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+#include "rtos.h"
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+#include "stm8l15x_it.h"
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+
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+/* Private define ------------------------------------------------------------*/
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+#define TIM4_PERIOD (uint8_t)124
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+
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+/******************************************************************************************
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+ * Ïåðåìåííûå ìîäóëÿ
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+ */
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+static __IO task TaskArray[MAX_TASKS]; // î÷åðåäü çàäà÷
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+static __IO uint8_t arrayTail; // "õâîñò" î÷åðåäè
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+static __IO uint16_t TimingDelay;
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+
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+
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+/******************************************************************************************
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+ * Èíèöèàëèçàöèÿ ÐÒÎÑ, âðåìÿ òèêà - 1 ìñ
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+ */
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+inline void RTOS_Init()
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+{
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+ /* TIM4 configuration:
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+ - TIM4CLK is set to 16 MHz, the TIM4 Prescaler is equal to 128 so the TIM1 counter
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+ clock used is 16 MHz / 128 = 125 000 Hz
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+ - With 125 000 Hz we can generate time base:
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+ max time base is 2.048 ms if TIM4_PERIOD = 255 --> (255 + 1) / 125000 = 2.048 ms
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+ min time base is 0.016 ms if TIM4_PERIOD = 1 --> ( 1 + 1) / 125000 = 0.016 ms
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+ - In this example we need to generate a time base equal to 1 ms
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+ so TIM4_PERIOD = (0.001 * 125000 - 1) = 124 */
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+
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+ /* Time base configuration */
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+ TIM4_TimeBaseInit(TIM4_Prescaler_128, TIM4_PERIOD);
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+ /* Clear TIM4 update flag */
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+ TIM4_ClearFlag(TIM4_FLAG_Update);
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+ /* Enable update interrupt */
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+ TIM4_ITConfig(TIM4_IT_Update, ENABLE);
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+ /* enable interrupts */
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+ enableInterrupts();
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+
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+ /* Enable TIM4 */
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+ TIM4_Cmd(ENABLE);
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+
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+ /* "õâîñò" â 0 */
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+ arrayTail = 0;
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+}
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+
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+/******************************************************************************************
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+ * Äîáàâëåíèå çàäà÷è â ñïèñîê
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+ */
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+void RTOS_SetTask (void (*taskFunc)(void), uint16_t taskDelay, uint16_t taskPeriod)
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+{
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+ uint8_t i;
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+
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+ if(!taskFunc) return;
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+
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+ for(i = 0; i < arrayTail; i++) // ïîèñê çàäà÷è â òåêóùåì ñïèñêå
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+ {
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+ if(TaskArray[i].pFunc == taskFunc) // åñëè íàøëè, òî îáíîâëÿåì ïåðåìåííûå
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+ {
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+ DISABLE_INTERRUPT;
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+
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+ TaskArray[i].delay = taskDelay;
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+ TaskArray[i].period = taskPeriod;
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+ TaskArray[i].run = 0;
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+
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+// RESTORE_INTERRUPT;
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+ ENABLE_INTERRUPT;
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+ return; // îáíîâèâ, âûõîäèì
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+ }
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+ }
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+
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+ if (arrayTail < MAX_TASKS) // åñëè òàêîé çàäà÷è â ñïèñêå íåò
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+ { // è åñòü ìåñòî,òî äîáàâëÿåì
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+ DISABLE_INTERRUPT;
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+
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+ TaskArray[arrayTail].pFunc = taskFunc;
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+ TaskArray[arrayTail].delay = taskDelay;
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+ TaskArray[arrayTail].period = taskPeriod;
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+ TaskArray[arrayTail].run = 0;
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+
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+ arrayTail++; // óâåëè÷èâàåì "õâîñò"
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+// RESTORE_INTERRUPT;
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+ ENABLE_INTERRUPT;
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+ }
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+}
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+
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+/******************************************************************************************
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+ * Óäàëåíèå çàäà÷è èç ñïèñêà
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+ */
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+void RTOS_DeleteTask (void (*taskFunc)(void))
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+{
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+ uint8_t i;
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+
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+ for (i=0; i<arrayTail; i++) // ïðîõîäèì ïî ñïèñêó çàäà÷
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+ {
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+ if(TaskArray[i].pFunc == taskFunc) // åñëè çàäà÷à â ñïèñêå íàéäåíà
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+ {
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+
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+ DISABLE_INTERRUPT;
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+ if(i != (arrayTail - 1)) // ïåðåíîñèì ïîñëåäíþþ çàäà÷ó
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+ { // íà ìåñòî óäàëÿåìîé
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+ TaskArray[i] = TaskArray[arrayTail - 1];
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+ }
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+ arrayTail--; // óìåíüøàåì óêàçàòåëü "õâîñòà"
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+// RESTORE_INTERRUPT;
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+ ENABLE_INTERRUPT;
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+ return;
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+ }
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+ }
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+}
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+
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+/******************************************************************************************
