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back to non-static FreeRTOS with heap1; Rust tasks running again and probably stable as well

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This commit is contained in:
Ulrich Mohr
2023-11-20 22:46:40 +01:00
parent c08d15215b
commit 5bb01f1731
3 changed files with 94 additions and 132 deletions
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70
mission/freeRTOS_rust_helper.c
View File

@ -4,78 +4,38 @@
// TODO namespace the names
/**
* Task descriptors
*/
#define NUMBER_OF_TASKS 100
SemaphoreHandle_t taskMutex = NULL;
StaticSemaphore_t taskMutexDescriptor;
size_t nextFreeTaskDescriptor = 0;
StaticTask_t taskDescriptors[NUMBER_OF_TASKS];
/**
* Queue descriptors
*/
#define NUMBER_OF_QUEUES 300
SemaphoreHandle_t queueMutex = NULL;
StaticSemaphore_t queueMutexDescriptor;
size_t nextFreeQueueDescriptor = 0;
StaticQueue_t queueDescriptors[NUMBER_OF_QUEUES];
// TODO check and return
void initFreeRTOSHelper() {
taskMutex = xSemaphoreCreateRecursiveMutexStatic(&taskMutexDescriptor);
queueMutex = xSemaphoreCreateRecursiveMutexStatic(&queueMutexDescriptor);
}
const char *get_task_name() { return pcTaskGetName(NULL); }
void stop_it() { taskENTER_CRITICAL(); }
// TODO return some error code?
void *create_task(TaskFunction_t taskFunction, void *parameter, void *buffer,
size_t buffersize) {
if (xSemaphoreTakeRecursive(taskMutex, portMAX_DELAY) != pdTRUE) {
void *create_task(TaskFunction_t taskFunction, void *parameter,
size_t stack_size) {
TaskHandle_t newTask;
BaseType_t result =
xTaskCreate(taskFunction, "rust", stack_size, parameter, 4, &newTask);
if (result == pdTRUE) {
return newTask;
} else {
return NULL;
}
// we hold the task mutex and are now allowed to access the taskDescriptors
if (nextFreeTaskDescriptor >=
sizeof(taskDescriptors) / sizeof(*taskDescriptors)) {
return NULL;
}
TaskHandle_t newTask = xTaskCreateStatic(
taskFunction, "rust", buffersize / sizeof(StackType_t), parameter, 4,
buffer, taskDescriptors + nextFreeTaskDescriptor);
nextFreeTaskDescriptor++;
xSemaphoreGiveRecursive(taskMutex);
return newTask;
}
void task_delay(uint32_t milliseconds) {
vTaskDelay(pdMS_TO_TICKS(milliseconds));
}
void *create_queue(size_t length, size_t element_size, uint8_t *buffer) {
if (xSemaphoreTakeRecursive(queueMutex, portMAX_DELAY) != pdTRUE) {
return NULL;
}
// we hold the queue mutex and are now allowed to access the taskDescriptors
if (nextFreeQueueDescriptor >=
sizeof(queueDescriptors) / sizeof(*queueDescriptors)) {
return NULL;
}
QueueHandle_t newQueue = xQueueCreateStatic(
length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
nextFreeQueueDescriptor++;
xSemaphoreGiveRecursive(queueMutex);
void delete_task(void * task){
vTaskSuspend(task); //we can not use vDeleteTask as it would free the allocated memory which is forbidden using heap1 (which we use)
}
void *create_queue(size_t length, size_t element_size) {
QueueHandle_t newQueue = xQueueCreate(length, element_size);
return newQueue;
}
uint8_t queue_receive(void *queue, void *message) {
if (xQueueReceive(queue, message, portMAX_DELAY) == pdPASS) {
if (xQueueReceive(queue, message, 0) == pdPASS) {
return 1;
} else {
return 0;

8
mission/main.c
View File

@ -131,8 +131,6 @@ int main(void) {
/* Configure the hardware ready to run the demo. */
prvSetupHardware();
initFreeRTOSHelper();
// printf("Booting Software\n");
int taskParameters = 0;
@ -141,15 +139,15 @@ int main(void) {
StaticTask_t xTaskBuffer;
StackType_t xStack[stackSizeWords];
xTaskCreateStatic(
xTaskCreate(
mission, /* The function that implements the task. */
"init", /* The text name assigned to the task - for debug only as it is
not used by the kernel. */
stackSizeWords, /* The size of the stack to allocate to the task. */
10240, /* The size of the stack to allocate to the task. */
&taskParameters, /* The parameter passed to the task - not used in this
simple case. */
4, /* The priority assigned to the task. */
xStack, &xTaskBuffer);
NULL);
vTaskStartScheduler();