Rename to STA RTOS

README.md

@@ -1,4 +1,4 @@
-# RTOS2 Utilities
+# STA RTOS Utilities
 
 ![pre-release v0.1.0](https://img.shields.io/static/v1?label=pre-release&message=v0.1.0&color=orange&logo=git)
 ![Standard: C++11](https://img.shields.io/static/v1?label=standard&message=C%2B%2B11&color=blue&logo=cplusplus)
@@ -22,8 +22,8 @@ The library provides implementations for the following interfaces using CMSIS-RT
 Provides an interface for common system events. 
 
 Configuration:
-* `#define STA_RTOS2_SYSTEM_EVENT_ENABLE`: Enable module
+* `#define STA_RTOS_SYSTEM_EVENT_ENABLE`: Enable module
-* `#define STA_RTOS2_SYSTEM_EVENT_HANDLE <var_name>`: Override variable name of flag handle (default: systemEventHandle)
+* `#define STA_RTOS_SYSTEM_EVENT_HANDLE <var_name>`: Override variable name of flag handle (default: systemEventHandle)
 
 
 Requirements:
@@ -36,12 +36,12 @@ The watchdog task waits for signals sent either from the heartbeat timer or manu
 and forwards the event flags to the `sta::watchdogEventHandler` function implemented by the application.
 
 Configuration:
-* `#define STA_RTOS2_WATCHDOG_ENABLE`: Enable module
+* `#define STA_RTOS_WATCHDOG_ENABLE`: Enable module
-* `#define STA_RTOS2_WATCHDOG_TIMER_PERIOD <period_ticks>`: Set period in ticks of heartbeat timer (default: 1000)
+* `#define STA_RTOS_WATCHDOG_TIMER_PERIOD <period_ticks>`: Set period in ticks of heartbeat timer (default: 1000)
-* `#define STA_RTOS2_WATCHDOG_TIMER_HANDLE <var_name>`: Override variable name of heartbeat timer handle (default: heartbeatHandle)
+* `#define STA_RTOS_WATCHDOG_TIMER_HANDLE <var_name>`: Override variable name of heartbeat timer handle (default: heartbeatHandle)
-* `#define STA_RTOS2_WATCHDOG_TIMER_CALLBACK <func_name>`: Override name of heartbeat timer callback function (default: heartbeatCallback)
+* `#define STA_RTOS_WATCHDOG_TIMER_CALLBACK <func_name>`: Override name of heartbeat timer callback function (default: heartbeatCallback)
-* `#define STA_RTOS2_WATCHDOG_HANDLE <var_name>`: Override variable name of watchdog task handle (default: watchdogHandle)
+* `#define STA_RTOS_WATCHDOG_HANDLE <var_name>`: Override variable name of watchdog task handle (default: watchdogHandle)
-* `#define STA_RTOS2_WATCHDOG_ENTRY_FUNCTION <func_name>`: Override name of watchdog task entry function (default: watchdogTask)
+* `#define STA_RTOS_WATCHDOG_ENTRY_FUNCTION <func_name>`: Override name of watchdog task entry function (default: watchdogTask)
 
 Requirements:
 * Uses the `System Event` module
@@ -56,8 +56,8 @@ It provides all setup required by the enabled system tasks. If additional initia
 application the function `void sta::startupExtras(void *)` declared in `<sta/rtos2/startup.hpp>` can be implemented.
 
 Configuration:
-* `#define STA_RTOS2_STARTUP_ENABLE`: Enable module
+* `#define STA_RTOS_STARTUP_ENABLE`: Enable module
-* `#define STA_RTOS2_STARTUP_ENTRY_FUNCTION <func_name>`: Override name of startup task entry function (default: startupTask)
+* `#define STA_RTOS_STARTUP_ENTRY_FUNCTION <func_name>`: Override name of startup task entry function (default: startupTask)
 
 Requirements:
 * Uses the `System Event` module
@@ -69,6 +69,6 @@ Requirements:
 Simplify configuration of modules. Intended for use in `<sta/config.hpp>`.
 
 Configuration:
-* `#define STA_RTOS2_SYSTEM_TASKS_ENABLE`: Enable all modules required for system tasks
+* `#define STA_RTOS_SYSTEM_TASKS_ENABLE`: Enable all modules required for system tasks
-* `#define STA_RTOS2_WATCHDOG_TIMER_NAME <name>`: Override handle and callback name for watchdog timer
+* `#define STA_RTOS_WATCHDOG_TIMER_NAME <name>`: Override handle and callback name for watchdog timer
-* `#define STA_RTOS2_WATCHDOG_NAME <name>`: Override handle and entry function name for watchdog task
+* `#define STA_RTOS_WATCHDOG_NAME <name>`: Override handle and entry function name for watchdog task

include/sta/rtos/defs.hpp

@@ -0,0 +1,53 @@
+/**
+ * @file
+ * @brief Constants and macros for use with CMSIS RTOS2.
+ */
+#ifndef STA_RTOS_DEFS_HPP
+#define STA_RTOS_DEFS_HPP
+
+/**
+ * @defgroup STA_RTOS RTOS
+ * @brief STA RTOS library.
+ */
+
+/**
+ * @defgroup STA_RTOS_API API
+ * @ingroup STA_RTOS
+ * @brief Public interface.
+ */
+
+/**
+ * @defgroup STA_RTOS_BuildConfig Build config
+ * @ingroup STA_RTOS
+ * @brief Build configuration options.
+ */
+
+
+/**
+ * @ingroup STA_RTOS_API
+ * @{
+ */
+
+// See limits defined in cmsis_os2.c
+
+/**
+ * @brief Number of usable bits in task notification flags.
+ */
+#define STA_RTOS_MAX_BITS_TASK_NOTIFY       31U
+/**
+ * @brief Number of usable bits in event group flags.
+ */
+#define STA_RTOS_MAX_BITS_EVENT_GROUPS      24U
+/**
+ * @brief Mask for valid task notification flag bits.
+ */
+#define STA_RTOS_THREAD_FLAGS_VALID_BITS    ( ( 1UL << STA_RTOS_MAX_BITS_TASK_NOTIFY ) - 1U )
+/**
+ * @brief Mask for valid event group flag bits.
+ */
+#define STA_RTOS_EVENT_FLAGS_VALID_BITS	    ( ( 1UL << STA_RTOS_MAX_BITS_EVENT_GROUPS ) - 1U )
+
+
+/** @} */
+
+#endif // STA_RTOS_DEFS_HPP

