Scheduler.h

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#ifndef SCHEDULER_H
#define SCHEDULER_H

#include <setjmp.h>
#include <stddef.h>
#include <stdint.h>

class SchedulerClass {
public:
  typedef void (*func_t)();

  static bool begin(size_t stackSize);

  static bool start(func_t taskSetup, func_t taskLoop,
                    size_t stackSize = DEFAULT_STACK_SIZE);

  static bool startLoop(func_t taskLoop,
                        size_t stackSize = DEFAULT_STACK_SIZE)
  {
    return (start(NULL, taskLoop, stackSize));
  }

  static void yield();

  static size_t stack();

protected:
  static void init(func_t setup, func_t loop, const uint8_t* stack);

  struct task_t {
    task_t* next;               
    task_t* prev;               
    jmp_buf context;            
    const uint8_t* stack;       
  };

#if defined(TEENSYDUINO)

  static const size_t DEFAULT_STACK_SIZE = 1024;
  static const size_t DEFAULT_MAIN_STACK_SIZE = 2048;
#if defined(__MK20DX256__)

  static const size_t STACK_MAX = 16384;
#elif defined(__MK64FX512__)

  static const size_t STACK_MAX = 49152;
#elif defined(__MK66FX1M0__)

  static const size_t STACK_MAX = 65536;
#else
#error "Scheduler.h: Teensy board not supported"
#endif

#elif defined(ARDUINO_ARCH_AVR)

  static const size_t DEFAULT_STACK_SIZE = 128;
  static const size_t DEFAULT_MAIN_STACK_SIZE = 256;

#elif defined(ARDUINO_ARCH_SAM)

  static const size_t DEFAULT_STACK_SIZE = 1024;
  static const size_t DEFAULT_MAIN_STACK_SIZE = 2048;
  static const size_t STACK_MAX = 32768;

#elif defined(ARDUINO_ARCH_SAMD)

  static const size_t DEFAULT_STACK_SIZE = 1024;
  static const size_t DEFAULT_MAIN_STACK_SIZE = 2048;
  static const size_t STACK_MAX = 16384;

#else
#error "Scheduler.h: Arduino board not supported"
#endif

  static task_t s_main;

  static task_t* s_running;

  static size_t s_top;
};

extern SchedulerClass Scheduler;

#define await(cond) while (!(cond)) Scheduler.yield()

#endif