kmilo17pet · kmilo17pet · Oct 10, 2025 · Oct 3, 2025 · Oct 10, 2025 · Oct 10, 2025
diff --git a/library.json b/library.json
@@ -16,7 +16,7 @@
       "maintainer": true
     }
   ],
-  "version": "1.7.6",
+  "version": "1.7.7",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*"

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=QuarkTS
-version=1.7.6
+version=1.7.7
 license=MIT
 author=J. Camilo Gomez C. <kmilo17pet@gmail.com>
 maintainer=J. Camilo Gomez C. <kmilo17pet@gmail.com>

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required( VERSION 3.2 )
 project( quarkts-cpp
-         VERSION 1.7.6
+         VERSION 1.7.7
          DESCRIPTION "An open-source OS for small embedded applications"
          LANGUAGES CXX )
 

diff --git a/src/QuarkTS.h b/src/QuarkTS.h
@@ -1,7 +1,7 @@
 /*!
  * @file QuarkTS.h
  * @author J. Camilo Gomez C.
- * @version 1.7.6
+ * @version 1.7.7
  * @note This file is part of the QuarkTS++ distribution.
  * @brief Global inclusion header
  **/
@@ -41,8 +41,8 @@ This file is part of the QuarkTS++ OS distribution.
 #ifndef QOS_CPP_H
 #define QOS_CPP_H
 
-#define QUARKTS_CPP_VERSION         "1.7.6"
-#define QUARKTS_CPP_VERNUM          ( 176u )
+#define QUARKTS_CPP_VERSION         "1.7.7"
+#define QUARKTS_CPP_VERNUM          ( 177u )
 #define QUARKTS_CPP_CAPTION         "QuarkTS++ OS " QUARKTS_CPP_VERSION
 
 #include "config/config.h"
@@ -66,7 +66,7 @@ This file is part of the QuarkTS++ OS distribution.
 
 namespace qOS {
     namespace build {
-        constexpr const uint32_t number = 4149;
+        constexpr const uint32_t number = 4181;
         constexpr const char* date = __DATE__;
         constexpr const char* time = __TIME__;
         constexpr const char* std = "c++11";
@@ -76,7 +76,7 @@ namespace qOS {
         constexpr const uint8_t number = QUARKTS_CPP_VERNUM;
         constexpr const uint8_t mayor = 1U;
         constexpr const uint8_t minor = 7U;
-        constexpr const uint8_t rev = 6U;
+        constexpr const uint8_t rev = 7U;
     }
     namespace product {
         constexpr const char* author = "J. Camilo Gomez C.";

diff --git a/src/include/cli.hpp b/src/include/cli.hpp
@@ -74,7 +74,7 @@ namespace qOS {
                 volatile bool ready{ false };
                 void flush( void );
                 void operator=( input const& ) = delete;
-                input() {}
+                input() noexcept {}
         };
         /*! @endcond */
 

diff --git a/src/include/clock.hpp b/src/include/clock.hpp
@@ -81,7 +81,7 @@ namespace qOS {
             /*! @cond  */
             static volatile qOS::clock_t sysTick_Epochs; // skipcq: CXX-W2009
             static qOS::clock_t internalTick( void ) noexcept;
-            clock();
+            clock() = default;
             /*! @endcond  */
         public:
             clock( clock &other ) = delete;

diff --git a/src/include/input.hpp b/src/include/input.hpp
@@ -117,7 +117,7 @@ namespace qOS {
             public:
                 /*! @cond  */
                 virtual ~channel() {}
-                channel( uint8_t channelNumber ) : number( channelNumber ) {}
+                channel( uint8_t channelNumber ) noexcept : number( channelNumber ) {}
                 /*! @endcond  */
 
