ftask.c

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/**
 * @file    ftask.c
 * @author  foxBMS Team
 * @date    2019-08-27 (date of creation)
 * @updated 2023-10-12 (date of last update)
 * @version v1.6.0
 * @ingroup TASK
 * @prefix  FTSK
 *
 * @brief   Implementation of OS-independent task creators
 * @details TODO
 */
 
/*========== Includes =======================================================*/
#include "ftask.h"
 
#include "sys_mon.h"
 
#include <stdint.h>
 
/*========== Macros and Definitions =========================================*/
 
/*========== Static Constant and Variable Definitions =======================*/
 
/*========== Extern Constant and Variable Definitions =======================*/
 
/*========== Static Function Prototypes =====================================*/
 
/*========== Static Function Implementations ================================*/
 
/*========== Extern Function Implementations ================================*/
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS compiler
 * that this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskEngine)
extern void FTSK_CreateTaskEngine(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
    os_boot = OS_SCHEDULER_RUNNING;
    FTSK_InitializeUserCodeEngine();
    os_boot = OS_ENGINE_RUNNING;
 
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* notify system monitoring that task will be called */
        SYSM_Notify(SYSM_TASK_ID_ENGINE, SYSM_NOTIFY_ENTER, OS_GetTickCount());
        /* user code implementation */
        FTSK_RunUserCodeEngine();
        /* notify system monitoring that task has been called */
        SYSM_Notify(SYSM_TASK_ID_ENGINE, SYSM_NOTIFY_EXIT, OS_GetTickCount());
    }
}
 
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS compiler
 * that this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskCyclic1ms)
extern void FTSK_CreateTaskCyclic1ms(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
    uint32_t currentTimeCreateTaskCyclic1ms = 0;
 
    /* AXIVION Next Codeline Style Generic-NoEmptyLoops: start cyclic 1ms task only when engine task is running */
    while (os_boot != OS_ENGINE_RUNNING) {
    }
 
    FTSK_InitializeUserCodePreCyclicTasks();
    os_boot = OS_PRE_CYCLIC_INITIALIZATION_HAS_FINISHED;
 
    /* cycle time (1ms) equals the minimum tick time (1ms),
     * therefore it is not possible to configure a phase for this task */
    currentTimeCreateTaskCyclic1ms = OS_GetTickCount();
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* notify system monitoring that task will be called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_1ms, SYSM_NOTIFY_ENTER, OS_GetTickCount());
        /* user code implementation */
        FTSK_RunUserCodeCyclic1ms();
        /* notify system monitoring that task has been called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_1ms, SYSM_NOTIFY_EXIT, OS_GetTickCount());
        /* let task sleep until it is due again */
        OS_DelayTaskUntil(&currentTimeCreateTaskCyclic1ms, ftsk_taskDefinitionCyclic1ms.cycleTime);
    }
}
 
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS
   compiler that this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskCyclic10ms)
extern void FTSK_CreateTaskCyclic10ms(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
    uint32_t currentTimeCreateTaskCyclic10ms = 0;
 
    /* AXIVION Next Codeline Style Generic-NoEmptyLoops: wait until the 1ms cyclic task setup has finished the
       pre-cyclic initialization sequence  */
    while (os_boot != OS_PRE_CYCLIC_INITIALIZATION_HAS_FINISHED) {
    }
 
    OS_DelayTaskUntil(&os_schedulerStartTime, ftsk_taskDefinitionCyclic10ms.phase);
    currentTimeCreateTaskCyclic10ms = OS_GetTickCount();
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* notify system monitoring that task will be called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_10ms, SYSM_NOTIFY_ENTER, OS_GetTickCount());
        /* user code implementation */
        FTSK_RunUserCodeCyclic10ms();
        /* notify system monitoring that task has been called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_10ms, SYSM_NOTIFY_EXIT, OS_GetTickCount());
        /* let task sleep until it is due again */
        OS_DelayTaskUntil(&currentTimeCreateTaskCyclic10ms, ftsk_taskDefinitionCyclic10ms.cycleTime);
    }
}
 
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS
   compiler that this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskCyclic100ms)
extern void FTSK_CreateTaskCyclic100ms(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
    uint32_t currentTimeCreateTaskCyclic100ms = 0;
 