include/sta/rtos/easy_config.hpp

@@ -0,0 +1,85 @@
+/**
+ * @file
+ * @brief Helper for easy system task setup in `<sta/config.hpp>`.
+ */
+#ifndef STA_RTOS_EASY_CONFIG_HPP
+#define STA_RTOS_EASY_CONFIG_HPP
+
+/**
+ * @defgroup STA_RTOS_EasyConfig Easy Config
+ * @ingroup STA_RTOS_BuildConfig
+ * @brief Helpers for easy RTOS module setup.
+ *
+ * Use this header only inside the <sta/config.hpp> header of your application.
+ */
+
+
+#ifdef DOXYGEN
+/**
+ * @brief Don't warn about use of <rtos2/easy_config.hpp> outside of <sta/config.hpp>.
+ *
+ * @ingroup STA_RTOS_EasyConfig
+ */
+#  define STA_RTOS_EASY_CONFIG_NO_WARNING
+#endif // DOXYGEN
+
+#if !defined(STA_CONFIG_HPP) && !defined(STA_RTOS_EASY_CONFIG_NO_WARNING)
+#warning "Intended for use in <sta/config.hpp>"
+#endif // !STA_CONFIG_HPP && !STA_RTOS_EASY_CONFIG_NO_WARNING
+
+
+#ifdef DOXYGEN
+/**
+ * @brief Enable all system tasks and required features.
+ *
+ * @ingroup STA_RTOS_EasyConfig
+ */
+#  define STA_RTOS_EASY_CONFIG_SYSTEM_TASKS_ENABLE
+#endif // DOXYGEN
+
+#ifdef STA_RTOS_EASY_CONFIG_SYSTEM_TASKS_ENABLE
+// Enable system events used by system tasks
+#  define STA_RTOS_SYSTEM_EVENT_ENABLE
+// Enable system tasks
+#  define STA_RTOS_WATCHDOG_ENABLE
+#  define STA_RTOS_STARTUP_ENABLE
+#endif // STA_RTOS_EASY_CONFIG_SYSTEM_TASKS_ENABLE
+
+
+#define _STA_RTOS_CONCAT(a, b)              a ## b
+
+#define STA_RTOS_MAKE_HANDLE_NAME(name)     _STA_RTOS_CONCAT(name, Handle)
+#define STA_RTOS_MAKE_CALLBACK_NAME(name)   _STA_RTOS_CONCAT(name, Callback)
+#define STA_RTOS_MAKE_TASK_NAME(name)       _STA_RTOS_CONCAT(name, Task)
+
+
+#ifdef DOXYGEN
+/**
+ * @brief Common base name used for watchdog timer handle and callback names.
+ *
+ * @ingroup STA_RTOS_EasyConfig
+ */
+#  define STA_RTOS_EASY_CONFIG_WATCHDOG_TIMER_NAME
+#endif // DOXYGEN
+
+#ifdef STA_RTOS_EASY_CONFIG_WATCHDOG_TIMER_NAME
+#  define STA_RTOS_WATCHDOG_TIMER_HANDLE    STA_RTOS_MAKE_HANDLE_NAME(STA_RTOS_EASY_CONFIG_WATCHDOG_TIMER_NAME)
+#  define STA_RTOS_WATCHDOG_TIMER_CALLBACK  STA_RTOS_MAKE_CALLBACK_NAME(STA_RTOS_EASY_CONFIG_WATCHDOG_TIMER_NAME)
+#endif // STA_RTOS_EASY_CONFIG_WATCHDOG_TIMER_NAME
+
+#ifdef DOXYGEN
+/**
+ * @brief Common base name used for watchdog task handle and entry function names.
+ *
+ * @ingroup STA_RTOS_EasyConfig
+ */
+#  define STA_RTOS_EASY_CONFIG_WATCHDOG_NAME
+#endif // DOXYGEN
+
+#ifdef STA_RTOS_EASY_CONFIG_WATCHDOG_NAME
+#  define STA_RTOS_WATCHDOG_HANDLE          STA_RTOS_MAKE_HANDLE_NAME(STA_RTOS_EASY_CONFIG_WATCHDOG_NAME)
+#  define STA_RTOS_WATCHDOG_ENTRY_FUNCTION  STA_RTOS_MAKE_TASK_NAME(STA_RTOS_EASY_CONFIG_WATCHDOG_NAME)
+#endif // STA_RTOS_EASY_CONFIG_WATCHDOG_NAME
+
+
+#endif // STA_RTOS_EASY_CONFIG_HPP

include/sta/rtos/mutex.hpp

@@ -1,9 +1,9 @@
 /**
  * @file
- * @brief CMSIS RTOS2 mutex implementation.
+ * @brief RTOS mutex implementation.
  */
-#ifndef STA_RTOS2_MUTEX_HPP
+#ifndef STA_RTOS_MUTEX_HPP
-#define STA_RTOS2_MUTEX_HPP
+#define STA_RTOS_MUTEX_HPP
 
 #include <sta/intf/mutex.hpp>
 
@@ -15,15 +15,15 @@ namespace sta
 	/**
 	 * @brief Implementation of Mutex interface using CMSIS RTOS2.
 	 *
-	 * @ingroup rtos2API
+	 * @ingroup STA_RTOS_API
 	 */
-	class Rtos2Mutex : public Mutex
+	class RTOSMutex : public Mutex
 	{
 	public:
 		/**
 		 * @param handle    CMSIS RTOS2 mutex
 		 */
-		Rtos2Mutex(osMutexId_t * handle);
+		RTOSMutex(osMutexId_t * handle);
 
 		void acquire() override;
 		void release() override;
@@ -34,4 +34,4 @@ namespace sta
 } // namespace sta
 
