ALPAKA/rtos2-utils
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Add rtos namespace

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This commit is contained in:
Henrik Stickann 2022-05-24 14:37:00 +02:00
parent 9c4f2d1927
commit cf30f8f793
7 changed files with 121 additions and 100 deletions
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19
include/sta/rtos/system/startup.hpp
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@ -54,14 +54,17 @@
namespace sta
{
/**
* @brief Extra initialization run at start of startup task.
*
* May be overridden by application if required.
*
* @ingroup STA_RTOS_Startup
*/
void startupExtras(void * argument);
namespace rtos
{
/**
* @brief Extra initialization run at start of startup task.
*
* May be overridden by application if required.
*
* @ingroup STA_RTOS_Startup
*/
void startupExtras(void * argument);
} // namespace rtos
} // namespace sta

71
include/sta/rtos/system/system_event.hpp
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@ -56,42 +56,45 @@
namespace sta
{
/**
* @brief Signal system events.
*
* @param flags System event flags
*
* @ingroup STA_RTOS_SysEvent
*/
void signalSystemEvents(uint32_t flags);
namespace rtos
{
/**
* @brief Signal system events.
*
* @param flags System event flags
*
* @ingroup STA_RTOS_SysEvent
*/
void signalSystemEvents(uint32_t flags);
/**
* @brief Wait for system events.
*
* @param flags System event flags
* @param options osFlagsWaitAll or osFlagsWaitAny (osFlagsNoClear always set)
* @param timeout Wait timeout (0 = instant, osWaitForever = infinite)
*
* @ingroup STA_RTOS_SysEvent
*/
void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout);
/**
* @brief Wait for system events.
*
* @param flags System event flags
* @param options osFlagsWaitAll or osFlagsWaitAny (osFlagsNoClear always set)
* @param timeout Wait timeout (0 = instant, osWaitForever = infinite)
*
* @ingroup STA_RTOS_SysEvent
*/
void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout);
/**
* @brief Signal startup system event.
*
* @ingroup STA_RTOS_SysEvent
*/
void signalStartupEvent();
/**
* @brief Signal startup system event.
*
* @ingroup STA_RTOS_SysEvent
*/
void signalStartupEvent();
/**
* @brief Wait for startup system event.
*
* Blocking while waiting
*
* @ingroup STA_RTOS_SysEvent
*/
void waitForStartupEvent();
/**
* @brief Wait for startup system event.
*
* Blocking while waiting
*
* @ingroup STA_RTOS_SysEvent
*/
void waitForStartupEvent();
} // namespace rtos
} // namespace sta

49
include/sta/rtos/system/watchdog.hpp
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@ -108,31 +108,34 @@
namespace sta
{
/**
* @brief Start heartbeat timer for watchdog.
*
* @ingroup STA_RTOS_Watchdog
*/
void startWatchdogTimer();
/**
* @brief Send notification to watchdog task.
*
* @ingroup STA_RTOS_Watchdog
*/
void notifyWatchdog(uint32_t flags);
namespace rtos
{
/**
* @brief Start heartbeat timer for watchdog.
*
* @ingroup STA_RTOS_Watchdog
*/
void startWatchdogTimer();
/**
* @brief Send notification to watchdog task.
*
* @ingroup STA_RTOS_Watchdog
*/
void notifyWatchdog(uint32_t flags);
/**
* @brief Handler for watchdog events.
*
* Must be implemented by application.
*
* @param arg Watchdog task argument
* @param flags Event flags
*
* @ingroup STA_RTOS_Watchdog
*/
void watchdogEventHandler(void * arg, uint32_t flags);
/**
* @brief Handler for watchdog events.
*
* Must be implemented by application.
*
* @param arg Watchdog task argument
* @param flags Event flags
*
* @ingroup STA_RTOS_Watchdog
*/
void watchdogEventHandler(void * arg, uint32_t flags);
} // namespace rtos
} // namespace sta

21
src/system/startup.cpp
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@ -11,10 +11,13 @@
namespace sta
{
// Provide weak implementation to allow overriding
STA_WEAK
void startupExtras(void *)
{}
namespace rtos
{
// Provide weak implementation to allow overriding
STA_WEAK
void startupExtras(void *)
{}
} // namespace rtos
} // namespace sta
@ -24,20 +27,20 @@ extern "C"
void STA_RTOS_STARTUP_ENTRY_FUNCTION(void * arg)
{
// Call further initialization code
sta::startupExtras(arg);
sta::rtos::startupExtras(arg);
// Initialize HAL
sta::initHAL();
#ifdef STA_RTOS_WATCHDOG_ENABLE
// Start timers
sta::startWatchdogTimer();
sta::rtos::startWatchdogTimer();
#endif // STA_RTOS_WATCHDOG_ENABLE
// Wake tasks
sta::signalStartupEvent();
// Wake threads
sta::rtos::signalStartupEvent();
// Terminate task
// Terminate thread
osThreadExit();
}
}

39
src/system/system_event.cpp
View File

@ -14,26 +14,29 @@ extern osEventFlagsId_t STA_RTOS_SYSTEM_EVENT_HANDLE;
namespace sta
{
void signalSystemEvents(uint32_t flags)
namespace rtos
{
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 signalSystemEvents(uint32_t flags)
{
osEventFlagsSet(STA_RTOS_SYSTEM_EVENT_HANDLE, flags);
}
void waitForStartupEvent()
{
waitForSystemEvents(STA_SYSTEM_EVENT_STARTUP, osFlagsWaitAll, osWaitForever);
}
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 rtos
} // namespace sta

9
src/system/watchdog/heartbeat.cpp
View File

@ -7,10 +7,13 @@
namespace sta
{
void startWatchdogTimer()
namespace rtos
{
osTimerStart(WATCHDOG_TIMER_HANDLE, STA_RTOS_WATCHDOG_TIMER_PERIOD);
}
void startWatchdogTimer()
{
osTimerStart(WATCHDOG_TIMER_HANDLE, STA_RTOS_WATCHDOG_TIMER_PERIOD);
}
} // namespace rtos
} // namespace sta

13
src/system/watchdog/watchdog.cpp
View File

@ -11,10 +11,13 @@
namespace sta
{
void notifyWatchdog(uint32_t flags)
namespace rtos
{
osThreadFlagsSet(WATCHDOG_TASK_HANDLE, flags);
}
void notifyWatchdog(uint32_t flags)
{
osThreadFlagsSet(WATCHDOG_TASK_HANDLE, flags);
}
} // namespace rtos
} // namespace sta
@ -23,7 +26,7 @@ extern "C"
{
void STA_RTOS_WATCHDOG_ENTRY_FUNCTION(void * arg)
{
sta::waitForStartupEvent();
sta::rtos::waitForStartupEvent();
while (true)
{
@ -31,7 +34,7 @@ extern "C"
uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, osWaitForever);
// Call event handler
sta::watchdogEventHandler(arg, flags);
sta::rtos::watchdogEventHandler(arg, flags);
}
}
}