                 /**
@@ -257,7 +257,7 @@ namespace qOS {
                 * @param[in] inputChannel The specified channel(pin) number to read.
                 * @param[in] invert To invert/negate the raw-reading.
                 */
-                explicit digitalChannel( const uint8_t inputChannel, bool invert = false ) : channel( inputChannel ), negate( invert) {}
+                explicit digitalChannel( const uint8_t inputChannel, bool invert = false ) noexcept : channel( inputChannel ), negate( invert) {}
                 /**
                 * @brief Get the channel type.
                 * @return The channel type.
@@ -373,7 +373,7 @@ namespace qOS {
                 * @param[in] upperThreshold The upper threshold value.
                 * @param[in] h Hysteresis for the in-band transition.
                 */
-                analogChannel( const uint8_t inputChannel, const analogValue_t lowerThreshold, const analogValue_t upperThreshold, const analogValue_t h = 20 )
+                analogChannel( const uint8_t inputChannel, const analogValue_t lowerThreshold, const analogValue_t upperThreshold, const analogValue_t h = 20 ) noexcept
                 : channel( inputChannel ),
                   high( upperThreshold ),
                   low( lowerThreshold ),
@@ -453,7 +453,7 @@ namespace qOS {
         /**
         * @brief The digital input-channel watcher class.
         */
-        class watcher : protected node, private nonCopyable {
+        class watcher : private nonCopyable {
             private:
                 eventCallback_t exception{ nullptr };
                 list digitalChannels;

diff --git a/src/include/kernel.hpp b/src/include/kernel.hpp
@@ -93,7 +93,8 @@ namespace qOS {
             list coreLists[ Q_PRIORITY_LEVELS + 2 ]; // skipcq: CXX-W2066
             list& waitingList;  // skipcq: CXX-W2012, CXX-W2010
             list& suspendedList;  // skipcq: CXX-W2012, CXX-W2010
-            list inputWatchers;
+            //list inputWatchers;
+            void(*cpuIdle)(void){ nullptr };
             static const priority_t MAX_PRIORITY_VALUE;
             static const uint32_t BIT_INIT;
             static const uint32_t BIT_FCALL_IDLE;
@@ -104,8 +105,7 @@ namespace qOS {
             void dispatchTaskFillEventInfo( task *Task ) noexcept;
             void dispatch( list * const xList ) noexcept;
             void dispatchIdle( void ) noexcept;
-            void handleInputWatchers( void ) noexcept;
-            core() : waitingList( coreLists[ Q_PRIORITY_LEVELS ] ), suspendedList( coreLists[ Q_PRIORITY_LEVELS + 1 ] ) {}
+            core() noexcept : waitingList( coreLists[ Q_PRIORITY_LEVELS ] ), suspendedList( coreLists[ Q_PRIORITY_LEVELS + 1 ] ) {}
             core( core &other ) = delete;
             void operator=( const core & ) = delete;
         public:
@@ -131,6 +131,8 @@ namespace qOS {
             * @param[in] callbackIdle  Callback function to the Idle Task. To
             * disable the Idle-Task activities, ignore this parameter of pass
             * @c nullptr as argument.
+            * @param[in] coreIdleFcn The function that sets the CPU into
+            * low-power or idle state
             * @return @c true on success. Otherwise return @c false.
             *
             * Example : When tick is already provided
@@ -165,7 +167,7 @@ namespace qOS {
             * }
             * @endcode
             */
-            bool init( const getTickFcn_t tFcn = nullptr, taskFcn_t callbackIdle = nullptr ) noexcept;
+            bool init( const getTickFcn_t tFcn = nullptr, taskFcn_t callbackIdle = nullptr, void(*coreIdleFcn)(void) = nullptr ) noexcept;
             /**
             * @brief Add a task to the scheduling scheme. The task is scheduled to run
             * every @a t time units, @a n times and executing @a callback method on
@@ -262,6 +264,15 @@ namespace qOS {
             bool add( task &Task, commandLineInterface &cli, const priority_t p, void *arg = nullptr ) noexcept;
             /** @}*/
             #endif
+
+            /**
+            * @brief Add an input-watcher so that its function is executed by
+            * the kernel
+            * @note The input-watcher is considered as an always-active task
+            * @param[in] w The input watcher.
+            * @return Returns @c true if success, otherwise returns @c false.
+            */
+            bool add( task &Task, input::watcher &w, const priority_t p = HIGHEST_PRIORITY, const taskState s = taskState::ENABLED_STATE, void *arg = nullptr ) noexcept;
             /**
             * @brief Set/Change the callback for the Idle-task
             * @param[in] callback A pointer to a void callback method with a qOS::event_t
@@ -277,6 +288,13 @@ namespace qOS {
             */
             bool setNameIdleTask( const char *tName ) noexcept;
             /**
+            * @brief Set the function that puts the CPU into a low-power or
+            * idle state until an interrupt occurs.
+            * @param[in] pFcn The function to put the CPU into low-power or idle-state
+            * @return @c true on success. Otherwise return @c false.
+            */
+            bool setCoreIdleFcn( void(*pFcn)(void) ) noexcept;
+            /**
             * @brief Disables the kernel scheduling. The main thread will continue
             * after the core::run() call.
             */
@@ -438,21 +456,6 @@ namespace qOS {
             */
             globalState getGlobalState( task &Task ) const noexcept;
             /**
-            * @brief Add an input-watcher so that its function is executed by
-            * the kernel
-            * @note The input-watcher is considered as an always-active task
-            * @param[in] w The input watcher.
-            * @return Returns @c true if success, otherwise returns @c false.
-            */
-            bool add( input::watcher &w ) noexcept;
-            /**
-            * @brief Remove an input-watcher so that the kernel stops executing
-            * its function
-            * @param[in] w The input-watcher.
-            * @return Returns @c true if success, otherwise returns @c false.
-            */
-            bool remove( input::watcher &w ) noexcept;
-            /**
             * @brief Check if the OS instance has been initialized.
             * @return @c true if OS instance has been initialized
             */