 
-#endif // STA_OS2_MUTEX_HPP
+#endif // STA_RTOS_MUTEX_HPP

include/sta/rtos/queue.hpp

@@ -1,9 +1,9 @@
 /**
  * @file
- * @brief CMSIS RTOS2 queue implementation.
+ * @brief RTOS queue implementation.
  */
-#ifndef STA_RTOS2_QUEUE_HPP
+#ifndef STA_RTOS_QUEUE_HPP
-#define STA_RTOS2_QUEUE_HPP
+#define STA_RTOS_QUEUE_HPP
 
 #include <cmsis_os2.h>
 
@@ -17,10 +17,10 @@ namespace sta
 	 *
 	 * @tparam Message type
 	 *
-	 * @ingroup rtos2API
+	 * @ingroup STA_RTOS_API
 	 */
 	template <typename T>
-	class Rtos2Queue
+	class RTOSQueue
 	{
 	public:
 		using Message = T;  /**< Queue message type */
@@ -29,7 +29,7 @@ namespace sta
 		/**
 		 * @param handle CMSIS RTOS2 queue handle
 		 */
-		Rtos2Queue(osMessageQueueId_t * handle);
+		RTOSQueue(osMessageQueueId_t * handle);
 
 		/**
 		 * @brief Place message in queue.
@@ -61,7 +61,7 @@ namespace sta
 } // namespace sta
 
 
-#include <sta/rtos2/queue.tpp>
+#include <sta/rtos/queue.tpp>
 
 
-#endif // STA_RTOS2_QUEUE_HPP
+#endif // STA_RTOS_QUEUE_HPP

include/sta/rtos/queue.tpp

@@ -0,0 +1,41 @@
+#ifndef STA_RTOS_QUEUE_TPP
+#define STA_RTOS_QUEUE_TPP
+
+#ifndef STA_RTOS_QUEUE_HPP
+#  error "Internal header. Use <sta/rtos/queue.hpp> instead."
+#endif // !STA_RTOS_QUEUE_HPP
+
+#include <sta/assert.hpp>
+
+
+namespace sta
+{
+	template <typename T>
+	RTOSQueue<T>::RTOSQueue(osMessageQueueId_t * handle)
+		: handle_{handle}
+	{
+		STA_ASSERT(handle != nullptr);
+	}
+
+	template <typename T>
+	bool RTOSQueue<T>::put(const Message & msg, uint32_t timeout /* = osWaitForever */)
+	{
+		return (osOK == osMessageQueuePut(*handle_, &msg, 0, timeout));
+	}
+
+	template <typename T>
+	bool RTOSQueue<T>::get(Message * outMsg, uint32_t timeout /* = osWaitForever */)
+	{
+		uint8_t prio;
+		return (osOK == osMessageQueueGet(*handle_, outMsg, &prio, timeout));
+	}
+
+	template <typename T>
+	uint32 RTOSQueue<T>::available() const
+	{
+		return osMessageQueueGetCount(*handle_);
+	}
+} // namespace sta
+
+
+#endif // STA_RTOS_QUEUE_TPP

include/sta/rtos/signal.hpp

@@ -1,9 +1,9 @@
 /**
  * @file
- * @brief CMSIS RTOS2 signal implementation.
+ * @brief RTOS signal implementation.
  */
-#ifndef STA_RTOS2_SIGNAL_HPP
+#ifndef STA_RTOS_SIGNAL_HPP
-#define STA_RTOS2_SIGNAL_HPP
+#define STA_RTOS_SIGNAL_HPP
 
 #include <sta/intf/signal.hpp>
 
@@ -15,15 +15,15 @@ namespace sta
 	/**
 	 * @brief Implementation of Signal interface using CMSIS RTOS2.
 	 *
-	 * @ingroup rtos2API
+	 * @ingroup STA_RTOS_API
 	 */
-	class Rtos2Signal : public Signal
+	class RTOSSignal : public Signal
 	{
 	public:
 		/**
 		 * @param semaphore     CMSIS RTOS2 semaphore
 		 */
-		Rtos2Signal(osSemaphoreId_t * semaphore);
+		RTOSSignal(osSemaphoreId_t * semaphore);
 
 		void notify() override;
 		bool peek() override;
@@ -36,4 +36,4 @@ namespace sta
 } // namespace sta
 
 
-#endif // STA_RTOS2_SIGNAL_HPP
+#endif // STA_RTOS_SIGNAL_HPP

include/sta/rtos/startup.hpp

@@ -0,0 +1,57 @@
+/**
+ * @file
+ * @brief Implementation of startup system task.
+ */
+#ifndef STA_RTOS_STARTUP_HPP
+#define STA_RTOS_STARTUP_HPP
+
+/**
+ * @defgroup STA_RTOS_Startup Startup task
+ * @ingroup STA_RTOS_API
+ * @brief Startup system task.
+ *
+ * Check @ref STA_RTOS_BuildConfig for configuration options.
+ */
+
+
+#ifdef DOXYGEN
+/**
+ * @brief Enable module.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#  define STA_RTOS_STARTUP_ENABLE
+#endif // DOXYGEN
+
+
+/**
+ * @def STA_RTOS_STARTUP_ENTRY_FUNCTION
+ * @brief Set name of startup task entry function.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_STARTUP_ENTRY_FUNCTION
+#  define STA_RTOS_STARTUP_ENTRY_FUNCTION   startupTask
+#endif // !STA_RTOS_STARTUP_ENTRY_FUNCTION
+
+
+#include <sta/config.hpp>
+#ifdef STA_RTOS_STARTUP_ENABLE
+
+
+namespace sta
+{
+	/**
+	 * @brief Extra initialization run at start of startup task.
+	 *
+	 * May be overridden by application if required.
+	 *
+	 * @ingroup STA_RTOS_Startup
+	 */
+	void startupExtras(void * argument);
+} // namespace sta
+
+
+#endif // STA_RTOS_STARTUP_ENABLE
+
+#endif // STA_RTOS_STARTUP_HPP

include/sta/rtos/system_event.hpp

@@ -2,39 +2,39 @@
  * @file
  * @brief Implementation of system events.
  */
-#ifndef STA_OS2_SYSTEM_EVENT_HPP
+#ifndef STA_RTOS_SYSTEM_EVENT_HPP
-#define STA_OS2_SYSTEM_EVENT_HPP
+#define STA_RTOS_SYSTEM_EVENT_HPP
 
