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Merge pull request 'feat(sync): added periodicDelay function to threads' (#31) from feat/periodicDelay into main

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Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/31
Reviewed-by: dario <dario@noreply.git.intern.spaceteamaachen.de>
This commit is contained in:
carlwachter 2024-06-17 09:32:43 +00:00
commit b53fe2ce00
2 changed files with 31 additions and 2 deletions
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9
include/sta/tacos/thread.hpp
View File

@ -128,6 +128,14 @@ namespace sta
*/ */
void sleep(uint32_t ticks); void sleep(uint32_t ticks);
/**
* @brief Sleep until next period. Sets itself to WAITING if the watchdog is enabled, preventing
* the watchdog from restarting this thread.
*
* @param frequency
*/
void periodicDelay(uint32_t frequency);
#ifdef STA_CAN_BUS_ENABLE #ifdef STA_CAN_BUS_ENABLE
/** /**
* @brief Set the ID of the CAN bus this thread is associated with. * @brief Set the ID of the CAN bus this thread is associated with.
@ -216,6 +224,7 @@ namespace sta
uint32_t canID_; uint32_t canID_;
#endif // STA_TACOS_WATCHDOG_ENABLED #endif // STA_TACOS_WATCHDOG_ENABLED
bool terminate_; bool terminate_;
uint32_t previous_tick_;
}; };
} }
} }

24
src/thread.cpp
View File

@ -13,7 +13,7 @@
#include <functional> #include <functional>
#include <cstring> #include <cstring>
#include <cmsis_os2.h>
namespace sta namespace sta
{ {
@ -31,7 +31,8 @@ namespace sta
CAN_queue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH}, CAN_queue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
canID_{0}, canID_{0},
#endif // STA_CAN_BUS_ENABLE #endif // STA_CAN_BUS_ENABLE
terminate_{false} terminate_{false},
previous_tick_{0}
{ {
STA_ASSERT(stack_size >= 0); STA_ASSERT(stack_size >= 0);
STA_ASSERT(cb_size >= 0); STA_ASSERT(cb_size >= 0);
@ -110,6 +111,25 @@ namespace sta
osDelay(ticks); osDelay(ticks);
#ifdef STA_TACOS_WATCHDOG_ENABLED
heartbeat();
#endif // STA_TACOS_WATCHDOG_ENABLED
}
void TacosThread::periodicDelay(uint32_t frequency){
if (previous_tick_ == 0)
{
previous_tick_ = osKernelGetTickCount();
}
previous_tick_ += osKernelGetTickFreq()/frequency;
#ifdef STA_TACOS_WATCHDOG_ENABLED
waiting();
#endif // STA_TACOS_WATCHDOG_ENABLED
osDelayUntil(previous_tick_);
#ifdef STA_TACOS_WATCHDOG_ENABLED #ifdef STA_TACOS_WATCHDOG_ENABLED
heartbeat(); heartbeat();
#endif // STA_TACOS_WATCHDOG_ENABLED #endif // STA_TACOS_WATCHDOG_ENABLED