ftask_freertos.c

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/**
 * @file    ftask_freertos.c
 * @author  foxBMS Team
 * @date    2019-08-27 (date of creation)
 * @updated 2021-12-01 (date of last update)
 * @ingroup TASK
 * @prefix  FTSK
 *
 * @brief   OS specific, i.e., FreeRTOS specfific, creation of the tasks
 * @details TODO
 */
 
/*========== Includes =======================================================*/
#include "can_cfg.h"
 
#include "FreeRTOS.h"
#include "task.h"
 
#include "database.h"
#include "ftask.h"
 
/*========== Macros and Definitions =========================================*/
 
/*========== Static Constant and Variable Definitions =======================*/
 
/*========== Extern Constant and Variable Definitions =======================*/
volatile bool ftsk_allQueuesCreated = false;
 
QueueHandle_t ftsk_databaseQueue = NULL_PTR;
 
QueueHandle_t ftsk_imdCanDataQueue = NULL_PTR;
 
/* INCLUDE MARKER FOR THE DOCUMENTATION; DO NOT MOVE can-documentation-rx-queue-handle-start-include */
QueueHandle_t ftsk_canRxQueue = NULL_PTR;
/* INCLUDE MARKER FOR THE DOCUMENTATION; DO NOT MOVE can-documentation-rx-queue-handle-stop-include */
 
/*========== Static Function Prototypes =====================================*/
 
/*========== Static Function Implementations ================================*/
 
/*========== Extern Function Implementations ================================*/
 
extern void FTSK_CreateQueues(void) {
    /**
     * @brief   size of storage area for the database queue
     * @details The array that is used for the queue's storage area.
     *          This must be at least
     *          #FTSK_DATABASE_QUEUE_LENGTH * #FTSK_DATABASE_QUEUE_ITEM_SIZE
     */
    static uint8_t ftsk_databaseQueueStorageArea[FTSK_DATABASE_QUEUE_LENGTH * FTSK_DATABASE_QUEUE_ITEM_SIZE] = {0};
    static StaticQueue_t ftsk_databaseQueueStructure = {0}; /*!< structure for static database queue */
 
    /* Create a queue capable of containing a pointer of type DATA_QUEUE_MESSAGE_s
       Data of Messages are passed by pointer as they contain a lot of data. */
    ftsk_databaseQueue = xQueueCreateStatic(
        FTSK_DATABASE_QUEUE_LENGTH,
        FTSK_DATABASE_QUEUE_ITEM_SIZE,
        ftsk_databaseQueueStorageArea,
        &ftsk_databaseQueueStructure);
    FAS_ASSERT(ftsk_databaseQueue != NULL);
    vQueueAddToRegistry(ftsk_databaseQueue, "Database Queue");
 
    /**
     * @brief   size of storage area for the IMD queue
     * @details The array that is used for the queue's storage area.
     *          This must be at least
     *          #FTSK_IMD_QUEUE_LENGTH * #FTSK_IMD_QUEUE_ITEM_SIZE
     */
    static uint8_t ftsk_imdQueueStorageArea[FTSK_IMD_QUEUE_LENGTH * FTSK_IMD_QUEUE_ITEM_SIZE] = {0};
    static StaticQueue_t ftsk_imdQueueStructure = {0}; /*!< structure for static data queue */
 
    ftsk_imdCanDataQueue = xQueueCreateStatic(
        FTSK_IMD_QUEUE_LENGTH, FTSK_IMD_QUEUE_ITEM_SIZE, ftsk_imdQueueStorageArea, &ftsk_imdQueueStructure);
    vQueueAddToRegistry(ftsk_imdCanDataQueue, "IMD CAN Data Queue");
    FAS_ASSERT(ftsk_imdCanDataQueue != NULL);
 