 /**
- * @defgroup rtos2SysEvent System Events
+ * @defgroup STA_RTOS_SysEvent System Events
- * @ingroup rtos2API
+ * @ingroup STA_RTOS_API
  * @brief System events.
  *
- * Check @ref rtos2BuildConfig for configuration options.
+ * Check @ref STA_RTOS_BuildConfig for configuration options.
  */
 
 #ifdef DOXYGEN
 /**
  * @brief Enable module.
  *
- * @ingroup rtos2BuildConfig
+ * @ingroup STA_RTOS_BuildConfig
  */
 #  define STA_RTOS2_SYSTEM_EVENT_ENABLE
 #endif // DOXYGEN
 
 /**
- * @def STA_RTOS2_SYSTEM_EVENT_HANDLE
+ * @def STA_RTOS_SYSTEM_EVENT_HANDLE
  * @brief Set variable name of event flags handle.
  *
- * @ingroup rtos2BuildConfig
+ * @ingroup STA_RTOS_BuildConfig
  */
-#ifndef STA_RTOS2_SYSTEM_EVENT_HANDLE
+#ifndef STA_RTOS_SYSTEM_EVENT_HANDLE
-#  define STA_RTOS2_SYSTEM_EVENT_HANDLE systemEventHandle
+#  define STA_RTOS_SYSTEM_EVENT_HANDLE  systemEventHandle
-#endif // !STA_RTOS2_SYSTEM_EVENT_HANDLE
+#endif // !STA_RTOS_SYSTEM_EVENT_HANDLE
 
 
 #include <sta/config.hpp>
-#ifdef STA_RTOS2_SYSTEM_EVENT_ENABLE
+#ifdef STA_RTOS_SYSTEM_EVENT_ENABLE
 
 #include <cstdint>
 
@@ -45,7 +45,7 @@
 /**
  * @brief Startup system event flag.
  *
- * @ingroup rtos2SysEvent
+ * @ingroup STA_RTOS_SysEvent
  */
 #define STA_SYSTEM_EVENT_STARTUP 0x100000U
 
@@ -57,7 +57,7 @@ namespace sta
 	 *
 	 * @param flags     System event flags
 	 *
-	 * @ingroup rtos2SysEvent
+	 * @ingroup STA_RTOS_SysEvent
 	 */
 	void signalSystemEvents(uint32_t flags);
 
@@ -68,7 +68,7 @@ namespace sta
 	 * @param options   osFlagsWaitAll or osFlagsWaitAny (osFlagsNoClear always set)
 	 * @param timeout   Wait timeout (0 = instant, osWaitForever = infinite)
 	 *
-	 * @ingroup rtos2SysEvent
+	 * @ingroup STA_RTOS_SysEvent
 	 */
 	void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout);
 	
@@ -76,7 +76,7 @@ namespace sta
 	/**
 	 * @brief Signal startup system event.
 	 *
-	 * @ingroup rtos2SysEvent
+	 * @ingroup STA_RTOS_SysEvent
 	 */
 	void signalStartupEvent();
 
@@ -85,12 +85,12 @@ namespace sta
 	 *
 	 * Blocking while waiting
 	 *
-	 * @ingroup rtos2SysEvent
+	 * @ingroup STA_RTOS_SysEvent
 	 */
 	void waitForStartupEvent();
 } // namespace sta
 
 
-#endif // STA_RTOS2_SYSTEM_EVENT_ENABLE
+#endif // STA_RTOS_SYSTEM_EVENT_ENABLE
 
-#endif // STA_RTOS2_SYSTEM_EVENT_HPP
+#endif // STA_RTOS_SYSTEM_EVENT_HPP

include/sta/rtos/watchdog.hpp

@@ -0,0 +1,126 @@
+/**
+ * @file
+ * @brief Implementation of watchdog system task.
+ */
+#ifndef STA_RTOS_WATCHDOG_HPP
+#define STA_RTOS_WATCHDOG_HPP
+
+/**
+ * @defgroup STA_RTOS_Watchdog Watchdog task
+ * @ingroup STA_RTOS_API
+ * @brief Watchdog system task.
+ *
+ * Check @ref STA_RTOS_BuildConfig for configuration options.
+ */
+
+#ifdef DOXYGEN
+/**
+ * @brief Enable module.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#  define STA_RTOS_WATCHDOG_ENABLE
+#endif // DOXYGEN
+
+
+/**
+ * @def STA_RTOS_WATCHDOG_TIMER_PERIOD
+ * @brief Set period in ticks of heartbeat timer.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_WATCHDOG_TIMER_PERIOD
+#  define STA_RTOS_WATCHDOG_TIMER_PERIOD    1000
+#endif // !STA_RTOS_WATCHDOG_TIMER_PERIOD
+
+/**
+ * @def STA_RTOS_WATCHDOG_TIMER_HANDLE
+ * @brief Set variable name of heartbeat timer handle.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_WATCHDOG_TIMER_HANDLE
+#  define STA_RTOS_WATCHDOG_TIMER_HANDLE    heartbeatHandle
+#endif // !STA_RTOS_WATCHDOG_TIMER_HANDLE
+
+/**
+ * @def STA_RTOS_WATCHDOG_TIMER_CALLBACK
+ * @brief Set name of heartbeat timer callback function.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_WATCHDOG_TIMER_CALLBACK
+#  define STA_RTOS_WATCHDOG_TIMER_CALLBACK  heartbeatCallback
+#endif // !STA_RTOS_WATCHDOG_TIMER_CALLBACK
+
+/**
+ * @def STA_RTOS_WATCHDOG_HANDLE
+ * @brief Set variable name of watchdog task handle.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_WATCHDOG_HANDLE
+#  define STA_RTOS_WATCHDOG_HANDLE          watchdogHandle
+#endif // !STA_RTOS_WATCHDOG_HANDLE
+
+/**
+ * @def STA_RTOS_WATCHDOG_ENTRY_FUNCTION
+ * @brief Set name of watchdog task entry function.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_WATCHDOG_ENTRY_FUNCTION
+#  define STA_RTOS_WATCHDOG_ENTRY_FUNCTION  watchdogTask
+#endif // !STA_RTOS_WATCHDOG_ENTRY_FUNCTION
+
+
+#include <sta/config.hpp>
+#ifdef STA_RTOS_WATCHDOG_ENABLE
+
+#include <cstdint>
+
+
+// Watchdog task flags
+//
+
+/**
+ * @brief Watchdog heartbeat flag.
+ *
+ * @ingroup STA_RTOS_Watchdog
+ */
+#define STA_WATCHDOG_FLAG_HEARTBEAT	0x00001000U
+
+
+namespace sta
+{
+	/**
+	 * @brief Start heartbeat timer for watchdog.
+	 *
+	 * @ingroup STA_RTOS_Watchdog
+	 */
+	void startWatchdogTimer();
+	/**
+	 * @brief Send notification to watchdog task.
+	 *
+	 * @ingroup STA_RTOS_Watchdog
+	 */
+	void notifyWatchdog(uint32_t flags);
+
+
+	/**
+	 * @brief Handler for watchdog events.
+	 *
+	 * Must be implemented by application.
+	 *
+	 * @param arg   Watchdog task argument
+	 * @param flags Event flags
+	 *
+	 * @ingroup STA_RTOS_Watchdog
+	 */
+	void watchdogEventHandler(void * arg, uint32_t flags);
+} // namespace sta
+
+
+#endif // STA_RTOS_WATCHDOG_ENABLE
+
+#endif // STA_RTOS2_WATCHDOG_HPP

