ALPAKA/rtos2-utils
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This commit is contained in:
Henrik Stickann
2022-05-07 00:24:58 +02:00
parent 941de7e064
commit baef731e1a
22 changed files with 335 additions and 335 deletions
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16
include/sta/os2/defs.hpp
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@@ -1,16 +0,0 @@
/**
* @brief Constants and macros for use with CMSIS RTOS2.
*/
#ifndef STA_OS2_DEFS_HPP
#define STA_OS2_DEFS_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_DEFS_HPP

45
include/sta/os2/easy_config.hpp
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@@ -1,45 +0,0 @@
/**
* @brief Helper for easy system task setup in `<sta/config.hpp>`.
*
* Configuration:
* STA_OS2_SYSTEM_TASKS_ENABLE: Enable all system tasks and required features
* STA_OS2_WATCHDOG_TIMER_NAME: Set watchdog timer handle and callback names based on this
* STA_OS2_WATCHDOG_NAME: Set watchdog task handle and entry function names based on this
*/
#ifndef STA_OS2_EASY_CONFIG_HPP
#define STA_OS2_EASY_CONFIG_HPP
#if !defined(STA_CONFIG_HPP) && !defined(STA_OS2_EASY_CONFIG_NO_WARNING)
#warning "Intended for use in <sta/config.hpp>"
#endif // !STA_CONFIG_HPP && !STA_OS2_EASY_CONFIG_NO_WARNING
#ifdef STA_OS2_SYSTEM_TASKS_ENABLE
// Enable system events used by system tasks
# define STA_OS2_SYSTEM_EVENT_ENABLE
// Enable system tasks
# define STA_OS2_WATCHDOG_ENABLE
# define STA_OS2_STARTUP_ENABLE
#endif // STA_OS2_SYSTEM_TASKS_ENABLE
#define _STA_OS2_CONCAT(a, b) a ## b
#define STA_OS2_MAKE_HANDLE_NAME(name) _STA_OS2_CONCAT(name, Handle)
#define STA_OS2_MAKE_CALLBACK_NAME(name) _STA_OS2_CONCAT(name, Callback)
#define STA_OS2_MAKE_TASK_NAME(name) _STA_OS2_CONCAT(name, Task)
// Use common base name for watchdog timer handle and callback
#ifdef STA_OS2_WATCHDOG_TIMER_NAME
# define STA_OS2_WATCHDOG_TIMER_HANDLE STA_OS2_MAKE_HANDLE_NAME(STA_OS2_WATCHDOG_TIMER_NAME)
# define STA_OS2_WATCHDOG_TIMER_CALLBACK STA_OS2_MAKE_CALLBACK_NAME(STA_OS2_WATCHDOG_TIMER_NAME)
#endif // STA_OS2_WATCHDOG_TIMER_NAME
// Use common base name for watchdog task handle and entry function
#ifdef STA_OS2_WATCHDOG_NAME
# define STA_OS2_WATCHDOG_HANDLE STA_OS2_MAKE_HANDLE_NAME(STA_OS2_WATCHDOG_NAME)
# define STA_OS2_WATCHDOG_ENTRY_FUNCTION STA_OS2_MAKE_TASK_NAME(STA_OS2_WATCHDOG_NAME)
#endif // STA_OS2_WATCHDOG_NAME
#endif // STA_OS2_EASY_CONFIG_HPP

28
include/sta/os2/startup.hpp
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@@ -1,28 +0,0 @@
/**
* @brief Implementation of startup system task.
*
* Configuration:
* STA_OS2_STARTUP_ENABLE: Enable module
* STA_OS2_STARTUP_ENTRY_FUNCTION: Override name of startup task entry function (default: startupTask)
*/
#ifndef STA_OS2_STARTUP_HPP
#define STA_OS2_STARTUP_HPP
#include <sta/config.hpp>
#ifdef STA_OS2_STARTUP_ENABLE
namespace sta
{
/**
* @brief Extra initialization run at start of startup task.
*
* May be overridden by application if required.
*/
void startupExtras(void * argument);
} // namespace sta
#endif // STA_OS2_STARTUP_ENABLE
#endif // STA_OS2_STARTUP_HPP

