forked from ROMEO/obsw
78 lines
1.9 KiB
C
78 lines
1.9 KiB
C
#include "FreeRTOS.h"
|
|
#include "semphr.h"
|
|
#include "task.h"
|
|
|
|
// TODO namespace the names
|
|
|
|
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,
|
|
uint32_t stack_size) {
|
|
//TODO verify uint32_t vs configSTACK_DEPTH_TYPE
|
|
TaskHandle_t newTask;
|
|
BaseType_t result =
|
|
xTaskCreate(taskFunction, "rust", stack_size, parameter, 4, &newTask);
|
|
if (result == pdTRUE) {
|
|
return newTask;
|
|
} else {
|
|
return NULL;
|
|
}
|
|
}
|
|
|
|
void task_delay(uint32_t milliseconds) {
|
|
//TODO verify uint32_t vs TickType_t
|
|
vTaskDelay(pdMS_TO_TICKS(milliseconds));
|
|
}
|
|
|
|
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(uint32_t length, uint32_t element_size) {
|
|
//TODO verify uint32_t vs UBaseType_t
|
|
QueueHandle_t newQueue = xQueueCreate(length, element_size);
|
|
return newQueue;
|
|
}
|
|
|
|
uint8_t queue_receive(void *queue, void *message) {
|
|
if (xQueueReceive(queue, message, 0) == 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;
|
|
}
|
|
}
|
|
|
|
void *create_mutex() {
|
|
return xSemaphoreCreateRecursiveMutex();
|
|
}
|
|
|
|
uint8_t take_mutex(void * handle) {
|
|
// TODO check if global semaphore is free (ie, we are doing multitasking)
|
|
// if not, pointers are invalid, bail out
|
|
if (xSemaphoreTakeRecursive(handle, portMAX_DELAY) == pdPASS) {
|
|
return 1;
|
|
} else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
uint8_t give_mutex(void * handle) {
|
|
// TODO check if global semaphore is free (ie, we are doing multitasking)
|
|
// if not, pointers are invalid, bail out
|
|
if (xSemaphoreGiveRecursive(handle) == pdPASS) {
|
|
return 1;
|
|
} else {
|
|
return 0;
|
|
}
|
|
} |