include/sta/rtos2/defs.hpp

@@ -1,53 +0,0 @@
-/**
- * @file
- * @brief Constants and macros for use with CMSIS RTOS2.
- */
-#ifndef STA_RTOS2_DEFS_HPP
-#define STA_RTOS2_DEFS_HPP
-
-/**
- * @defgroup rtos2 RTOS2
- * @brief CMSIS RTOS2 library.
- */
-
-/**
- * @defgroup rtos2API API
- * @ingroup rtos2
- * @brief Public interface.
- */
-
-/**
- * @defgroup rtos2BuildConfig Build config
- * @ingroup rtos2
- * @brief Build configuration options.
- */
-
-
-/**
- * @ingroup rtos2API
- * @{
- */
-
-// See limits defined in cmsis_os2.c
-
-/**
- * @brief Number of usable bits in task notification flags.
- */
-#define STA_RTOS2_MAX_BITS_TASK_NOTIFY      31U
-/**
- * @brief Number of usable bits in event group flags.
- */
-#define STA_RTOS2_MAX_BITS_EVENT_GROUPS     24U
-/**
- * @brief Mask for valid task notification flag bits.
- */
-#define STA_RTOS2_THREAD_FLAGS_VALID_BITS   ((1UL << STA_RTOS2_MAX_BITS_TASK_NOTIFY) - 1U)
-/**
- * @brief Mask for valid event group flag bits.
- */
-#define STA_RTOS2_EVENT_FLAGS_VALID_BITS	((1UL << STA_RTOS2_MAX_BITS_EVENT_GROUPS) - 1U)
-
-
-/** @} */
-
-#endif // STA_RTOS2_DEFS_HPP

include/sta/rtos2/easy_config.hpp

@@ -1,85 +0,0 @@
-/**
- * @file
- * @brief Helper for easy system task setup in `<sta/config.hpp>`.
- */
-#ifndef STA_RTOS2_EASY_CONFIG_HPP
-#define STA_RTOS2_EASY_CONFIG_HPP
-
-/**
- * @defgroup rtos2EasyConfig Easy Config
- * @ingroup rtos2BuildConfig
- * @brief Helpers for easy RTOS2 module setup.
- *
- * Use this header only inside the <sta/config.hpp> header of your application.
- */
-
-
-#ifdef DOXYGEN
-/**
- * @brief Don't warn about use of <rtos2/easy_config.hpp> outside of <sta/config.hpp>.
- *
- * @ingroup rtos2EasyConfig
- */
-#  define STA_RTOS2_EASY_CONFIG_NO_WARNING
-#endif // DOXYGEN
-
-#if !defined(STA_CONFIG_HPP) && !defined(STA_RTOS2_EASY_CONFIG_NO_WARNING)
-#warning "Intended for use in <sta/config.hpp>"
-#endif // !STA_CONFIG_HPP && !STA_RTOS2_EASY_CONFIG_NO_WARNING
-
-
-#ifdef DOXYGEN
-/**
- * @brief Enable all system tasks and required features.
- *
- * @ingroup rtos2EasyConfig
- */
-#  define STA_RTOS2_EASY_CONFIG_SYSTEM_TASKS_ENABLE
-#endif // DOXYGEN
-
-#ifdef STA_RTOS2_EASY_CONFIG_SYSTEM_TASKS_ENABLE
-// Enable system events used by system tasks
-#  define STA_RTOS2_SYSTEM_EVENT_ENABLE
-// Enable system tasks
-#  define STA_RTOS2_WATCHDOG_ENABLE
-#  define STA_RTOS2_STARTUP_ENABLE
-#endif // STA_RTOS2_EASY_CONFIG_SYSTEM_TASKS_ENABLE
-
-
-#define _STA_RTOS2_CONCAT(a, b) a ## b
-
-#define STA_RTOS2_MAKE_HANDLE_NAME(name)    _STA_RTOS2_CONCAT(name, Handle)
-#define STA_RTOS2_MAKE_CALLBACK_NAME(name)  _STA_RTOS2_CONCAT(name, Callback)
-#define STA_RTOS2_MAKE_TASK_NAME(name)      _STA_RTOS2_CONCAT(name, Task)
-
-
-#ifdef DOXYGEN
-/**
- * @brief Common base name used for watchdog timer handle and callback names.
- *
- * @ingroup rtos2EasyConfig
- */
-#  define STA_RTOS2_EASY_CONFIG_WATCHDOG_TIMER_NAME
-#endif // DOXYGEN
-
-#ifdef STA_RTOS2_EASY_CONFIG_WATCHDOG_TIMER_NAME
-#  define STA_RTOS2_WATCHDOG_TIMER_HANDLE   STA_RTOS2_MAKE_HANDLE_NAME(STA_RTOS2_EASY_CONFIG_WATCHDOG_TIMER_NAME)
-#  define STA_RTOS2_WATCHDOG_TIMER_CALLBACK STA_RTOS2_MAKE_CALLBACK_NAME(STA_RTOS2_EASY_CONFIG_WATCHDOG_TIMER_NAME)
-#endif // STA_RTOS2_EASY_CONFIG_WATCHDOG_TIMER_NAME
-
-#ifdef DOXYGEN
-/**
- * @brief Common base name used for watchdog task handle and entry function names.
- *
- * @ingroup rtos2EasyConfig
- */
-#  define STA_RTOS2_EASY_CONFIG_WATCHDOG_NAME
-#endif // DOXYGEN
-
-#ifdef STA_RTOS2_EASY_CONFIG_WATCHDOG_NAME
-#  define STA_RTOS2_WATCHDOG_HANDLE         STA_RTOS2_MAKE_HANDLE_NAME(STA_RTOS2_EASY_CONFIG_WATCHDOG_NAME)
-#  define STA_RTOS2_WATCHDOG_ENTRY_FUNCTION STA_RTOS2_MAKE_TASK_NAME(STA_RTOS2_EASY_CONFIG_WATCHDOG_NAME)
-#endif // STA_RTOS2_EASY_CONFIG_WATCHDOG_NAME
-
-
-#endif // STA_RTOS2_EASY_CONFIG_HPP

