72 lines
1.8 KiB
C
72 lines
1.8 KiB
C
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/*
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* FreeRTOS.h
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*
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* Created on: Feb 24, 2017
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* Author: kolban
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*/
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#ifndef MAIN_FREERTOS_H_
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#define MAIN_FREERTOS_H_
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#include <stdint.h>
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#include <string>
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#include <pthread.h>
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#include <freertos/FreeRTOS.h> // Include the base FreeRTOS definitions.
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#include <freertos/task.h> // Include the task definitions.
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#include <freertos/semphr.h> // Include the semaphore definitions.
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#include <freertos/ringbuf.h> // Include the ringbuffer definitions.
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/**
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* @brief Interface to %FreeRTOS functions.
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*/
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class FreeRTOS {
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public:
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static void sleep(uint32_t ms);
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static void startTask(void task(void*), std::string taskName, void* param = nullptr, uint32_t stackSize = 2048);
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static void deleteTask(TaskHandle_t pTask = nullptr);
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static uint32_t getTimeSinceStart();
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class Semaphore {
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public:
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Semaphore(std::string owner = "<Unknown>");
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~Semaphore();
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void give();
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void give(uint32_t value);
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void giveFromISR();
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void setName(std::string name);
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bool take(std::string owner = "<Unknown>");
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bool take(uint32_t timeoutMs, std::string owner = "<Unknown>");
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std::string toString();
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uint32_t wait(std::string owner = "<Unknown>");
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private:
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SemaphoreHandle_t m_semaphore;
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pthread_mutex_t m_pthread_mutex;
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std::string m_name;
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std::string m_owner;
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uint32_t m_value;
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bool m_usePthreads;
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};
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};
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/**
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* @brief Ringbuffer.
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*/
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class Ringbuffer {
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public:
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Ringbuffer(size_t length, ringbuf_type_t type = RINGBUF_TYPE_NOSPLIT);
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~Ringbuffer();
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void* receive(size_t* size, TickType_t wait = portMAX_DELAY);
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void returnItem(void* item);
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bool send(void* data, size_t length, TickType_t wait = portMAX_DELAY);
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private:
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RingbufHandle_t m_handle;
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};
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#endif /* MAIN_FREERTOS_H_ */
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