diff --git a/src/include/list.hpp b/src/include/list.hpp
@@ -76,7 +76,7 @@ namespace qOS {
             {
                 return container;
             }
-            node() : next(nullptr), prev(nullptr), container(nullptr) {}
+            node() noexcept : next(nullptr), prev(nullptr), container(nullptr) {}
             /*! @cond  */
             virtual ~node() {}
             /*! @endcond  */

diff --git a/src/include/timer.hpp b/src/include/timer.hpp
@@ -28,7 +28,7 @@ namespace qOS {
             qOS::clock_t tStart{ 0U };
             qOS::clock_t tv{ 0U };
         public:
-            timer();
+            timer() noexcept;
             /*! @cond  */
             virtual ~timer() {}
             /*! @endcond  */
@@ -85,7 +85,23 @@ namespace qOS {
             * @return Returns @c true on success, otherwise, returns @c false.
             * @note A disarmed timer also returns @c false.
             */
-            bool freeRun( const qOS::duration_t tTime ) noexcept;
+            bool reloadIfExpired( const qOS::duration_t tTime ) noexcept;
+            /**
+            * @brief Non-Blocking timer check with automatic arming.
+            *
+            * Behavior:
+            * If disarmed, it gets armed immediately with the previous
+            * specified time.
+            *
+            * If armed, the API only checks for expiration. When the time
+            * expires, the timer gets armed immediately using the previously
+            * assigned time.
+            * @note After the timer expiration, this method re-arms the timer
+            * @note The OS must be running before using a timer.
+            * @return Returns @c true on success, otherwise, returns @c false.
+            * @note A disarmed timer also returns @c false.
+            */
+            bool reloadIfExpired( void ) noexcept;
             /**
             * @brief Retrieve the remaining time in epochs
             * @return The remaining time specified in epochs.

diff --git a/src/input.cpp b/src/input.cpp
@@ -262,7 +262,7 @@ void input::analogChannel::steadyInBandState( input::analogChannel& c )
 /*============================================================================*/
 bool input::watcher::watch( void ) noexcept
 {
-    const bool act = waitDebounce.freeRun( debounceTime );
+    const bool act = waitDebounce.reloadIfExpired( debounceTime );
     if ( ( digitalChannels.length() > 0U ) && act ) {
         for ( auto i = digitalChannels.begin(); i.untilEnd() ; i++ ) {
             input::channel& c = *i.get<input::channel*>();

diff --git a/src/kernel.cpp b/src/kernel.cpp
@@ -21,12 +21,14 @@ const priority_t core::MEDIUM_PRIORITY = static_cast<priority_t>( Q_PRIORITY_LEV
 const priority_t core::HIGHEST_PRIORITY = static_cast<priority_t>( Q_PRIORITY_LEVELS ) - 1U;
 const notifier_t MAX_NOTIFICATION_VALUE = UINT32_MAX - 1UL;
 
