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

Browse Source 
Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/17
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>
This commit is contained in:
dario 2024-01-02 22:33:30 +00:00
commit 3401235717
4 changed files with 39 additions and 74 deletions
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34
README.md
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@ -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
// Settings for TACOS
#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
// Uses the default configuration for TACOS.
#include<sta/tacos/configs/default.hpp>
#endif /* INC_STA_CONFIG_HPP_ */
```

12
include/sta/tacos/configs/default.hpp Normal file
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@ -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

36
include/sta/tacos/startup.hpp
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@ -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_ */

29
src/startup.cpp
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@ -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
@ -28,6 +34,7 @@ extern osMutexId_t uartMutexHandle;
namespace sta
{
#ifdef STA_DEBUGGING_ENABLED
// Here the printable used for debugging is defined.
Printable * Debug;
@ -36,7 +43,7 @@ namespace sta
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();