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Added startup() as entry point and added warning for thread priorities

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dario 2024-12-01 11:54:36 +01:00
parent 235dd0a6d7
commit c652d23032
1 changed files with 8 additions and 3 deletions
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README.md
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@ -162,6 +162,9 @@ namespace tasks {
} // namespace tasks } // namespace tasks
``` ```
> [!WARNING]
> A thread's priority must be strictly lower than the statemachine's priority. Unless manually changed, this is always `osPriorityHigh`.
To start this thread, we first need to fill out the `startup.cpp` file. This file may look like this: To start this thread, we first need to fill out the `startup.cpp` file. This file may look like this:
```cpp ```cpp
#include <sta/tacos.hpp> #include <sta/tacos.hpp>
@ -173,11 +176,11 @@ namespace sta
{ {
namespace tacos namespace tacos
{ {
void onStatemachineInit() void startup()
{ {
// ###### Register different threads for different states here. ###### // ###### Register different threads for different states here. ######
// Register a "Spam Task" thread for all states except 1 and 2. // Register a "Spam Task" thread for all states except 1 and 2.
sta::tacos::addThread<tasks::SpamTask>(ALL_STATES - state_set{1,2}); sta::tacos::addThread<tasks::SpamTask>(ALL_STATES - state_set{1,2});
STA_DEBUG_PRINTF("The answer to everything is %d", 42); STA_DEBUG_PRINTF("The answer to everything is %d", 42);
} }
@ -185,6 +188,8 @@ namespace sta
} // namespace sta } // namespace sta
``` ```
The function `startup()` is a weakly implemented function that is executed right before TACOS initializes its statemachine task. It serves as an entry point for the user to initialize all busses, threads and rtos2-utils stuff that is needed for the application to fulfill its purpose.
And that's it! Now you have a thread that prints "Hello World" every second. Simply build the project and flash it to your microcontroller and be amazed by the Spam! And that's it! Now you have a thread that prints "Hello World" every second. Simply build the project and flash it to your microcontroller and be amazed by the Spam!
### Setting up the CAN Bus ### Setting up the CAN Bus