include/sta/rtos2/queue.tpp

@@ -1,41 +0,0 @@
-#ifndef STA_RTOS2_QUEUE_TPP
-#define STA_RTOS2_QUEUE_TPP
-
-#ifndef STA_RTOS2_QUEUE_HPP
-#  error "Internal header. Use <sta/rtos2/queue.hpp> instead."
-#endif // !STA_RTOS2_QUEUE_HPP
-
-#include <sta/assert.hpp>
-
-
-namespace sta
-{
-	template <typename T>
-	Rtos2Queue<T>::Rtos2Queue(osMessageQueueId_t * handle)
-		: handle_{handle}
-	{
-		STA_ASSERT(handle != nullptr);
-	}
-
-	template <typename T>
-	bool Rtos2Queue<T>::put(const Message & msg, uint32_t timeout /* = osWaitForever */)
-	{
-		return (osOK == osMessageQueuePut(*handle_, &msg, 0, timeout));
-	}
-
-	template <typename T>
-	bool Rtos2Queue<T>::get(Message * outMsg, uint32_t timeout /* = osWaitForever */)
-	{
-		uint8_t prio;
-		return (osOK == osMessageQueueGet(*handle_, outMsg, &prio, timeout));
-	}
-
-	template <typename T>
-	uint32 Rtos2Queue<T>::available() const
-	{
-		return osMessageQueueGetCount(*handle_);
-	}
-} // namespace sta
-
-
-#endif // STA_RTOS2_QUEUE_TPP

include/sta/rtos2/startup.hpp

@@ -1,57 +0,0 @@
-/**
- * @file
- * @brief Implementation of startup system task.
- */
-#ifndef STA_RTOS2_STARTUP_HPP
-#define STA_RTOS2_STARTUP_HPP
-
-/**
- * @defgroup rtos2Startup Startup task
- * @ingroup rtos2API
- * @brief Startup system task.
- *
- * Check @ref rtos2BuildConfig for configuration options.
- */
-
-
-#ifdef DOXYGEN
-/**
- * @brief Enable module.
- *
- * @ingroup rtos2BuildConfig
- */
-#  define STA_RTOS2_STARTUP_ENABLE
-#endif // DOXYGEN
-
-
-/**
- * @def STA_RTOS2_STARTUP_ENTRY_FUNCTION
- * @brief Set name of startup task entry function.
- *
- * @ingroup rtos2BuildConfig
- */
-#ifndef STA_RTOS2_STARTUP_ENTRY_FUNCTION
-#  define STA_RTOS2_STARTUP_ENTRY_FUNCTION startupTask
-#endif // !STA_RTOS2_STARTUP_ENTRY_FUNCTION
-
-
-#include <sta/config.hpp>
-#ifdef STA_RTOS2_STARTUP_ENABLE
-
-
-namespace sta
-{
-	/**
-	 * @brief Extra initialization run at start of startup task.
-	 *
-	 * May be overridden by application if required.
-	 *
-	 * @ingroup rtos2Startup
-	 */
-	void startupExtras(void * argument);
-} // namespace sta
-
-
-#endif // STA_RTOS2_STARTUP_ENABLE
-
-#endif // STA_RTOS2_STARTUP_HPP