    /* INCLUDE MARKER FOR THE DOCUMENTATION; DO NOT MOVE can-documentation-rx-queue-vars-start-include */
    static StaticQueue_t ftsk_canRxQueueStructure = {0}; /*!< structure for static data queue */
    /**
     * @brief   size of storage area for the CAN Rx queue
     * @details The array that is used for the queue's storage area.
     *          This must be at least
     *          #FTSK_CAN_RX_QUEUE_LENGTH * #FTSK_CAN_RX_QUEUE_ITEM_SIZE
     */
    static uint8_t ftsk_canRxQueueStorageArea[FTSK_CAN_RX_QUEUE_LENGTH * FTSK_CAN_RX_QUEUE_ITEM_SIZE] = {0};
    /* INCLUDE MARKER FOR THE DOCUMENTATION; DO NOT MOVE can-documentation-rx-queue-vars-stop-include */
 
    ftsk_canRxQueue = xQueueCreateStatic(
        FTSK_CAN_RX_QUEUE_LENGTH, FTSK_CAN_RX_QUEUE_ITEM_SIZE, ftsk_canRxQueueStorageArea, &ftsk_canRxQueueStructure);
    vQueueAddToRegistry(ftsk_canRxQueue, "CAN Receive Queue");
    FAS_ASSERT(ftsk_canRxQueue != NULL);
 
    OS_EnterTaskCritical();
    ftsk_allQueuesCreated = true;
    OS_ExitTaskCritical();
}
 
extern void FTSK_CreateTasks(void) {
    /* Engine Task */
    static StaticTask_t ftsk_taskEngine                                  = {0};
    static StackType_t ftsk_stackSizeEngine[FTSK_TASK_ENGINE_STACK_SIZE] = {0};
 
    const TaskHandle_t ftsk_taskHandleEngine = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskEngine,
        (const portCHAR *)"TaskEngine",
        ftsk_taskDefinitionEngine.stackSize,
        (void *)ftsk_taskDefinitionEngine.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionEngine.priority,
        ftsk_stackSizeEngine,
        &ftsk_taskEngine);
    FAS_ASSERT(ftsk_taskHandleEngine != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 1ms */
    static StaticTask_t ftsk_taskCyclic1ms                                      = {0};
    static StackType_t ftsk_stackSizeCyclic1ms[FTSK_TASK_CYCLIC_1MS_STACK_SIZE] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclic1ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclic1ms,
        (const portCHAR *)"TaskCyclic1ms",
        ftsk_taskDefinitionCyclic1ms.stackSize,
        (void *)ftsk_taskDefinitionCyclic1ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclic1ms.priority,
        ftsk_stackSizeCyclic1ms,
        &ftsk_taskCyclic1ms);
    FAS_ASSERT(ftsk_taskHandleCyclic1ms != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 10ms */
    static StaticTask_t ftsk_taskCyclic10ms                                       = {0};
    static StackType_t ftsk_stackSizeCyclic10ms[FTSK_TASK_CYCLIC_10MS_STACK_SIZE] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclic10ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclic10ms,
        (const portCHAR *)"TaskCyclic10ms",
        ftsk_taskDefinitionCyclic10ms.stackSize,
        (void *)ftsk_taskDefinitionCyclic10ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclic10ms.priority,
        ftsk_stackSizeCyclic10ms,
        &ftsk_taskCyclic10ms);
    FAS_ASSERT(ftsk_taskHandleCyclic10ms != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 100ms */
    static StaticTask_t ftsk_taskCyclic100ms                                        = {0};
    static StackType_t ftsk_stackSizeCyclic100ms[FTSK_TASK_CYCLIC_100MS_STACK_SIZE] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclic100ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclic100ms,
        (const portCHAR *)"TaskCyclic100ms",
        ftsk_taskDefinitionCyclic100ms.stackSize,
        (void *)ftsk_taskDefinitionCyclic100ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclic100ms.priority,
        ftsk_stackSizeCyclic100ms,
        &ftsk_taskCyclic100ms);
    FAS_ASSERT(ftsk_taskHandleCyclic100ms != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 100ms for algorithms */
    static StaticTask_t ftsk_taskCyclicAlgorithm100ms                                                 = {0};
    static StackType_t ftsk_stackSizeCyclicAlgorithm100ms[FTSK_TASK_CYCLIC_ALGORITHM_100MS_STACKSIZE] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclicAlgorithm100ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclicAlgorithm100ms,
        (const portCHAR *)"TaskCyclicAlgorithm100ms",
        ftsk_taskDefinitionCyclicAlgorithm100ms.stackSize,
        (void *)ftsk_taskDefinitionCyclicAlgorithm100ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclicAlgorithm100ms.priority,
        ftsk_stackSizeCyclicAlgorithm100ms,
        &ftsk_taskCyclicAlgorithm100ms);
    FAS_ASSERT(ftsk_taskHandleCyclicAlgorithm100ms != NULL); /* Trap if initialization failed */
}
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/