Enhancing Super-Loop with Sequencer
Super-loop is the basic software architecture of bare-metal firmware. It is an infinite loop that executes tasks (functions) often conditioned by flags set in an Interrupt Service Routine (ISR). As the complexity of business logic increases, so does the size of a super loop, which can quickly turn into a spaghetti mess. To solve this problem within bare-metal constraints (no operating system), we can use a sequencer.
A sequencer stores and executes tasks (functions) in an organized fashion. Instead of setting a flag in an ISR, checking it in a super loop, and executing a function if a flag is set, we simply add a task to a sequencer from the ISR. The super loop then runs the sequencer, which executes the added tasks. Tasks in the sequencer can be prioritized, so the sequencer will execute higher-priority tasks first.
In this chapter, we’re going to cover sequencer design and implementation through the following main topics:
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