42
include/sta/os2/watchdog.hpp
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@@ -1,42 +0,0 @@
/**
* @brief Implementation of watchdog system task.
*
* Configuration:
* STA_OS2_WATCHDOG_ENABLE: Enable module
* STA_OS2_WATCHDOG_TIMER_PERIOD: Set period in ticks of heartbeat timer (default: 1000)
* STA_OS2_WATCHDOG_TIMER_HANDLE: Override variable name of heartbeat timer handle (default: heartbeatHandle)
* STA_OS2_WATCHDOG_TIMER_CALLBACK: Override name of heartbeat timer callback function (default: heartbeatCallback)
* STA_OS2_WATCHDOG_HANDLE: Override variable name of watchdog task handle (default: watchdogHandle)
* STA_OS2_WATCHDOG_ENTRY_FUNCTION: Override name of watchdog task entry function (default: watchdogTask)
*/
#ifndef STA_OS2_WATCHDOG_HPP
#define STA_OS2_WATCHDOG_HPP
#include <sta/config.hpp>
#ifdef STA_OS2_WATCHDOG_ENABLE
#include <cstdint>
// Watchdog task flags
//
#define STA_WATCHDOG_FLAG_HEARTBEAT 0x00001000U
namespace sta
{
/**
* @brief Start heartbeat timer for watchdog.
*/
void startWatchdogTimer();
/**
* @brief Send notification to watchdog task.
*/
void notifyWatchdog(uint32_t flags);
} // namespace sta
#endif // STA_OS2_WATCHDOG_ENABLE
#endif // STA_OS2_WATCHDOG_HPP

16
include/sta/rtos2/defs.hpp Normal file
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@@ -0,0 +1,16 @@
/**
* @brief Constants and macros for use with CMSIS RTOS2.
*/
#ifndef STA_RTOS2_DEFS_HPP
#define STA_RTOS2_DEFS_HPP
// See limits defined in cmsis_os2.c
#define STA_RTOS2_MAX_BITS_TASK_NOTIFY 31U
#define STA_RTOS2_MAX_BITS_EVENT_GROUPS 24U
#define STA_RTOS2_THREAD_FLAGS_VALID_BITS ((1UL << STA_RTOS2_MAX_BITS_TASK_NOTIFY) - 1U)
#define STA_RTOS2_EVENT_FLAGS_VALID_BITS ((1UL << STA_RTOS2_MAX_BITS_EVENT_GROUPS) - 1U)
#endif // STA_RTOS2_DEFS_HPP

45
include/sta/rtos2/easy_config.hpp Normal file
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@@ -0,0 +1,45 @@
/**
* @brief Helper for easy system task setup in `<sta/config.hpp>`.
*
* Configuration:
* STA_OS2_SYSTEM_TASKS_ENABLE: Enable all system tasks and required features
* STA_OS2_WATCHDOG_TIMER_NAME: Set watchdog timer handle and callback names based on this
* STA_OS2_WATCHDOG_NAME: Set watchdog task handle and entry function names based on this
*/
#ifndef STA_RTOS2_EASY_CONFIG_HPP
#define STA_RTOS2_EASY_CONFIG_HPP
#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 STA_RTOS2_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_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)
// Use common base name for watchdog timer handle and callback
#ifdef STA_RTOS2_WATCHDOG_TIMER_NAME
# define STA_RTOS2_WATCHDOG_TIMER_HANDLE STA_RTOS2_MAKE_HANDLE_NAME(STA_RTOS2_WATCHDOG_TIMER_NAME)
# define STA_RTOS2_WATCHDOG_TIMER_CALLBACK STA_RTOS2_MAKE_CALLBACK_NAME(STA_RTOS2_WATCHDOG_TIMER_NAME)
#endif // STA_RTOS2_WATCHDOG_TIMER_NAME
// Use common base name for watchdog task handle and entry function
#ifdef STA_RTOS2_WATCHDOG_NAME
# define STA_RTOS2_WATCHDOG_HANDLE STA_RTOS2_MAKE_HANDLE_NAME(STA_RTOS2_WATCHDOG_NAME)
# define STA_RTOS2_WATCHDOG_ENTRY_FUNCTION STA_RTOS2_MAKE_TASK_NAME(STA_RTOS2_WATCHDOG_NAME)
#endif // STA_RTOS2_WATCHDOG_NAME
#endif // STA_RTOS2_EASY_CONFIG_HPP

