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63 lines
2.3 KiB
Markdown
63 lines
2.3 KiB
Markdown
# STA RTOS Utilities
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Library providing the software stack for use with the ALPAKA hardware design for RTOS projects.
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Modules can be configured via defines set in `<sta/config.hpp>` header file which must be provided by the application.
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# ALPAKA Modules
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The startup of all features that need to be initialized before the RTOS is started is implemented in the `startTACOS()` function offered by [TACOS](https://git.intern.spaceteamaachen.de/ALPAKA/TACOS). Alternatively the following code can be used to start the system:
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```cpp
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sta::rtos::initSystemEvents();
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HAL_TIM_Base_Start(&STA_STM32_DELAY_US_TIM);
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sta::rtos::signalStartupEvent();
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```
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## Can Bus
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Mainly defers to the TACOS CAN module, but provides a simple interface for sending and receiving messages.
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Expandable for isotp.
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# STA-Core Interfaces
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The library provides implementations for the following interfaces using CMSIS-RTOS2 functionality:
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* `Mutex`
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* `Signal`
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# Wrapped CMSIS-RTOS2 Functions
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Many CMSIS-RTOS2 functions are wrapped in classes to provide a more object-oriented interface. Previously mentioned interfaces will not be repeated here. Detailed information can be found in the `.hpp` files or the doxygen documentation.
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## Event Flags
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Event flags are a very useful tool for inter-task synchronization.
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## Memory Pool
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Fixed-size memory pools are used to allocate memory for objects of the same size. Unprotected against incorrect pointer usage. Shared memory is recommended to be used instead.
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## Shared Memory
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Shared memory is a memory pool that is protected against incorrect pointer usage by providing set interfaces for reading and writing data instead of direct pointer access.
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## Message Queue
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Simple and safe message queue implementation. Does what it says on the tin.
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## Signal
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A binary semaphore that can be used to signal events between tasks. Offers various control functions.
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## Timer
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Timers with a user defined callback function. Also repeatable, so they are also great for scheduling tasks.
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## Thread
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A simple thread that can be inherited from to create a new task. Offers a loop function that is called periodically. Also supports thread flags and murder. |