include/sta/rtos2/watchdog.hpp

@@ -1,124 +0,0 @@
-/**
- * @file
- * @brief Implementation of watchdog system task.
- */
-#ifndef STA_RTOS2_WATCHDOG_HPP
-#define STA_RTOS2_WATCHDOG_HPP
-
-/**
- * @defgroup rtos2Watchdog Watchdog task
- * @ingroup rtos2API
- * @brief Watchdog system task.
- *
- * Check @ref rtos2BuildConfig for configuration options.
- */
-
-#ifdef DOXYGEN
-/**
- * @brief Enable module.
- *
- * @ingroup rtos2BuildConfig
- */
-#  define STA_RTOS2_WATCHDOG_ENABLE
-#endif // DOXYGEN
-
-
-/**
- * @def STA_RTOS2_WATCHDOG_TIMER_PERIOD
- * @brief Set period in ticks of heartbeat timer.
- *
- * @ingroup rtos2BuildConfig
- */
-#ifndef STA_RTOS2_WATCHDOG_TIMER_PERIOD
-#  define STA_RTOS2_WATCHDOG_TIMER_PERIOD 1000
-#endif // !STA_RTOS2_WATCHDOG_TIMER_PERIOD
-
-/**
- * @def STA_RTOS2_WATCHDOG_TIMER_HANDLE
- * @brief Set variable name of heartbeat timer handle.
- *
- * @ingroup rtos2BuildConfig
- */
-#ifndef STA_RTOS2_WATCHDOG_TIMER_HANDLE
-#  define STA_RTOS2_WATCHDOG_TIMER_HANDLE heartbeatHandle
-#endif // !STA_RTOS2_WATCHDOG_TIMER_HANDLE
-
-/**
- * @def STA_RTOS2_WATCHDOG_TIMER_CALLBACK
- * @brief Set name of heartbeat timer callback function.
- *
- * @ingroup rtos2BuildConfig
- */
-#ifndef STA_RTOS2_WATCHDOG_TIMER_CALLBACK
-#  define STA_RTOS2_WATCHDOG_TIMER_CALLBACK heartbeatCallback
-#endif // !STA_RTOS2_WATCHDOG_TIMER_CALLBACK
-
-/**
- * @def STA_RTOS2_WATCHDOG_HANDLE
- * @brief Set variable name of watchdog task handle.
- *
- * @ingroup rtos2BuildConfig
- */
-#ifndef STA_RTOS2_WATCHDOG_HANDLE
-#  define STA_RTOS2_WATCHDOG_HANDLE watchdogHandle
-#endif // !STA_RTOS2_WATCHDOG_HANDLE
-
-/**
- * @def STA_RTOS2_WATCHDOG_ENTRY_FUNCTION
- * @brief Set name of watchdog task entry function.
- *
- * @ingroup rtos2BuildConfig
- */
-#ifndef STA_RTOS2_WATCHDOG_ENTRY_FUNCTION
-#  define STA_RTOS2_WATCHDOG_ENTRY_FUNCTION watchdogTask
-#endif // !STA_RTOS2_WATCHDOG_ENTRY_FUNCTION
-
-
-#include <sta/config.hpp>
-#ifdef STA_RTOS2_WATCHDOG_ENABLE
-
-#include <cstdint>
-
-
-// Watchdog task flags
-//
-
-/**
- * @brief Watchdog heartbeat flag.
- *
- * @ingroup rtos2Watchdog
- */
-#define STA_WATCHDOG_FLAG_HEARTBEAT	0x00001000U
-
-
-namespace sta
-{
-	/**
-	 * @brief Start heartbeat timer for watchdog.
-	 *
-	 * @ingroup rtos2Watchdog
-	 */
-	void startWatchdogTimer();
-	/**
-	 * @brief Send notification to watchdog task.
-	 *
-	 * @ingroup rtos2Watchdog
-	 */
-	void notifyWatchdog(uint32_t flags);
-
-
-	/**
-	 * @brief Handler for watchdog events.
-	 *
-	 * Must be implemented by application.
-	 *
-	 * @param arg   Watchdog task argument
-	 * @param flags Event flags
-	 */
-	void watchdogEventHandler(void * arg, uint32_t flags);
-} // namespace sta
-
-
-#endif // STA_RTOS2_WATCHDOG_ENABLE
-
-#endif // STA_RTOS2_WATCHDOG_HPP

library.json

@@ -1,6 +1,6 @@
 {
 	"owner" : "sta",
-    "name": "rtos2",
+    "name": "sta-rtos",
     "version": "0.1.0",
     "dependencies": [
         {

src/rtos/mutex.cpp

@@ -1,18 +1,18 @@
-#include <sta/rtos2/mutex.hpp>
+#include <sta/rtos/mutex.hpp>
 
 
 namespace sta
 {
-	Rtos2Mutex::Rtos2Mutex(osMutexId_t * handle)
+	RTOSMutex::RTOSMutex(osMutexId_t * handle)
 		: handle_{handle}
 	{}
 
-	void Rtos2Mutex::acquire()
+	void RTOSMutex::acquire()
 	{
 		osMutexAcquire(*handle_, osWaitForever);
 	}
 
-	void Rtos2Mutex::release()
+	void RTOSMutex::release()
 	{
 		osMutexRelease(*handle_);
 	}

src/rtos/signal.cpp

@@ -1,28 +1,28 @@
-#include <sta/rtos2/signal.hpp>
+#include <sta/rtos/signal.hpp>
 
 
 namespace sta
 {
-	Rtos2Signal::Rtos2Signal(osSemaphoreId_t * semaphore)
+	RTOSSignal::RTOSSignal(osSemaphoreId_t * semaphore)
 		: semaphore_{semaphore}
 	{}
 
-	void Rtos2Signal::notify()
+	void RTOSSignal::notify()
 	{
 		osSemaphoreRelease(*semaphore_);
 	}
 
-	bool Rtos2Signal::peek()
+	bool RTOSSignal::peek()
 	{
 		return (osSemaphoreGetCount(*semaphore_) != 0);
 	}
 
-	bool Rtos2Signal::test()
+	bool RTOSSignal::test()
 	{
 		return (osSemaphoreAcquire(*semaphore_, 0) == osOK);
 	}
 
-	void Rtos2Signal::wait()
+	void RTOSSignal::wait()
 	{
 		osSemaphoreAcquire(*semaphore_, osWaitForever);
 	}

src/rtos/startup.cpp

@@ -1,9 +1,9 @@
-#include <sta/rtos2/startup.hpp>
+#include <sta/rtos/startup.hpp>
-#ifdef STA_RTOS2_STARTUP_ENABLE
+#ifdef STA_RTOS_STARTUP_ENABLE
 
 #include <sta/lang.hpp>
-#include <sta/rtos2/system_event.hpp>
+#include <sta/rtos/system_event.hpp>
-#include <sta/rtos2/watchdog.hpp>
+#include <sta/rtos/watchdog.hpp>
 #include <sta/stm32/init.hpp>
 
 #include <cmsis_os2.h>
@@ -21,7 +21,7 @@ namespace sta
 // Declare with C linkage
 extern "C"
 {
-	void STA_RTOS2_STARTUP_ENTRY_FUNCTION(void * arg)
+	void STA_RTOS_STARTUP_ENTRY_FUNCTION(void * arg)
 	{
 		// Call further initialization code
 		sta::startupExtras(arg);
@@ -29,10 +29,10 @@ extern "C"
 		// Initialize HAL
 		sta::initHAL();
 
-#ifdef STA_RTOS2_WATCHDOG_ENABLE
+#ifdef STA_RTOS_WATCHDOG_ENABLE
 		// Start timers
 		sta::startWatchdogTimer();
-#endif // STA_RTOS2_WATCHDOG_ENABLE
+#endif // STA_RTOS_WATCHDOG_ENABLE
 
