \{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \(\backslash\)}}
\DoxyCodeLine{00189\ \textcolor{preprocessor}{\ \ \ \ \ \ \ \ ::tk::detail::static\_register(\#fn,\ fn,\ (prio));\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \(\backslash\)}}
\DoxyCodeLine{00190\ \textcolor{preprocessor}{\ \ \ \ \}\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \(\backslash\)}}
\DoxyCodeLine{00191\ \textcolor{preprocessor}{\ \ \ \ PICO\_RUNTIME\_INIT\_FUNC(tk\_register\_\#\#fn,\ "{}ZZ900"{});}}

\end{DoxyCode}