Add startup and watchdog modules

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