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- <div class="textblock"><code>#include <stdint.h></code><br />
- <code>#include <stddef.h></code><br />
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- <tr class="memitem:tk_3A_3ATaskHandle" id="r_tk_3A_3ATaskHandle"><td class="memItemLeft">struct  </td><td class="memItemRight"><a class="el" href="structtk_1_1_task_handle.html">tk::TaskHandle</a></td></tr>
- <tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">タスクの識別ハンドル <a href="structtk_1_1_task_handle.html#details">More...</a><br /></td></tr>
- <tr class="memitem:tk_3A_3APreemptGuard" id="r_tk_3A_3APreemptGuard"><td class="memItemLeft">class  </td><td class="memItemRight"><a class="el" href="classtk_1_1_preempt_guard.html">tk::PreemptGuard</a></td></tr>
- <tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">プリエンプション禁止をスコープ単位で安全に管理する RAII クラス <a href="classtk_1_1_preempt_guard.html#details">More...</a><br /></td></tr>
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- <tr class="memitem:tk_3A_3Adetail" id="r_tk_3A_3Adetail"><td class="memItemLeft">namespace  </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html">tk::detail</a></td></tr>
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- <tr class="memitem:a5c791131c5ad22ed87a8d3ca2cd57d33" id="r_a5c791131c5ad22ed87a8d3ca2cd57d33"><td class="memItemLeft">#define </td><td class="memItemRight"><a class="el" href="#a5c791131c5ad22ed87a8d3ca2cd57d33">TK_TICKS_PER_SEC</a>   1000u</td></tr>
- <tr class="memitem:af32989639aecb5479b4239639fd133f7" id="r_af32989639aecb5479b4239639fd133f7"><td class="memItemLeft">#define </td><td class="memItemRight"><a class="el" href="#af32989639aecb5479b4239639fd133f7">TK_TIME_SLICE_MS</a>   10u</td></tr>
- <tr class="memitem:a22e1d9f532aa297014c125110226443c" id="r_a22e1d9f532aa297014c125110226443c"><td class="memItemLeft">#define </td><td class="memItemRight"><a class="el" href="#a22e1d9f532aa297014c125110226443c">TK_MAX_TASKS</a>   32u</td></tr>
- <tr class="memitem:afde197f9493ef5bdb5b715ce8b52148d" id="r_afde197f9493ef5bdb5b715ce8b52148d"><td class="memItemLeft">#define </td><td class="memItemRight"><a class="el" href="#afde197f9493ef5bdb5b715ce8b52148d">TK_DEFAULT_STACK_SIZE</a>   (4 * 1024)</td></tr>
- <tr class="memitem:af57e92069cc01608150a45032c5ad473" id="r_af57e92069cc01608150a45032c5ad473"><td class="memItemLeft">#define </td><td class="memItemRight"><a class="el" href="#af57e92069cc01608150a45032c5ad473">TK_TASK</a>(fn, prio)</td></tr>
- <tr class="memdesc:af57e92069cc01608150a45032c5ad473"><td class="mdescLeft"> </td><td class="mdescRight">リンク時にタスクを自動登録するマクロ (静的タスク登録) <br /></td></tr>
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- <tr class="memitem:a8908cf1e54cdc4e14ac3003126722cfc" id="r_a8908cf1e54cdc4e14ac3003126722cfc"><td class="memItemLeft">using </td><td class="memItemRight"><a class="el" href="namespacetk.html#a8908cf1e54cdc4e14ac3003126722cfc">tk::TaskFn</a> = void (*)(void* arg)</td></tr>
- <tr class="memitem:add371a241ec6c1695ef4e67935317edd" id="r_add371a241ec6c1695ef4e67935317edd"><td class="memItemLeft">using </td><td class="memItemRight"><a class="el" href="namespacetk.html#add371a241ec6c1695ef4e67935317edd">tk::task_mask_t</a> = uint32_t</td></tr>
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- <tr class="memitem:a3d47fbd63b95ed3b46bed70c2fa1e50e" id="r_a3d47fbd63b95ed3b46bed70c2fa1e50e"><td class="memItemLeft">enum  </td><td class="memItemRight"><a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50e">tk::Prio</a> : uint32_t { <a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50eabbefd771d1fb2ac0708c1bd5371e5a75">tk::PRIO_REALTIME</a> = 1
