mohr/obsw
1
0
Fork 0
forked from ROMEO/obsw
Code Pull Requests 1 Actions Releases 4 Activity

implemented queues, broke threads on the way :/

Browse Source
This commit is contained in:
Ulrich Mohr
2023-11-16 13:45:39 +01:00
parent 1c3ba9e20f
commit 63b0a25030
3 changed files with 152 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
mission/freeRTOS_rust_helper.c
View File

@ -2,9 +2,11 @@
#include "semphr.h"
#include "task.h"
//TODO namespace the names
/**
* Task descriptors
*/
*/
#define NUMBER_OF_TASKS 100
SemaphoreHandle_t taskMutex = NULL;
StaticSemaphore_t taskMutexDescriptor;
@ -13,7 +15,7 @@ StaticTask_t taskDescriptors[NUMBER_OF_TASKS];
/**
* Queue descriptors
*/
*/
#define NUMBER_OF_QUEUES 300
SemaphoreHandle_t queueMutex = NULL;
StaticSemaphore_t queueMutexDescriptor;
@ -26,17 +28,13 @@ void initFreeRTOSHelper() {
queueMutex = xSemaphoreCreateRecursiveMutexStatic(&queueMutexDescriptor);
}
const char * get_task_name() {
return pcTaskGetName( NULL );
}
const char *get_task_name() { return pcTaskGetName(NULL); }
void stop_it() {
taskENTER_CRITICAL();
}
void stop_it() { taskENTER_CRITICAL(); }
// TODO return some error code?
void *create_task(TaskFunction_t taskFunction, void *parameter, void *buffer,
size_t buffersize) {
size_t buffersize) {
if (xSemaphoreTakeRecursive(taskMutex, portMAX_DELAY) != pdTRUE) {
return NULL;
}
@ -60,8 +58,8 @@ 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) {
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
@ -69,8 +67,25 @@ void * create_queue(size_t length, size_t element_size, uint8_t * buffer) {
sizeof(queueDescriptors) / sizeof(*queueDescriptors)) {
return NULL;
}
QueueHandle_t newQueue = xQueueCreateStatic(length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
nextFreeQueueDescriptor++;
xSemaphoreGiveRecursive(queueMutex);
QueueHandle_t newQueue = xQueueCreateStatic(
length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
nextFreeQueueDescriptor++;
xSemaphoreGiveRecursive(queueMutex);
return newQueue;
}
uint8_t queue_receive(void *queue, void *message) {
if (xQueueReceive(queue, message, portMAX_DELAY) == pdPASS) {
return 1;
} else {
return 0;
}
}
uint8_t queue_send(void *queue, void *message) {
if (xQueueSend(queue, message, 0) != pdPASS) {
return 1;
} else {
return 0;
}
}