 		// Wake tasks
 		sta::signalStartupEvent();
@@ -43,4 +43,4 @@ extern "C"
 }
 
 
-#endif // STA_RTOS2_STARTUP_ENABLE
+#endif // STA_RTOS_STARTUP_ENABLE

src/rtos/system_event.cpp

@@ -1,24 +1,24 @@
-#include <sta/rtos2/system_event.hpp>
+#include <sta/rtos/system_event.hpp>
 
-#ifdef STA_RTOS2_SYSTEM_EVENT_ENABLE
+#ifdef STA_RTOS_SYSTEM_EVENT_ENABLE
 
 #include <cmsis_os2.h>
 
 
 // Access handle from freertos.c
-extern osEventFlagsId_t STA_RTOS2_SYSTEM_EVENT_HANDLE;
+extern osEventFlagsId_t STA_RTOS_SYSTEM_EVENT_HANDLE;
 
 
 namespace sta
 {
 	void signalSystemEvents(uint32_t flags)
 	{
-		osEventFlagsSet(STA_RTOS2_SYSTEM_EVENT_HANDLE, flags);
+		osEventFlagsSet(STA_RTOS_SYSTEM_EVENT_HANDLE, flags);
 	}
 	
 	void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout)
 	{
-		osEventFlagsWait(STA_RTOS2_SYSTEM_EVENT_HANDLE, flags, options | osFlagsNoClear, timeout);
+		osEventFlagsWait(STA_RTOS_SYSTEM_EVENT_HANDLE, flags, options | osFlagsNoClear, timeout);
 	}
 	
 	
@@ -34,4 +34,4 @@ namespace sta
 } // namespace sta
 
 
-#endif // STA_RTOS2_SYSTEM_EVENT_ENABLE
+#endif // STA_RTOS_SYSTEM_EVENT_ENABLE

src/rtos/watchdog/heartbeat.cpp

@@ -1,19 +1,19 @@
-#include <sta/rtos2/watchdog.hpp>
+#include <sta/rtos/watchdog.hpp>
 
-#ifdef STA_RTOS2_WATCHDOG_ENABLE
+#ifdef STA_RTOS_WATCHDOG_ENABLE
 
 #include <cmsis_os2.h>
 
 
 // Access handles from freertos.c
-extern osTimerId_t STA_RTOS2_WATCHDOG_TIMER_HANDLE;
+extern osTimerId_t STA_RTOS_WATCHDOG_TIMER_HANDLE;
 
 
 namespace sta
 {
 	void startWatchdogTimer()
 	{
-		osTimerStart(STA_RTOS2_WATCHDOG_TIMER_HANDLE, STA_RTOS2_WATCHDOG_TIMER_PERIOD);
+		osTimerStart(STA_RTOS_WATCHDOG_TIMER_HANDLE, STA_RTOS_WATCHDOG_TIMER_PERIOD);
 	}
 } // namespace sta
 
@@ -21,7 +21,7 @@ namespace sta
 // Declare with C linkage
 extern "C"
 {
-	void STA_RTOS2_WATCHDOG_TIMER_CALLBACK(void *)
+	void STA_RTOS_WATCHDOG_TIMER_CALLBACK(void *)
 	{
 		// Notify watchdog task to send heartbeat message
 		// Required because blocking in a timer callback is not allowed
@@ -30,4 +30,4 @@ extern "C"
 }
 
 
-#endif // STA_RTOS2_WATCHDOG_ENABLE
+#endif // STA_RTOS_WATCHDOG_ENABLE

src/rtos/watchdog/watchdog.cpp

@@ -0,0 +1,45 @@
+#include <sta/rtos/watchdog.hpp>
+
+#ifdef STA_RTOS_WATCHDOG_ENABLE
+
+#include <sta/rtos/defs.hpp>
+#include <sta/rtos/system_event.hpp>
+
+#include <main.h>
+
+#include <cmsis_os2.h>
+
+
+// Access handle from freertos.c
+extern osThreadId_t STA_RTOS_WATCHDOG_HANDLE;
+
+
+namespace sta
+{
+	void notifyWatchdog(uint32_t flags)
+	{
+		osThreadFlagsSet(STA_RTOS_WATCHDOG_HANDLE, flags);
+	}
+} // namespace sta
+
+
+// Declare with C linkage
+extern "C"
+{
+	void STA_RTOS_WATCHDOG_ENTRY_FUNCTION(void * arg)
+	{
+		sta::waitForStartupEvent();
+
+		while (true)
+		{
+			// Wait for any flag to be set
+			uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, osWaitForever);
+
+			// Call event handler
+			sta::watchdogEventHandler(arg, flags);
+		}
+	}
+}
+
+
+#endif // STA_RTOS_WATCHDOG_ENABLE

src/rtos2/watchdog/watchdog.cpp

@@ -1,45 +0,0 @@
-#include <sta/rtos2/watchdog.hpp>
-
-#ifdef STA_RTOS2_WATCHDOG_ENABLE
-
-#include <sta/rtos2/defs.hpp>
-#include <sta/rtos2/system_event.hpp>
-
-#include <main.h>
-
-#include <cmsis_os2.h>
-
-
-// Access handle from freertos.c
-extern osThreadId_t STA_RTOS2_WATCHDOG_HANDLE;
-
-
-namespace sta
-{
-	void notifyWatchdog(uint32_t flags)
-	{
-		osThreadFlagsSet(STA_RTOS2_WATCHDOG_HANDLE, flags);
-	}
-} // namespace sta
-
-
-// Declare with C linkage
-extern "C"
-{
-	void STA_RTOS2_WATCHDOG_ENTRY_FUNCTION(void * arg)
-	{
-		sta::waitForStartupEvent();
-
-		while (true)
-		{
-			// Wait for any flag to be set
-			uint32_t flags = osThreadFlagsWait(STA_RTOS2_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, osWaitForever);
-
-			// Call event handler
-			sta::watchdogEventHandler(arg, flags);
-		}
-	}
-}
-
-
-#endif // STA_RTOS2_WATCHDOG_ENABLE