Add startup and watchdog modules

README.md

@@ -2,10 +2,39 @@
 
 Library using cmsis_os2.h functionality for RTOS projects.
 
+Modules are enabled via defines set in `sta/config.hpp` provided by the application.
 
 
 ## System events
 
-Enable via `STA_SYSTEM_EVENT_ENABLE` defined in `sta/config.hpp`.
+Enable: `STA_SYSTEM_EVENT_ENABLE`
 
-Requires setup of a `systemEvent` EventFlag in the project.
+Requirements:
+* EventFlag: `systemEvent`
+
+
+## Watchdog
+
+Watchdog task gets woken periodically (every `STA_WATCHDOG_TIMER_PERIOD` ticks) or via `sta::nofityWatchdog(uint32_t)` calls
+and calls `sta::watchdogEventHandler(void *, uint32_t)`. Applications *must* implement `sta::watchdogEventHandler(void *, uint32_t)`.
+
+
+Enable: `STA_WATCHDOG_ENABLE`
+
+Requirements:
+* Task: `watchdog`
+* Timer: `heartbeat`
+
+Configuration:
+* Heartbeat timer period: `STA_WATCHDOG_TIMER_PERIOD` (defaults to `1000`).
+
+
+## Startup task
+
+Startup task calls `sta::startupTaskExtras(void *)`, starts the watchdog timer if enabled and terminates the thread.
+`sta::startupTaskExtras(void *)` may be overridden by the application.
+
+Enable: `STA_STARTUP_TASK_ENABLE`
+
+Requirements:
+* Task: `startupTask` (alternative: call manually in freertos.c default task)

include/sta/os2.hpp

@@ -0,0 +1,13 @@
+#ifndef STA_OS2_HPP
+#define STA_OS2_HPP
+
+
+// See limits defined in cmsis_os2.c
+#define STA_OS2_MAX_BITS_TASK_NOTIFY	31U
+#define STA_OS2_MAX_BITS_EVENT_GROUPS	24U
+
+#define STA_OS2_THREAD_FLAGS_VALID_BITS ((1UL << STA_OS2_MAX_BITS_TASK_NOTIFY) - 1U)
+#define STA_OS2_EVENT_FLAGS_VALID_BITS	((1UL << STA_OS2_MAX_BITS_EVENT_GROUPS) - 1U)
+
+
+#endif // STA_OS2_HPP

include/sta/system_event.hpp

@@ -11,7 +11,7 @@
 // System event flags
 //
 
-#define STA_SYSTEM_EVENT_STARTUP 0x00100000U
+#define STA_SYSTEM_EVENT_STARTUP 0x100000U
 
 
 namespace sta
@@ -32,6 +32,7 @@ namespace sta
 	 */
 	void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout);
 	
+
 	/**
 	 * @brief Signal startup system event
 	 */
@@ -48,4 +49,4 @@ namespace sta
 
 #endif // STA_SYSTEM_EVENT_ENABLE
 
-#endif // STA_SYSTEM_EVENT_HPP
+#endif // STA_SYSTEM_EVENT_HPP

include/sta/watchdog.hpp

@@ -0,0 +1,26 @@
+#ifndef STA_WATCHDOG_HPP
+#define STA_WATCHDOG_HPP
+
+#include <sta/config.hpp>
+
+#ifdef STA_WATCHDOG_ENABLE
+
+#include <stdint.h>
+
+
+// Watchdog task flags
+//
+
+#define STA_WATCHDOG_FLAG_HEARTBEAT	0x00001000U
+
+
+namespace sta
+{
+	void startWatchdogTimer();
+	void notifyWatchdog(uint32_t flags);
+} // namespace sta
+
+
+#endif // STA_WATCHDOG_ENABLE
+
+#endif // STA_WATCHDOG_HPP

src/startup.cpp

@@ -0,0 +1,44 @@
+#include <sta/config.hpp>
+
+#ifdef STA_STARTUP_TASK_ENABLE
+
+#include <sta/lang.hpp>
+#include <sta/system_event.hpp>
+#include <sta/watchdog.hpp>
+
+#include <main.h>
+
+#include <cmsis_os2.h>
+
+
+namespace sta
+{
+	// Weak noop to be overridden by application if required
+	STA_WEAK void startupTaskExtras(void *) {}
+} // namespace sta
+
+
+// Declare with C linkage
+extern "C"
+{
+	void startupTask(void * arg)
+	{
+		// Call further initialization code
+		sta::startupTaskExtras(arg);
+
+
+#ifdef STA_WATCHDOG_ENABLE
+		// Start timers
+		sta::startWatchdogTimer();
+#endif
+
+		// Wake tasks
+		sta::signalStartupEvent();
+
+		// Terminate task
+		osThreadExit();
+	}
+}
+
+
+#endif // STA_STARTUP_TASK_ENABLE

src/system_event.cpp

@@ -5,6 +5,7 @@
 #include <cmsis_os2.h>
 
 
+// Access handles from freertos.c
 extern osEventFlagsId_t systemEventHandle;
 
 
@@ -34,4 +35,4 @@ namespace sta
 } // namespace sta
 
 
-#endif // STA_SYSTEM_EVENT_ENABLE
+#endif // STA_SYSTEM_EVENT_ENABLE

src/watchdog/heartbeat.cpp

@@ -0,0 +1,38 @@
+#include <sta/watchdog.hpp>
+
+#ifdef STA_WATCHDOG_ENABLE
+
+#include <cmsis_os2.h>
+
+
+#ifndef STA_WATCHDOG_TIMER_PERIOD
+#  define STA_WATCHDOG_TIMER_PERIOD 1000
+#endif // STA_WATCHDOG_TIMER_PERIOD
+
+
+// Access handles from freertos.c
+extern osTimerId_t heartbeatHandle;
+
+
+namespace sta
+{
+	void startWatchdogTimer()
+	{
+		osTimerStart(heartbeatHandle, STA_WATCHDOG_TIMER_PERIOD);
+	}
+} // namespace sta
+
+
+// Declare with C linkage
+extern "C"
+{
+	void heartbeatCallback(void *)
+	{
+		// Notify watchdog task to send heartbeat message
+		// Required because blocking in a timer callback is not allowed
+		sta::notifyWatchdog(STA_WATCHDOG_FLAG_HEARTBEAT);
+	}
+}
+
+
+#endif // STA_WATCHDOG_ENABLE

src/watchdog/watchdog.cpp

@@ -0,0 +1,50 @@
+#include <sta/watchdog.hpp>
+
+#ifdef STA_WATCHDOG_ENABLE
+
+#include <sta/lang.hpp>
+#include <sta/os2.hpp>
+#include <sta/system_event.hpp>
+
+#include <main.h>
+
+#include <cmsis_os2.h>
+
+
+// Access handles from freertos.c
+extern osThreadId_t watchdogHandle;
+
+
+namespace sta
+{
+	void notifyWatchdog(uint32_t flags)
+	{
+		osThreadFlagsSet(watchdogHandle, flags);
+	}
+
+
+	// Handler for watchdog events
+	extern void watchdogEventHandler(void * arg, uint32_t flags);
+} // namespace sta
+
+
+// Declare with C linkage
+extern "C"
+{
+	STA_WEAK void watchdogTask(void * arg)
+	{
+		sta::waitForStartupEvent();
+
+		while (true)
+		{
+			// Wait for any flag to be set
+			uint32_t flags = osThreadFlagsWait(STA_OS2_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, osWaitForever);
+
+			// Call event handler
+			sta::watchdogEventHandler(arg, flags);
+		}
+	}
+}
+
+
+#endif // STA_WATCHDOG_ENABLE