- , <a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50ea614240a3a3fc1094c6daa0fdca92ba37">tk::PRIO_HIGH</a> = 5
- , <a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50ea0e6779023b97999c2cef66ba1d4d1fca">tk::PRIO_NORMAL</a> = 9
- , <a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50eacf084edcfe985b77c205a37c3bd60519">tk::PRIO_LOW</a> = 13
- }</td></tr>
- <tr class="memdesc:a3d47fbd63b95ed3b46bed70c2fa1e50e"><td class="mdescLeft"> </td><td class="mdescRight">タスクの優先度レベル <a href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50e">More...</a><br /></td></tr>
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- Functions</h2></td></tr>
- <tr class="memitem:a6e721332f5a7d85998345ed218de7394" id="r_a6e721332f5a7d85998345ed218de7394"><td class="memItemLeft"><a class="el" href="structtk_1_1_task_handle.html">TaskHandle</a> </td><td class="memItemRight"><a class="el" href="namespacetk.html#a6e721332f5a7d85998345ed218de7394">tk::create</a> (<a class="el" href="namespacetk.html#a8908cf1e54cdc4e14ac3003126722cfc">TaskFn</a> fn, void *arg=nullptr, uint32_t prio=<a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50ea0e6779023b97999c2cef66ba1d4d1fca">PRIO_NORMAL</a>)</td></tr>
- <tr class="memdesc:a6e721332f5a7d85998345ed218de7394"><td class="mdescLeft"> </td><td class="mdescRight">タスクを生成・登録します <br /></td></tr>
- <tr class="memitem:a675f1829b87e2a43239b6f80a526d0ed" id="r_a675f1829b87e2a43239b6f80a526d0ed"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#a675f1829b87e2a43239b6f80a526d0ed">tk::start</a> ()</td></tr>
- <tr class="memdesc:a675f1829b87e2a43239b6f80a526d0ed"><td class="mdescLeft"> </td><td class="mdescRight">tinykernel スケジューラを起動します <br /></td></tr>
- <tr class="memitem:a8081956b0a19b87d5b7c81b772373397" id="r_a8081956b0a19b87d5b7c81b772373397"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#a8081956b0a19b87d5b7c81b772373397">tk::yield</a> ()</td></tr>
- <tr class="memdesc:a8081956b0a19b87d5b7c81b772373397"><td class="mdescLeft"> </td><td class="mdescRight">現在実行中のタスクを一時中断し、同優先度の他のタスクへ CPU を譲渡します <br /></td></tr>
- <tr class="memitem:aae83f84121085578a7568437a8dc2447" id="r_aae83f84121085578a7568437a8dc2447"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#aae83f84121085578a7568437a8dc2447">tk::sleep_ms</a> (uint32_t ms)</td></tr>
- <tr class="memdesc:aae83f84121085578a7568437a8dc2447"><td class="mdescLeft"> </td><td class="mdescRight">現在のタスクを指定時間スリープさせます <br /></td></tr>
- <tr class="memitem:aba50cfc62cb8be71cf96df7f495a7a3d" id="r_aba50cfc62cb8be71cf96df7f495a7a3d"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#aba50cfc62cb8be71cf96df7f495a7a3d">tk::exit</a> (int code=0)</td></tr>
- <tr class="memdesc:aba50cfc62cb8be71cf96df7f495a7a3d"><td class="mdescLeft"> </td><td class="mdescRight">現在のタスクを終了・破棄します <br /></td></tr>
- <tr class="memitem:a46e15375fba47cbd1a93278f17e77848" id="r_a46e15375fba47cbd1a93278f17e77848"><td class="memItemLeft">uint64_t </td><td class="memItemRight"><a class="el" href="namespacetk.html#a46e15375fba47cbd1a93278f17e77848">tk::now_ms</a> ()</td></tr>
- <tr class="memdesc:a46e15375fba47cbd1a93278f17e77848"><td class="mdescLeft"> </td><td class="mdescRight">システム起動時からの経過時間をミリ秒単位で取得します <br /></td></tr>
- <tr class="memitem:a6540aa25eb8562f6d6c8b37977d6cfe8" id="r_a6540aa25eb8562f6d6c8b37977d6cfe8"><td class="memItemLeft">bool </td><td class="memItemRight"><a class="el" href="namespacetk.html#a6540aa25eb8562f6d6c8b37977d6cfe8">tk::lock</a> ()</td></tr>
