customize main loop priority level

Author: glutio

library.properties

@@ -1,5 +1,5 @@
 name=Taskfun
-version=0.1.91
+version=0.1.92
 author=Eugene Pistrak
 maintainer=Eugene Pistrak
 sentence=Preemptive multitasking for Arduino AVR and SAMD21

src/BTaskSwitcher.cpp

@@ -62,7 +62,7 @@ int BTaskSwitcher::get_next_task() {
   unsigned weights[] = { 50, 33, 17 };
   const unsigned priCount = sizeof(weights) / sizeof(weights[0]);
   auto total = 0;
-  for(auto i = 0; i < priCount; ++i) {
+  for(unsigned i = 0; i < priCount; ++i) {
     if (!_pri[i].count || (_pri[i].count == 1 && _pri[i].current == _yielded_task)) {
       weights[i] = 0;
     }
@@ -99,7 +99,7 @@ int BTaskSwitcher::get_next_task() {
 
 void BTaskSwitcher::pause_task(int id) {
   BDisableInterrupts cli;
-  if (id >=0 && id < _tasks.Length() && _tasks[id] && !_tasks[id]->paused()) {
+  if (id >= 0 && id < (int)_tasks.Length() && _tasks[id] && !_tasks[id]->paused()) {
     --_pri[_tasks[id]->priority()].count;
     _tasks[id]->pause();
     if (id == _current_task) {
@@ -110,7 +110,7 @@ void BTaskSwitcher::pause_task(int id) {
 
 void BTaskSwitcher::resume_task(int id) {
   BDisableInterrupts cli;
-  if (id >=0 && id < _tasks.Length() && _tasks[id] && _tasks[id]->paused()) {
+  if (id >= 0 && id < (int)_tasks.Length() && _tasks[id] && _tasks[id]->paused()) {
     ++_pri[_tasks[id]->priority()].count;
     _tasks[id]->resume();
   }
@@ -159,16 +159,16 @@ void BTaskSwitcher::yield_task() {
   }
 }
 
-void BTaskSwitcher::initialize(int tasks, int slice) {
+void BTaskSwitcher::initialize(int tasks, int slice, uint8_t loop_pri) {
   BDisableInterrupts cli;
-  if (!_initialized && tasks > 0 && slice > 0) {
+  if (!_initialized && tasks > 0 && slice > 0 && loop_pri <= TaskPriority::Low) {
     _slice = slice;
     _tasks.Resize(tasks + 1);  // 1 for main loop()
 
     // add the initial loop() task
     _tasks.Add(new BTaskInfoBase());  // loop() already has a stack
     _tasks[0]->id = 0;
-    _tasks[0]->priority(TaskPriority::Medium);
+    _tasks[0]->priority(loop_pri);
     _pri[_tasks[0]->priority()].count = 1;
 
     init_arch();
@@ -197,8 +197,8 @@ int currentTask() {
   return BTaskSwitcher::current_task_id();
 }
 
-void setupTasks(int numTasks, int msSlice) {
-  BTaskSwitcher::initialize(numTasks, msSlice);
+void setupTasks(int numTasks, int msSlice, uint8_t loopPriority) {
+  BTaskSwitcher::initialize(numTasks, msSlice, loopPriority);
 }
 
 // used by arduino's delay()

src/BTaskSwitcher.h

@@ -26,7 +26,7 @@ void stopTask(int id);
 int currentTask();
 void pauseTask(int id);
 void resumeTask(int id);
-void setupTasks(int numTasks = 3, int msSlice = 1);
+void setupTasks(int numTasks = 3, int msSlice = 1, uint8_t loopPriority = 1);
 
 extern "C" void yield();
 
@@ -114,7 +114,7 @@ class BTaskSwitcher {
   static unsigned context_size();
   static bool disable();
   static void restore(bool enable);
-  static void initialize(int tasks, int slice);
+  static void initialize(int tasks, int slice, uint8_t loop_pri);
   static void yield_task();
   static void pause_task(int id);
   static void resume_task(int id);
@@ -205,7 +205,7 @@ class BTaskSwitcher {
   friend int ::currentTask();
   friend void ::pauseTask(int);
   friend void ::resumeTask(int);
-  friend void ::setupTasks(int, int);
+  friend void ::setupTasks(int, int, uint8_t);
   friend void ::yield();
   template<typename T>
   friend class SyncVar;