ALPAKA/rtos2-utils
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Simplify startup API

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This commit is contained in:
Henrik Stickann 2023-01-21 22:34:26 +01:00
parent cccf24ae59
commit aeb472fd03
2 changed files with 38 additions and 61 deletions
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39
include/sta/rtos/system/startup.hpp
View File

@ -5,8 +5,6 @@
#ifndef STA_RTOS_SYSTEM_STARTUP_HPP #ifndef STA_RTOS_SYSTEM_STARTUP_HPP
#define STA_RTOS_SYSTEM_STARTUP_HPP #define STA_RTOS_SYSTEM_STARTUP_HPP
#include <sta/rtos/system/names.hpp>
/** /**
* @defgroup STA_RTOS_Startup Startup task * @defgroup STA_RTOS_Startup Startup task
@ -17,41 +15,6 @@
*/ */
#ifdef DOXYGEN
/**
* @brief Enable module.
*
* @ingroup STA_RTOS_BuildConfig
*/
# define STA_RTOS_STARTUP_ENABLE
#endif // DOXYGEN
/**
* @def STA_RTOS_STARTUP_TASK_NAME
* @brief Set name of startup task.
*
* @ingroup STA_RTOS_BuildConfig
*/
#ifndef STA_RTOS_STARTUP_TASK_NAME
# define STA_RTOS_STARTUP_TASK_NAME startup
#endif // !STA_RTOS_STARTUP_TASK_NAME
/**
* @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 STA_RTOS_MAKE_ENTRY_NAME(STA_RTOS_STARTUP_TASK_NAME)
#endif // !STA_RTOS_STARTUP_ENTRY_FUNCTION
#include <sta/config.hpp>
#ifdef STA_RTOS_STARTUP_ENABLE
namespace sta namespace sta
{ {
namespace rtos namespace rtos
@ -68,6 +31,4 @@ namespace sta
} // namespace sta } // namespace sta
#endif // STA_RTOS_STARTUP_ENABLE
#endif // STA_RTOS_SYSTEM_STARTUP_HPP #endif // STA_RTOS_SYSTEM_STARTUP_HPP

60
src/system/startup.cpp
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@ -1,7 +1,10 @@
#include <sta/rtos/system/startup.hpp> #include <sta/rtos/system/startup.hpp>
#ifdef STA_RTOS_STARTUP_ENABLE
#include <sta/rtos/c_api/startup.h>
#include <sta/assert.hpp>
#include <sta/lang.hpp> #include <sta/lang.hpp>
#include <sta/rtos/system/can_bus.hpp>
#include <sta/rtos/system/system_event.hpp> #include <sta/rtos/system/system_event.hpp>
#include <sta/rtos/system/watchdog.hpp> #include <sta/rtos/system/watchdog.hpp>
#include <sta/stm32/init.hpp> #include <sta/stm32/init.hpp>
@ -17,33 +20,46 @@ namespace sta
STA_WEAK STA_WEAK
void startupExtras(void *) void startupExtras(void *)
{} {}
void initSystem()
{
#ifdef STA_RTOS_SYSTEM_EVENTS_ENABLE
initSystemEvents();
#endif // STA_RTOS_SYSTEM_EVENTS_ENABLE
#ifdef STA_RTOS_WATCHDOG_ENABLE
initWatchdog();
#endif // STA_RTOS_WATCHDOG_ENABLE
#ifdef STA_RTOS_CAN_BUS_ENABLE
initCanBus();
#endif // STA_RTOS_CAN_BUS_ENABLE
}
} // namespace rtos } // namespace rtos
} // namespace sta } // namespace sta
// Declare with C linkage void startALPAKA(void * arg)
extern "C"
{ {
void STA_RTOS_STARTUP_ENTRY_FUNCTION(void * arg) STA_ASSERT_MSG(osKernelGetState() != osKernelInactive, "Cannot call startALPAKA() before osKernelInitialize()");
// Call further initialization code
sta::rtos::startupExtras(arg);
// Initialize HAL
sta::initHAL();
// Initialize RTOS system resources
sta::rtos::initSystem();
// Wake threads
sta::rtos::signalStartupEvent();
// Check if called from thread
if (osThreadGetId() != nullptr)
{ {
// Call further initialization code // Terminate current thread
sta::rtos::startupExtras(arg);
// Initialize HAL
sta::initHAL();
#ifdef STA_RTOS_WATCHDOG_ENABLE
// Start timers
sta::rtos::startWatchdogTimer();
#endif // STA_RTOS_WATCHDOG_ENABLE
// Wake threads
sta::rtos::signalStartupEvent();
// Terminate thread
osThreadExit(); osThreadExit();
} }
} }
#endif // STA_RTOS_STARTUP_ENABLE