forked from ROMEO/obsw
76 lines
2.1 KiB
C
76 lines
2.1 KiB
C
#include "FreeRTOS.h"
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#include "semphr.h"
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#include "task.h"
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/**
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* Task descriptors
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*/
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#define NUMBER_OF_TASKS 100
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SemaphoreHandle_t taskMutex = NULL;
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StaticSemaphore_t taskMutexDescriptor;
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size_t nextFreeTaskDescriptor = 0;
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StaticTask_t taskDescriptors[NUMBER_OF_TASKS];
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/**
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* Queue descriptors
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*/
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#define NUMBER_OF_QUEUES 300
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SemaphoreHandle_t queueMutex = NULL;
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StaticSemaphore_t queueMutexDescriptor;
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size_t nextFreeQueueDescriptor = 0;
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StaticQueue_t queueDescriptors[NUMBER_OF_QUEUES];
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// TODO check and return
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void initFreeRTOSHelper() {
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taskMutex = xSemaphoreCreateRecursiveMutexStatic(&taskMutexDescriptor);
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queueMutex = xSemaphoreCreateRecursiveMutexStatic(&queueMutexDescriptor);
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}
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const char * get_task_name() {
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return pcTaskGetName( NULL );
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}
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void stop_it() {
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taskENTER_CRITICAL();
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}
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// TODO return some error code?
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void *create_task(TaskFunction_t taskFunction, void *parameter, void *buffer,
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size_t buffersize) {
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if (xSemaphoreTakeRecursive(taskMutex, portMAX_DELAY) != pdTRUE) {
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return NULL;
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}
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// we hold the task mutex and are now allowed to access the taskDescriptors
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if (nextFreeTaskDescriptor >=
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sizeof(taskDescriptors) / sizeof(*taskDescriptors)) {
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return NULL;
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}
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TaskHandle_t newTask = xTaskCreateStatic(
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taskFunction, "rust", buffersize / sizeof(StackType_t), parameter, 4,
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buffer, taskDescriptors + nextFreeTaskDescriptor);
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nextFreeTaskDescriptor++;
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xSemaphoreGiveRecursive(taskMutex);
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return newTask;
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}
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void task_delay(uint32_t milliseconds) {
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vTaskDelay(pdMS_TO_TICKS(milliseconds));
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}
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void * create_queue(size_t length, size_t element_size, uint8_t * buffer) {
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if (xSemaphoreTakeRecursive(queueMutex, portMAX_DELAY) != pdTRUE) {
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return NULL;
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}
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// we hold the queue mutex and are now allowed to access the taskDescriptors
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if (nextFreeQueueDescriptor >=
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sizeof(queueDescriptors) / sizeof(*queueDescriptors)) {
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return NULL;
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}
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QueueHandle_t newQueue = xQueueCreateStatic(length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
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nextFreeQueueDescriptor++;
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xSemaphoreGiveRecursive(queueMutex);
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return newQueue;
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} |