- <tr class="memdesc:a6540aa25eb8562f6d6c8b37977d6cfe8"><td class="mdescLeft"> </td><td class="mdescRight">ハードウェアスピンロックと全割り込み禁止によるクリティカルセクションに入ります <br /></td></tr>
- <tr class="memitem:a752b12f6862815c94a52347af52578b7" id="r_a752b12f6862815c94a52347af52578b7"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#a752b12f6862815c94a52347af52578b7">tk::unlock</a> (bool was_enabled)</td></tr>
- <tr class="memdesc:a752b12f6862815c94a52347af52578b7"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="namespacetk.html#a6540aa25eb8562f6d6c8b37977d6cfe8" title="ハードウェアスピンロックと全割り込み禁止によるクリティカルセクションに入ります">tk::lock()</a> で入ったクリティカルセクションを抜けます <br /></td></tr>
- <tr class="memitem:a3254a7e2a9f5ed3abe44e8cf62a8dcfe" id="r_a3254a7e2a9f5ed3abe44e8cf62a8dcfe"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#a3254a7e2a9f5ed3abe44e8cf62a8dcfe">tk::preempt_disable</a> ()</td></tr>
- <tr class="memdesc:a3254a7e2a9f5ed3abe44e8cf62a8dcfe"><td class="mdescLeft"> </td><td class="mdescRight">自コアのタスクスイッチ (プリエンプション) を一時的に禁止します <br /></td></tr>
- <tr class="memitem:a70e6ee5f456e67a24ce13ff0fd04e4d9" id="r_a70e6ee5f456e67a24ce13ff0fd04e4d9"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk.html#a70e6ee5f456e67a24ce13ff0fd04e4d9">tk::preempt_enable</a> ()</td></tr>
- <tr class="memdesc:a70e6ee5f456e67a24ce13ff0fd04e4d9"><td class="mdescLeft"> </td><td class="mdescRight">自コアのタスクスイッチ (プリエンプション) を再開します <br /></td></tr>
- <tr class="memitem:a447e4ec89b3f2748451891219b7e3738" id="r_a447e4ec89b3f2748451891219b7e3738"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#a447e4ec89b3f2748451891219b7e3738">tk::detail::static_register</a> (const char *name, <a class="el" href="namespacetk.html#a8908cf1e54cdc4e14ac3003126722cfc">TaskFn</a> fn, uint32_t prio)</td></tr>
- <tr class="memitem:a5b8fa6406a867edf8c4410fcb03c6523" id="r_a5b8fa6406a867edf8c4410fcb03c6523"><td class="memItemLeft">uint32_t </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#a5b8fa6406a867edf8c4410fcb03c6523">tk::detail::sched_lock</a> ()</td></tr>
- <tr class="memitem:a80be9b2429346faf161eab01f595684b" id="r_a80be9b2429346faf161eab01f595684b"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#a80be9b2429346faf161eab01f595684b">tk::detail::sched_unlock</a> (uint32_t save)</td></tr>
- <tr class="memitem:a400363f36b5fb5dfc8aec11334471d0d" id="r_a400363f36b5fb5dfc8aec11334471d0d"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#a400363f36b5fb5dfc8aec11334471d0d">tk::detail::block_current_task_locked</a> ()</td></tr>
- <tr class="memitem:ab19385598f18560cb574cc86174ececa" id="r_ab19385598f18560cb574cc86174ececa"><td class="memItemLeft">void </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#ab19385598f18560cb574cc86174ececa">tk::detail::wake_task_locked</a> (<a class="el" href="structtk_1_1_task_handle.html">TaskHandle</a> handle)</td></tr>
- <tr class="memitem:a73a80d92a172d565201f99e8f31278e4" id="r_a73a80d92a172d565201f99e8f31278e4"><td class="memItemLeft">uint8_t </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#a73a80d92a172d565201f99e8f31278e4">tk::detail::current_task_slot</a> ()</td></tr>
- <tr class="memitem:a70ba35e0daee086ad86770f1e39c9b35" id="r_a70ba35e0daee086ad86770f1e39c9b35"><td class="memItemLeft">uint8_t </td><td class="memItemRight"><a class="el" href="namespacetk_1_1detail.html#a70ba35e0daee086ad86770f1e39c9b35">tk::detail::find_highest_prio_waiter</a> (<a class="el" href="namespacetk.html#add371a241ec6c1695ef4e67935317edd">task_mask_t</a> wait_mask)</td></tr>