    /* AXIVION Next Codeline Style Generic-NoEmptyLoops: wait until the 1ms cyclic task setup has finished the
       pre-cyclic initialization sequence  */
    while (os_boot != OS_PRE_CYCLIC_INITIALIZATION_HAS_FINISHED) {
    }
 
    OS_DelayTaskUntil(&os_schedulerStartTime, ftsk_taskDefinitionCyclic100ms.phase);
    currentTimeCreateTaskCyclic100ms = OS_GetTickCount();
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* notify system monitoring that task will be called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_100ms, SYSM_NOTIFY_ENTER, OS_GetTickCount());
        /* user code implementation */
        FTSK_RunUserCodeCyclic100ms();
        /* notify system monitoring that task has been called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_100ms, SYSM_NOTIFY_EXIT, OS_GetTickCount());
        /* let task sleep until it is due again */
        OS_DelayTaskUntil(&currentTimeCreateTaskCyclic100ms, ftsk_taskDefinitionCyclic100ms.cycleTime);
    }
}
 
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS
   compiler that this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskCyclicAlgorithm100ms)
extern void FTSK_CreateTaskCyclicAlgorithm100ms(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
    uint32_t currentTimeCreateTaskCyclicAlgorithms100ms = 0;
 
    /* AXIVION Next Codeline Style Generic-NoEmptyLoops: wait until the 1ms cyclic task setup has finished the
       pre-cyclic initialization sequence  */
    while (os_boot != OS_PRE_CYCLIC_INITIALIZATION_HAS_FINISHED) {
    }
 
    OS_DelayTaskUntil(&os_schedulerStartTime, ftsk_taskDefinitionCyclicAlgorithm100ms.phase);
    os_boot                                    = OS_SYSTEM_RUNNING;
    currentTimeCreateTaskCyclicAlgorithms100ms = OS_GetTickCount();
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* notify system monitoring that task will be called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_ALGORITHM_100ms, SYSM_NOTIFY_ENTER, OS_GetTickCount());
        /* user code implementation */
        FTSK_RunUserCodeCyclicAlgorithm100ms();
        /* notify system monitoring that task has been called */
        SYSM_Notify(SYSM_TASK_ID_CYCLIC_ALGORITHM_100ms, SYSM_NOTIFY_EXIT, OS_GetTickCount());
        /* let task sleep until it is due again */
        OS_DelayTaskUntil(
            &currentTimeCreateTaskCyclicAlgorithms100ms, ftsk_taskDefinitionCyclicAlgorithm100ms.cycleTime);
    }
}
 
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS
   compiler tell compiler this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskI2c)
extern void FTSK_CreateTaskI2c(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
 
    /* AXIVION Next Codeline Style Generic-NoEmptyLoops: wait until the 1ms cyclic task setup has finished the
       pre-cyclic initialization sequence  */
    while (os_boot != OS_PRE_CYCLIC_INITIALIZATION_HAS_FINISHED) {
    }
 
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* user code implementation */
        FTSK_RunUserCodeI2c();
    }
}
 
/* AXIVION Next Codeline Style MisraC2012Directive-1.1 MisraC2012-1.2 FaultDetection-DeadBranches: tell the CCS
   compiler tell compiler this function is a task, context save not necessary */
#pragma TASK(FTSK_CreateTaskAfe)
extern void FTSK_CreateTaskAfe(void *const pvParameters) {
    FAS_ASSERT(pvParameters == NULL_PTR);
    OS_MarkTaskAsRequiringFpuContext();
 
    /* AXIVION Next Codeline Style Generic-NoEmptyLoops: wait until the 1ms cyclic task setup has finished the
       pre-cyclic initialization sequence  */
    while (os_boot != OS_PRE_CYCLIC_INITIALIZATION_HAS_FINISHED) {
    }
 
    /* AXIVION Next Codeline Style MisraC2012-2.2 FaultDetection-DeadBranches: FreeRTOS task setup requires an infinite
     * loop for the user code (see www.freertos.org/a00125.html)*/
    while (true) {
        /* user code implementation */
        FTSK_RunUserCodeAfe();
    }
}
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/
#ifdef UNITY_UNIT_TEST
#endif