Reduce directory depth

src/system/startup.cpp

@@ -0,0 +1,46 @@
+#include <sta/rtos/system/startup.hpp>
+#ifdef STA_RTOS_STARTUP_ENABLE
+
+#include <sta/lang.hpp>
+#include <sta/rtos/system/system_event.hpp>
+#include <sta/rtos/system/watchdog.hpp>
+#include <sta/stm32/init.hpp>
+
+#include <cmsis_os2.h>
+
+
+namespace sta
+{
+	// Provide weak implementation to allow overriding
+	STA_WEAK
+	void startupExtras(void *)
+	{}
+} // namespace sta
+
+
+// Declare with C linkage
+extern "C"
+{
+	void STA_RTOS_STARTUP_ENTRY_FUNCTION(void * arg)
+	{
+		// Call further initialization code
+		sta::startupExtras(arg);
+
+		// Initialize HAL
+		sta::initHAL();
+
+#ifdef STA_RTOS_WATCHDOG_ENABLE
+		// Start timers
+		sta::startWatchdogTimer();
+#endif // STA_RTOS_WATCHDOG_ENABLE
+
+		// Wake tasks
+		sta::signalStartupEvent();
+
+		// Terminate task
+		osThreadExit();
+	}
+}
+
+
+#endif // STA_RTOS_STARTUP_ENABLE

src/system/system_event.cpp

@@ -0,0 +1,40 @@
+#include <sta/rtos/system/system_event.hpp>
+
+#ifdef STA_RTOS_SYSTEM_EVENT_ENABLE
+
+#include <cmsis_os2.h>
+
+
+#define STA_RTOS_SYSTEM_EVENT_HANDLE STA_RTOS_MAKE_HANDLE_NAME(STA_RTOS_SYSTEM_EVENT_NAME)
+
+
+// Access handle from freertos.c
+extern osEventFlagsId_t STA_RTOS_SYSTEM_EVENT_HANDLE;
+
+
+namespace sta
+{
+	void signalSystemEvents(uint32_t flags)
+	{
+		osEventFlagsSet(STA_RTOS_SYSTEM_EVENT_HANDLE, flags);
+	}
+	
+	void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout)
+	{
+		osEventFlagsWait(STA_RTOS_SYSTEM_EVENT_HANDLE, flags, options | osFlagsNoClear, timeout);
+	}
+	
+	
+	void signalStartupEvent()
+	{
+		signalSystemEvents(STA_SYSTEM_EVENT_STARTUP);
+	}
+
+	void waitForStartupEvent()
+	{
+		waitForSystemEvents(STA_SYSTEM_EVENT_STARTUP, osFlagsWaitAll, osWaitForever);
+	}
+} // namespace sta
+
+
+#endif // STA_RTOS_SYSTEM_EVENT_ENABLE

src/system/watchdog/handles.hpp

@@ -0,0 +1,18 @@
+#ifndef STA_RTOS_SYSTEM_WATCHDOG_HANDLES_HPP
+#define STA_RTOS_SYSTEM_WATCHDOG_HANDLES_HPP
+
+#include <sta/rtos/system/watchdog.hpp>
+
+#include <cmsis_os2.h>
+
+
+#define WATCHDOG_TASK_HANDLE    STA_RTOS_MAKE_HANDLE_NAME(STA_RTOS_WATCHDOG_TASK_NAME)
+#define WATCHDOG_TIMER_HANDLE   STA_RTOS_MAKE_HANDLE_NAME(STA_RTOS_WATCHDOG_TIMER_NAME)
+
+
+// Access handles from freertos.c
+extern osThreadId_t WATCHDOG_TASK_HANDLE;
+extern osTimerId_t  WATCHDOG_TIMER_HANDLE;
+
+
+#endif // STA_RTOS_SYSTEM_WATCHDOG_HANDLES_HPP

src/system/watchdog/heartbeat.cpp

@@ -0,0 +1,29 @@
+#include <sta/rtos/system/watchdog.hpp>
+
+#ifdef STA_RTOS_WATCHDOG_ENABLE
+
+#include "handles.hpp"
+
+
+namespace sta
+{
+	void startWatchdogTimer()
+	{
+		osTimerStart(WATCHDOG_TIMER_HANDLE, STA_RTOS_WATCHDOG_TIMER_PERIOD);
+	}
+} // namespace sta
+
+
+// Declare with C linkage
+extern "C"
+{
+	void STA_RTOS_WATCHDOG_TIMER_CALLBACK(void *)
+	{
+		// Notify watchdog task to send heartbeat message
+		// Required because blocking in a timer callback is not allowed
+		osThreadFlagsSet(WATCHDOG_TASK_HANDLE, STA_WATCHDOG_FLAG_HEARTBEAT);
+	}
+}
+
+
+#endif // STA_RTOS_WATCHDOG_ENABLE

src/system/watchdog/watchdog.cpp

@@ -0,0 +1,40 @@
+#include <sta/rtos/system/watchdog.hpp>
+
+#ifdef STA_RTOS_WATCHDOG_ENABLE
+
+#include <sta/rtos/defs.hpp>
+#include <sta/rtos/system/system_event.hpp>
+
+
+#include "handles.hpp"
+
+
+namespace sta
+{
+	void notifyWatchdog(uint32_t flags)
+	{
+		osThreadFlagsSet(WATCHDOG_TASK_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