From 202c1f3aa69a35f91e273c75124832301997ac98 Mon Sep 17 00:00:00 2001
From: Henrik Stickann <4376396-Mithradir@users.noreply.gitlab.com>
Date: Sun, 24 Apr 2022 13:40:11 +0200
Subject: [PATCH] Improve doxygen comments. Add HAL init

---
 include/sta/os2/defs.hpp        |  3 ++
 include/sta/os2/easy_config.hpp |  6 ++--
 include/sta/os2/mutex.hpp       |  3 ++
 include/sta/os2/queue.hpp       | 63 +++++++++++++++++++++++++++++++++
 include/sta/os2/signal.hpp      |  3 ++
 src/os2/startup.cpp             | 12 +++----
 6 files changed, 82 insertions(+), 8 deletions(-)
 create mode 100644 include/sta/os2/queue.hpp

diff --git a/include/sta/os2/defs.hpp b/include/sta/os2/defs.hpp
index 5da075d..a572504 100644
--- a/include/sta/os2/defs.hpp
+++ b/include/sta/os2/defs.hpp
@@ -1,3 +1,6 @@
+/**
+ * @brief Constants and macros for use with CMSIS RTOS2.
+ */
 #ifndef STA_OS2_DEFS_HPP
 #define STA_OS2_DEFS_HPP
 
diff --git a/include/sta/os2/easy_config.hpp b/include/sta/os2/easy_config.hpp
index 931daf0..1e438fc 100644
--- a/include/sta/os2/easy_config.hpp
+++ b/include/sta/os2/easy_config.hpp
@@ -1,8 +1,10 @@
 /**
  * @brief Helper for easy system task setup in `<sta/config.hpp>`.
  *
- * Define **STA_OS2_SYSTEM_TASKS_ENABLE** before including this header
- * to enable all system tasks and required features.
+ * Configuration:
+ *     STA_OS2_SYSTEM_TASKS_ENABLE: Enable all system tasks and required features
+ *     STA_OS2_WATCHDOG_TIMER_NAME: Set watchdog timer handle and callback names based on this
+ *     STA_OS2_WATCHDOG_NAME:       Set watchdog task handle and entry function names based on this
  */
 #ifndef STA_OS2_EASY_CONFIG_HPP
 #define STA_OS2_EASY_CONFIG_HPP
diff --git a/include/sta/os2/mutex.hpp b/include/sta/os2/mutex.hpp
index 23e1d85..2dc91ae 100644
--- a/include/sta/os2/mutex.hpp
+++ b/include/sta/os2/mutex.hpp
@@ -1,3 +1,6 @@
+/**
+ * @brief CMSIS RTOS2 mutex implementation.
+ */
 #ifndef STA_OS2_MUTEX_HPP
 #define STA_OS2_MUTEX_HPP
 
diff --git a/include/sta/os2/queue.hpp b/include/sta/os2/queue.hpp
new file mode 100644
index 0000000..975574f
--- /dev/null
+++ b/include/sta/os2/queue.hpp
@@ -0,0 +1,63 @@
+/**
+ * @brief CMSIS RTOS2 queue implementation.
+ */
+#ifndef STA_OS2_QUEUE_HPP
+#define STA_OS2_QUEUE_HPP
+
+#include <sta/assert.hpp>
+
+#include <cmsis_os2.h>
+
+
+namespace sta
+{
+	template <typename T>
+	class Os2Queue
+	{
+	public:
+		using Message = T;
+	public:
+		Os2Queue(osMessageQueueId_t * handle);
+
+		bool put(const Message & msg, uint32_t timeout = osWaitForever);
+		bool get(Message * outMsg, uint32_t timeout = osWaitForever);
+
+		uint32 available() const;
+
+	private:
+		osMessageQueueId_t * handle_;
+	};
+} // namespace sta
+
+
+namespace sta
+{
+	template <typename T>
+	Os2Queue<T>::Os2Queue(osMessageQueueId_t * handle)
+		: handle_{handle}
+	{
+		STA_ASSERT(handle != nullptr);
+	}
+
+	template <typename T>
+	bool Os2Queue<T>::put(const Message & msg, uint32_t timeout /* = osWaitForever */)
+	{
+		return (osOK == osMessageQueuePut(*handle_, &msg, 0, timeout));
+	}
+
+	template <typename T>
+	bool Os2Queue<T>::get(Message * outMsg, uint32_t timeout /* = osWaitForever */)
+	{
+		uint8_t prio;
+		return (osOK == osMessageQueueGet(*handle_, outMsg, &prio, timeout));
+	}
+
+	template <typename T>
+	uint32 Os2Queue<T>::available() const
+	{
+		return osMessageQueueGetCount(*handle_);
+	}
+} // namespace sta
+
+
+#endif // STA_OS2_QUEUE_HPP
diff --git a/include/sta/os2/signal.hpp b/include/sta/os2/signal.hpp
index 319f623..94fcef1 100644
--- a/include/sta/os2/signal.hpp
+++ b/include/sta/os2/signal.hpp
@@ -1,3 +1,6 @@
+/**
+ * @brief CMSIS RTOS2 signal implementation.
+ */
 #ifndef STA_OS2_SIGNAL_HPP
 #define STA_OS2_SIGNAL_HPP
 
diff --git a/src/os2/startup.cpp b/src/os2/startup.cpp
index aa1ee3f..d87f2bc 100644
--- a/src/os2/startup.cpp
+++ b/src/os2/startup.cpp
@@ -1,12 +1,14 @@
+/**
+ * @brief System startup task.
+ */
 #include <sta/os2/startup.hpp>
 #ifdef STA_OS2_STARTUP_ENABLE
 
 #include <sta/lang.hpp>
+#include <sta/hal/init.hpp>
 #include <sta/os2/system_event.hpp>
 #include <sta/os2/watchdog.hpp>
 
-#include <main.h>
-
 #include <cmsis_os2.h>
 
 
@@ -32,16 +34,14 @@ extern "C"
 		// Call further initialization code
 		sta::startupExtras(arg);
 
+		// Initialize HAL
+		sta::initHAL();
 
 #ifdef STA_OS2_WATCHDOG_ENABLE
 		// Start timers
 		sta::startWatchdogTimer();
 #endif // STA_OS2_WATCHDOG_ENABLE
 
-#ifdef STA_HAL_DELAY_US_TIM
-		HAL_TIM_Base_Start(&STA_HAL_DELAY_US_TIM);
-#endif // STA_HAL_DELAY_US_TIM
-
 		// Wake tasks
 		sta::signalStartupEvent();