8
include/sta/os2/mutex.hpp → include/sta/rtos2/mutex.hpp
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@@ -1,8 +1,8 @@
/**
* @brief CMSIS RTOS2 mutex implementation.
*/
#ifndef STA_OS2_MUTEX_HPP
#define STA_OS2_MUTEX_HPP
#ifndef STA_RTOS2_MUTEX_HPP
#define STA_RTOS2_MUTEX_HPP
#include <sta/intf/mutex.hpp>
@@ -14,13 +14,13 @@ namespace sta
/**
* @brief Implementation of `Mutex` interface using CMSIS RTOS2.
*/
class Os2Mutex : public Mutex
class Rtos2Mutex : public Mutex
{
public:
/**
* @param handle CMSIS RTOS2 mutex
*/
Os2Mutex(osMutexId_t * handle);
Rtos2Mutex(osMutexId_t * handle);
void acquire() override;
void release() override;

18
include/sta/os2/queue.hpp → include/sta/rtos2/queue.hpp
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@@ -1,8 +1,8 @@
/**
* @brief CMSIS RTOS2 queue implementation.
*/
#ifndef STA_OS2_QUEUE_HPP
#define STA_OS2_QUEUE_HPP
#ifndef STA_RTOS2_QUEUE_HPP
#define STA_RTOS2_QUEUE_HPP
#include <sta/assert.hpp>
@@ -12,12 +12,12 @@
namespace sta
{
template <typename T>
class Os2Queue
class Rtos2Queue
{
public:
using Message = T;
public:
Os2Queue(osMessageQueueId_t * handle);
Rtos2Queue(osMessageQueueId_t * handle);
bool put(const Message & msg, uint32_t timeout = osWaitForever);
bool get(Message * outMsg, uint32_t timeout = osWaitForever);
@@ -33,31 +33,31 @@ namespace sta
namespace sta
{
template <typename T>
Os2Queue<T>::Os2Queue(osMessageQueueId_t * handle)
Rtos2Queue<T>::Rtos2Queue(osMessageQueueId_t * handle)
: handle_{handle}
{
STA_ASSERT(handle != nullptr);
}
template <typename T>
bool Os2Queue<T>::put(const Message & msg, uint32_t timeout /* = osWaitForever */)
bool Rtos2Queue<T>::put(const Message & msg, uint32_t timeout /* = osWaitForever */)
{
return (osOK == osMessageQueuePut(*handle_, &msg, 0, timeout));
}
template <typename T>
bool Os2Queue<T>::get(Message * outMsg, uint32_t timeout /* = osWaitForever */)
bool Rtos2Queue<T>::get(Message * outMsg, uint32_t timeout /* = osWaitForever */)
{
uint8_t prio;
return (osOK == osMessageQueueGet(*handle_, outMsg, &prio, timeout));
}
template <typename T>
uint32 Os2Queue<T>::available() const
uint32 Rtos2Queue<T>::available() const
{
return osMessageQueueGetCount(*handle_);
}
} // namespace sta
#endif // STA_OS2_QUEUE_HPP
#endif // STA_RTOS2_QUEUE_HPP

10
include/sta/os2/signal.hpp → include/sta/rtos2/signal.hpp
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@@ -1,8 +1,8 @@
/**
* @brief CMSIS RTOS2 signal implementation.
*/
#ifndef STA_OS2_SIGNAL_HPP
#define STA_OS2_SIGNAL_HPP
#ifndef STA_RTOS2_SIGNAL_HPP
#define STA_RTOS2_SIGNAL_HPP
#include <sta/intf/signal.hpp>
@@ -14,13 +14,13 @@ namespace sta
/**
* @brief Implementation of `Signal` interface using CMSIS RTOS2.
*/
class Os2Signal : public Signal
class Rtos2Signal : public Signal
{
public:
/**
* @param semaphore CMSIS RTOS2 semaphore
*/
Os2Signal(osSemaphoreId_t * semaphore);
Rtos2Signal(osSemaphoreId_t * semaphore);
void notify() override;
bool peek() override;
@@ -33,4 +33,4 @@ namespace sta
} // namespace sta
#endif // STA_OS2_SIGNAL_HPP
#endif // STA_RTOS2_SIGNAL_HPP