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+ * Äèñïåò÷åð ÐÒÎÑ, âûçûâàåòñÿ â main
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+ */
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+
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+void RTOS_DispatchTask(void)
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+{
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+ uint8_t i;
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+ void (*function) (void);
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+
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+ for (i=0; i<arrayTail; i++) // ïðîõîäèì ïî ñïèñêó çàäà÷
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+ {
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+ if (TaskArray[i].run == 1) // åñëè ôëàã íà âûïîëíåíèå âçâåäåí,
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+ { // çàïîìèíàåì çàäà÷ó, ò.ê. âî
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+ function = TaskArray[i].pFunc; // âðåìÿ âûïîëíåíèÿ ìîæåò
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+ // èçìåíèòüñÿ èíäåêñ
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+ if(TaskArray[i].period == 0)
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+ { // åñëè ïåðèîä ðàâåí 0
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+ RTOS_DeleteTask(TaskArray[i].pFunc); // óäàëÿåì çàäà÷ó èç ñïèñêà,
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+ } else {
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+ TaskArray[i].run = 0; // èíà÷å ñíèìàåì ôëàã çàïóñêà
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+ if(!TaskArray[i].delay) // åñëè çàäà÷à íå èçìåíèëà çàäåðæêó
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+ { // çàäàåì åå
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+ TaskArray[i].delay = TaskArray[i].period-1;
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+ } // çàäà÷à äëÿ ñåáÿ ìîæåò ñäåëàòü ïàóçó
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+ }
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+ (*function)(); // âûïîëíÿåì çàäà÷ó
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+ }
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+ }
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+}
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+
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+/******************************************************************************************
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+ * Òàéìåðíàÿ ñëóæáà ÐÒÎÑ (ïðåðûâàíèå àïïàðàòíîãî òàéìåðà)
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+ */
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+/*
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+static void RTOS_Timer(void)
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+{
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+ uint8_t i;
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+
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+ for (i=0; i<arrayTail; i++) // ïðîõîäèì ïî ñïèñêó çàäà÷
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+ {
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+ if (TaskArray[i].delay == 0) { // åñëè âðåìÿ äî âûïîëíåíèÿ èñòåêëî
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+ TaskArray[i].run = 1; // âçâîäèì ôëàã çàïóñêà,
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+ } else {
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+ TaskArray[i].delay--; // èíà÷å óìåíüøàåì âðåìÿ
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+ }
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+ }
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+}
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+*/
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+/**
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+ * @brief Inserts a delay time.
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+ * @param nTime: specifies the delay time length, in milliseconds.
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+ * @retval None
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+ */
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+void Delay(__IO uint16_t nTime)
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+{
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+ TimingDelay = nTime;
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+ while (TimingDelay != 0) {
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+ // çäåñü ìîæíî ñïàòü è æäàòü ïðåðûâàíèå
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+ }
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+}
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+
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+/**
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+ * @brief Decrements the TimingDelay variable.
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+ * @note This function should be called in the
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+ * TIM2_UPD_OVF_TRG_BRK_USART2_TX_IRQHandler in the stm8l15x_it.c file.
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+ *
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+ * // INTERRUPT_HANDLER(TIM2_UPD_OVF_TRG_BRK_USART2_TX_IRQHandler, 19)
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+ * // {
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+ * // TimingDelay_Decrement();
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+ * // TIM2_ClearITPendingBit(TIM2_IT_Update);
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+ *
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+ * // }
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+ * @param None
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+ * @retval None
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+ */
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+/*
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+static void TimingDelay_Decrement(void)
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+{
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+ if (TimingDelay != 0x00)
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+ {
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+ TimingDelay--;
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+ }
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+}
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+*/
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+/**
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+ * @brief TIM4 Update/Overflow/Trigger Interrupt routine.
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+ * @param None
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+ * @retval None
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+ */
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+INTERRUPT_HANDLER(TIM4_UPD_OVF_TRG_IRQHandler,25)
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+{
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+ /* In order to detect unexpected events during development,
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+ it is recommended to set a breakpoint on the following instruction.
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+ */
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+
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+ /* Cleat Interrupt Pending bit */
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+// TIM4_ClearITPendingBit(TIM4_IT_Update);
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+ TIM4->SR1 = (uint8_t)(~(uint8_t)TIM4_IT_Update);
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+
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+// TimingDelay_Decrement();
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+ if (TimingDelay > 0) {
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+ TimingDelay --;
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+ }
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+
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+// RTOS_Timer();
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+ uint8_t i;
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+
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+ for (i=0; i<arrayTail; i++) { // ïðîõîäèì ïî ñïèñêó çàäà÷
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+ if (TaskArray[i].delay == 0) { // åñëè âðåìÿ äî âûïîëíåíèÿ èñòåêëî
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+ TaskArray[i].run = 1; // âçâîäèì ôëàã çàïóñêà,
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+ } else {
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+ TaskArray[i].delay--; // èíà÷å óìåíüøàåì âðåìÿ
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+ }
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+ }
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+
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+}
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Vladimir N. Shilov