Merge pull request 'startup-update' (#17) from startup-update into main

Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/17
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>

README.md

@@ -28,26 +28,8 @@ void StartDefaultTask(void *argument)
 }
 ```
 
-Ebenfalls müssen noch diese Ergänzungen in `Core/Src/freertos.c` vorgenommen werden:
-```
-/* Definitions for uartMutex */
-osMutexId_t uartMutexHandle;
-osStaticMutexDef_t uartMutex_cb;
-const osMutexAttr_t uartMutex_attributes = {
-  .name = "uartMutex",
-  .cb_mem = &uartMutex_cb,
-  .cb_size = sizeof(uartMutex_cb),
-};
-
-
-void MX_FREERTOS_Init(void) {
-  uartMutexHandle = osMutexNew(&uartMutex_attributes);
-  //...
-}
-```
-
 ## Configuring TACOS
-Be sure to add a "config.hpp" to the App/Inc/sta directory. This file could look like this:
+In order to use TACOS, you need to provide a configuration file in the path `sta/config.hpp`. The following code is an example for a TACOS-project using default configuration:
 ```
 #ifndef INC_STA_CONFIG_HPP_
 #define INC_STA_CONFIG_HPP_
@@ -62,23 +44,13 @@ Be sure to add a "config.hpp" to the App/Inc/sta directory. This file could look
 #define STA_ASSERT_FORCE
 #define STA_DEBUGGING_ENABLED
 
-// Activate the timer for microsecond delays.
-// #define STA_STM32_DELAY_ENABLE
-// #define STA_STM32_DELAY_US_TIM htim1
-
 // Settings for the rtos-utils
 #define STA_RTOS_SYSTEM_EVENTS_ENABLE
 // #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
 // #define STA_RTOS_WATCHDOG_ENABLE
 
-
+// Uses the default configuration for TACOS.
-// Settings for TACOS
+#include<sta/tacos/configs/default.hpp>
-#define STA_TACOS_MANAGER_PRIORITY osPriorityNormal
-#define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
-
-// Statemachine settings. Here, we only have a single state which is also the initial state.
-#define STA_TACOS_NUM_STATES 3
-#define STA_TACOS_INITIAL_STATE 0
 
 #endif /* INC_STA_CONFIG_HPP_ */
 ```

include/sta/tacos/configs/default.hpp

@@ -0,0 +1,12 @@
+#ifndef STA_TACOS_CONFIGS_DEFAULT_HPP
+#define STA_TACOS_CONFIGS_DEFAULT_HPP
+
+// Generally, we assume the TACOS threads to have the highest priorties.
+#define STA_TACOS_MANAGER_PRIORITY          osPriorityHigh
+#define STA_TACOS_STATEMACHINE_PRIORITY     osPriorityHigh
+#define STA_TACOS_WATCHDOG_PRIORITY         osPriorityHigh
+
+// Per default, we assume state 0 to be the initial state.
+#define STA_TACOS_INITIAL_STATE             0
+
+#endif // STA_TACOS_CONFIGS_DEFAULT_HPP

include/sta/tacos/startup.hpp

@@ -1,36 +0,0 @@
-/*
- * startup.hpp
- *
- *  Created on: 22 Sep 2023
- *      Author: Dario
- */
-
-#ifndef INCLUDE_STA_TACOS_STARTUP_HPP_
-#define INCLUDE_STA_TACOS_STARTUP_HPP_
-
-/**
- * @defgroup tacos TACOS
- * @brief TACOS library.
- */
-
-namespace sta
-{
-	namespace tacos
-	{
-		/**
-		 * @brief Function that is called before the statemachine task is started.
-		 * Override it to adjust the statemachine to your specifications.
-		 */
-		void onStatemachineInit();
-
-		/**
-		 * @brief Function that is called before the manager task is started.
-		 * Override it to adjust the manager to your specifications.
-		 */
-		void onManagerInit();
-	}  // namespace tacos
-}  // namespace sta
-
-
-
-#endif /* INCLUDE_STA_TACOS_STARTUP_HPP_ */

src/startup.cpp

@@ -5,6 +5,13 @@
  *      Author: Dario
  */
 
+/**
+ * @defgroup tacos
+ * @brief TACOS library.
+ */
+
+
+#include <sta/config.hpp>
 
 #include <cmsis_os2.h>
 #include <usart.h>
@@ -19,7 +26,6 @@
 // Tacos-specific includes.
 #include <sta/tacos/manager.hpp>
 #include <sta/tacos/statemachine.hpp>
-#include <sta/tacos/startup.hpp>
 
 
 // The UART mutex defined in freertos.c
@@ -28,15 +34,16 @@ extern osMutexId_t uartMutexHandle;
 
 namespace sta
 {
+#ifdef STA_DEBUGGING_ENABLED
 	// Here the printable used for debugging is defined.
 	Printable * Debug;
 
-	namespace tacos
+	namespace tacos 
 	{
 		void initPrintable()
 		{
 			// Initialize the mutex for UART communication.
-			RtosMutex * mutex = new RtosMutex(&uartMutexHandle);
+			RtosMutex * mutex = new RtosMutex("uart");
 
 			// Initialize the UART interface and printable object.
 			UARTSettings settings = { .mode =  UARTMode::RX_TX };
@@ -45,13 +52,19 @@ namespace sta
 
 			STA_DEBUG_PRINTLN("UART SUCCESSFULLY INITIALIZED");
 		}
+	}
+#endif // STA_DEBUGGING_ENABLED
 
-
+	namespace tacos
+	{
+		/**
+		 * @brief Function that is called before the statemachine task is started. Override it to 
+		 * adjust the statemachine to your specifications.
+		 */
 		STA_WEAK
 		void onStatemachineInit()
 		{}
 
-
 		void initStatemachine()
 		{
 			onStatemachineInit();
@@ -59,12 +72,14 @@ namespace sta
 			Statemachine::instance()->start();
 		}
 
-
+		/**
+		 * @brief Function that is called before the manager task is started. Override it to adjust 
+		 * the manager to your specifications.
+		 */
 		STA_WEAK
 		void onManagerInit()
 		{}
 
-
 		void initManager()
 		{
 			onManagerInit();
@@ -79,7 +94,9 @@ namespace sta
 		// Override the weak implementation of startupExtras provided in rtos2-utils.
 		void startupExtras(void * argument)
 		{
+#ifdef STA_DEBUGGING_ENABLED
 			tacos::initPrintable();
+#endif // STA_DEBUGGING_ENABLED
 
 			tacos::initStatemachine();