28
include/sta/rtos2/startup.hpp Normal file
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@@ -0,0 +1,28 @@
/**
* @brief Implementation of startup system task.
*
* Configuration:
* STA_RTOS2_STARTUP_ENABLE: Enable module
* STA_RTOS2_STARTUP_ENTRY_FUNCTION: Override name of startup task entry function (default: startupTask)
*/
#ifndef STA_RTOS2_STARTUP_HPP
#define STA_RTOS2_STARTUP_HPP
#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.
*/
void startupExtras(void * argument);
} // namespace sta
#endif // STA_RTOS2_STARTUP_ENABLE
#endif // STA_RTOS2_STARTUP_HPP

10
include/sta/os2/system_event.hpp → include/sta/rtos2/system_event.hpp
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@@ -2,14 +2,14 @@
* @brief Implementation of system events.
*
* Configuration:
* STA_OS2_SYSTEM_EVENT_ENABLE: Enable module
* STA_OS2_SYSTEM_EVENT_HANDLE: Override variable name of flag handle (default: systemEventHandle)
* STA_RTOS2_SYSTEM_EVENT_ENABLE: Enable module
* STA_RTOS2_SYSTEM_EVENT_HANDLE: Override variable name of flag handle (default: systemEventHandle)
*/
#ifndef STA_OS2_SYSTEM_EVENT_HPP
#define STA_OS2_SYSTEM_EVENT_HPP
#include <sta/config.hpp>
#ifdef STA_OS2_SYSTEM_EVENT_ENABLE
#ifdef STA_RTOS2_SYSTEM_EVENT_ENABLE
#include <cstdint>
@@ -53,6 +53,6 @@ namespace sta
} // namespace sta
#endif // STA_OS2_SYSTEM_EVENT_ENABLE
#endif // STA_RTOS2_SYSTEM_EVENT_ENABLE
#endif // STA_OS2_SYSTEM_EVENT_HPP
#endif // STA_RTOS2_SYSTEM_EVENT_HPP

42
include/sta/rtos2/watchdog.hpp Normal file
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@@ -0,0 +1,42 @@
/**
* @brief Implementation of watchdog system task.
*
* Configuration:
* STA_RTOS2_WATCHDOG_ENABLE: Enable module
* STA_RTOS2_WATCHDOG_TIMER_PERIOD: Set period in ticks of heartbeat timer (default: 1000)
* STA_RTOS2_WATCHDOG_TIMER_HANDLE: Override variable name of heartbeat timer handle (default: heartbeatHandle)
* STA_RTOS2_WATCHDOG_TIMER_CALLBACK: Override name of heartbeat timer callback function (default: heartbeatCallback)
* STA_RTOS2_WATCHDOG_HANDLE: Override variable name of watchdog task handle (default: watchdogHandle)
* STA_RTOS2_WATCHDOG_ENTRY_FUNCTION: Override name of watchdog task entry function (default: watchdogTask)
*/
#ifndef STA_RTOS2_WATCHDOG_HPP
#define STA_RTOS2_WATCHDOG_HPP
#include <sta/config.hpp>
#ifdef STA_RTOS2_WATCHDOG_ENABLE
#include <cstdint>
// Watchdog task flags
//
#define STA_WATCHDOG_FLAG_HEARTBEAT 0x00001000U
namespace sta
{
/**
* @brief Start heartbeat timer for watchdog.
*/
void startWatchdogTimer();
/**
* @brief Send notification to watchdog task.
*/
void notifyWatchdog(uint32_t flags);
} // namespace sta
#endif // STA_RTOS2_WATCHDOG_ENABLE
#endif // STA_RTOS2_WATCHDOG_HPP