- </table>
- <a name="doc-define-members" id="doc-define-members"></a><h2 id="header-doc-define-members" class="groupheader">Macro Definition Documentation</h2>
- <a id="afde197f9493ef5bdb5b715ce8b52148d" name="afde197f9493ef5bdb5b715ce8b52148d"></a>
- <h2 class="memtitle"><span class="permalink"><a href="#afde197f9493ef5bdb5b715ce8b52148d">◆ </a></span>TK_DEFAULT_STACK_SIZE</h2>
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- <td class="memname">#define TK_DEFAULT_STACK_SIZE   (4 * 1024)</td>
- </tr>
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- </div><div class="memdoc">
- <p>1タスクあたりのスタックサイズ (バイト) </p>
- </div>
- </div>
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- <h2 class="memtitle"><span class="permalink"><a href="#a22e1d9f532aa297014c125110226443c">◆ </a></span>TK_MAX_TASKS</h2>
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- <td class="memname">#define TK_MAX_TASKS   32u</td>
- </tr>
- </table>
- </div><div class="memdoc">
- <p>最大タスク数 (スロット0はCore0アイドル、スロット1はCore1アイドル専用) </p>
- </div>
- </div>
- <a id="af57e92069cc01608150a45032c5ad473" name="af57e92069cc01608150a45032c5ad473"></a>
- <h2 class="memtitle"><span class="permalink"><a href="#af57e92069cc01608150a45032c5ad473">◆ </a></span>TK_TASK</h2>
- <div class="memitem">
- <div class="memproto">
- <table class="memname">
- <tr>
- <td class="memname">#define TK_TASK</td>
- <td>(</td>
- <td class="paramtype"></td> <td class="paramname"><span class="paramname"><em>fn</em></span>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype"></td> <td class="paramname"><span class="paramname"><em>prio</em></span> )</td>
- </tr>
- </table>
- </div><div class="memdoc">
- <b>Value:</b><div class="fragment"><div class="line"><span class="keyword">static</span> <span class="keywordtype">void</span> tk_register_##fn(<span class="keywordtype">void</span>) { \</div>
- <div class="line"> ::tk::detail::static_register(#fn, fn, (prio)); \</div>
- <div class="line">} \</div>
- <div class="line">PICO_RUNTIME_INIT_FUNC(tk_register_##fn, <span class="stringliteral">"ZZ900"</span>);</div>
- </div><!-- fragment -->
- <p>リンク時にタスクを自動登録するマクロ (静的タスク登録) </p>
- <p>main() の開始前に Pico SDK のランタイムイニシャライザを利用してタスクを登録します。</p>
- <dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">fn</td><td>タスク関数名 (void fn(void* arg)) </td></tr>
- <tr><td class="paramname">prio</td><td>タスク優先度 (例: <a class="el" href="namespacetk.html#a3d47fbd63b95ed3b46bed70c2fa1e50ea0e6779023b97999c2cef66ba1d4d1fca" title="通常優先度 (デフォルト)">tk::PRIO_NORMAL</a>) </td></tr>
- </table>
- </dd>
- </dl>
- </div>
- </div>
- <a id="a5c791131c5ad22ed87a8d3ca2cd57d33" name="a5c791131c5ad22ed87a8d3ca2cd57d33"></a>
- <h2 class="memtitle"><span class="permalink"><a href="#a5c791131c5ad22ed87a8d3ca2cd57d33">◆ </a></span>TK_TICKS_PER_SEC</h2>
- <div class="memitem">
- <div class="memproto">
- <table class="memname">
- <tr>
- <td class="memname">#define TK_TICKS_PER_SEC   1000u</td>
- </tr>
- </table>
- </div><div class="memdoc">
- <p>1秒あたりのタイマースケジューラtick数 (Hz) </p>
- </div>
- </div>
- <a id="af32989639aecb5479b4239639fd133f7" name="af32989639aecb5479b4239639fd133f7"></a>
- <h2 class="memtitle"><span class="permalink"><a href="#af32989639aecb5479b4239639fd133f7">◆ </a></span>TK_TIME_SLICE_MS</h2>
- <div class="memitem">
- <div class="memproto">
- <table class="memname">
- <tr>
- <td class="memname">#define TK_TIME_SLICE_MS   10u</td>
- </tr>
- </table>
- </div><div class="memdoc">
- <p>同一優先度タスク間のタイムスライス時間 (ミリ秒) </p>
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