-#if ( Q_CLI == 1 )
+#if ( Q_FSM == 1 )
     static void fsmTaskCallback( event_t e );
+#endif
+#if ( Q_CLI == 1 )
     static void cliTaskCallback( event_t e );
     static void cliNotifyFcn( commandLineInterface *cli );
 #endif
-
+static void inputWatcherTaskCallback( event_t e );
 /*============================================================================*/
 core& core::getInstance( void ) noexcept
 {
@@ -35,13 +37,14 @@ core& core::getInstance( void ) noexcept
 }
 /*============================================================================*/
 /*cstat -MISRAC++2008-7-1-2*/
-bool core::init( const getTickFcn_t tFcn, taskFcn_t callbackIdle ) noexcept
+bool core::init( const getTickFcn_t tFcn, taskFcn_t callbackIdle, void(*coreIdleFcn)(void) ) noexcept
 {
     (void)clock::setTickProvider( tFcn );
     (void)setNameIdleTask( "idle" );
     (void)idle.setPriority( core::LOWEST_PRIORITY );
     (void)idle.setState( taskState::DISABLED_STATE );
     (void)idle.setCallback( callbackIdle );
+    (void)setCoreIdleFcn( coreIdleFcn );
     idle.entry = 0U;
     return true;
 }
@@ -122,6 +125,26 @@ bool core::add( task &Task, commandLineInterface &cli, const priority_t p, void
 }
 #endif /*Q_CLI*/
 /*============================================================================*/
+static void inputWatcherTaskCallback( event_t e )
+{
+    /*cstat -CERT-EXP36-C_b*/
+    input::watcher * const w = static_cast<input::watcher*>( e.thisTask().getBindedObject() );
+    /*cstat +CERT-EXP36-C_b*/
+    (void)w->watch();
+}
+/*============================================================================*/
+bool core::add( task &Task, input::watcher &w, const priority_t p, const taskState s, void *arg ) noexcept
+{
+    bool retValue = core::add( Task, inputWatcherTaskCallback, p, 10_ms, task::PERIODIC, s, arg );
+
+    if ( retValue ) {
+        Task.aObj = &w;
+        retValue = true;
+    }
+
+    return retValue;
+}
+/*============================================================================*/
 /*cstat -MISRAC++2008-7-1-2*/
 bool core::setIdleTask( taskFcn_t callback ) noexcept
 {
@@ -143,6 +166,18 @@ bool core::setNameIdleTask( const char *tName ) noexcept
     return retValue;
 }
 /*============================================================================*/
+bool core::setCoreIdleFcn( void(*pFcn)(void) ) noexcept
+{
+    bool retValue = false;
+
+    if ( pFcn != cpuIdle ) {
+        cpuIdle = pFcn;
+        retValue = true;
+    }
+
+    return retValue;
+}
+/*============================================================================*/
 bool core::schedulerRelease( void ) noexcept
 {
     bits::multipleSet( flag, BIT_RELEASE_SCHED );
@@ -373,7 +408,9 @@ bool core::run( void ) noexcept
     /*cstat +MISRAC++2008-0-1-6*/
 
     do {
-        if ( checkIfReady() ) {
+        const bool anyActiveTask = checkIfReady();
+
+        if ( anyActiveTask) {
             priority_t xPriorityListIndex = MAX_PRIORITY_VALUE;
 
             do {
@@ -383,21 +420,20 @@ bool core::run( void ) noexcept
                 }
             } while( 0U != xPriorityListIndex-- );
         }
-        else {
-            if ( nullptr != idle.callback ) {
-                dispatchIdle();
-            }
-        }
-        if ( inputWatchers.length() > 0U ) {
-            handleInputWatchers();
-        }
         if ( suspendedList.length() > 0U ) {
             (void)waitingList.move( suspendedList, listPosition::AT_BACK );
             #if ( Q_PRESERVE_TASK_ENTRY_ORDER == 1 )
                 /*preseve the entry order by sorting the new waiting-list*/
                 (void)waitingList.sort( taskEntryOrderPreserver );
             #endif
         }
+
+        if  ( !anyActiveTask ) {
+            dispatchIdle();
+            if ( nullptr != cpuIdle ) {
+                cpuIdle();
+            }
+        }
     }
     #if ( Q_ALLOW_SCHEDULER_RELEASE == 1 )
         while ( !bits::multipleGet( flag, BIT_RELEASE_SCHED ) );
@@ -601,20 +637,3 @@ globalState core::getGlobalState( task &Task ) const noexcept
     return retValue;
 }
 /*============================================================================*/
-bool core::add( input::watcher &w ) noexcept
-{
-    return inputWatchers.insert( &w );
-}
-/*============================================================================*/
-bool core::remove( input::watcher &w ) noexcept
-{
-    return inputWatchers.remove( &w );
-}
-/*============================================================================*/
-void core::handleInputWatchers( void ) noexcept
-{
-    for ( auto i = inputWatchers.begin(); i.untilEnd() ; i++ ) {
-        input::watcher * const w = i.get<input::watcher*>();
-        (void)w->watch();
-    }
-}