ftask.h

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/**
 * @file    ftask.h
 * @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   Header of task driver implementation
 * @details Declares the functions that are need to needed to initialize the
 *          operating system. This includes queues, mutexes, events and tasks.
 */
 
#ifndef FOXBMS__FTASK_H_
#define FOXBMS__FTASK_H_
 
/*========== Includes =======================================================*/
#include "can_cfg.h"
#include "ftask_cfg.h"
 
#include "database.h"
#include "os.h"
#include "rtc.h"
 
#include <stdint.h>
 
/*========== Macros and Definitions =========================================*/
/** Length of queue that is used in the database */
#define FTSK_DATABASE_QUEUE_LENGTH (1u)
 
/** Size of queue item that is used in the database */
#define FTSK_DATABASE_QUEUE_ITEM_SIZE_IN_BYTES (sizeof(DATA_QUEUE_MESSAGE_s))
 
/** Length of queue that is used in the insulation measurement device (IMD) */
#define FTSK_IMD_QUEUE_LENGTH (5u)
/** Size of queue item that is used in the IMD driver */
#define FTSK_IMD_QUEUE_ITEM_SIZE_IN_BYTES (sizeof(CAN_BUFFER_ELEMENT_s))
 
/** Length of queue that is used in the can module for receiving messages */
#define FTSK_CAN_RX_QUEUE_LENGTH (50u)
/** Size of queue item that is used in the can driver */
#define FTSK_CAN_RX_QUEUE_ITEM_SIZE_IN_BYTES (sizeof(CAN_BUFFER_ELEMENT_s))
 
/** Length of queue that is used in the can module for tracking unsent messages */
#define FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_LENGTH (5u)
/** Size of queue item that is used in the can driver */
#define FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_ITEM_SIZE_IN_BYTES (sizeof(CAN_BUFFER_ELEMENT_s))
 
#define FTSK_AFE_REQUEST_QUEUE_LENGTH    (1u)
#define FTSK_AFE_REQUEST_QUEUE_ITEM_SIZE (sizeof(AFE_REQUEST_e))
 
/** Length of queue that is used in the can module for receiving messages */
#define FTSK_RTC_QUEUE_LENGTH (1u)
/** Size of queue item that is used in the can driver */
#define FTSK_RTC_QUEUE_ITEM_SIZE_IN_BYTES (sizeof(RTC_TIME_DATA_s))
 
/** Length of queue that is used for I2C transmission over NXP slave */
#define FTSK_AFEI2C_QUEUE_LENGTH (1u)
/** Size of queue item that is used for I2C transmission over NXP slave */
#define FTSK_AFEI2C_QUEUE_ITEM_SIZE_IN_BYTES (sizeof(AFE_I2C_QUEUE_s))
 
/*========== Extern Constant and Variable Declarations ======================*/
/** database queue */
extern OS_QUEUE ftsk_databaseQueue;
 
/** queue for CAN based IMD devices */
extern OS_QUEUE ftsk_imdCanDataQueue;
 
/** CAN driver data queue for RX messages */
extern OS_QUEUE ftsk_canRxQueue;
 
/** CAN driver data queue for unsent TX messages */
extern OS_QUEUE ftsk_canTxUnsentMessagesQueue;
 
/** handle of the AFE driver request queue */
extern OS_QUEUE ftsk_afeRequestQueue;
 
/** handle of the rtc driver data queue */
extern OS_QUEUE ftsk_rtcSetTimeQueue;
 
/** handle of the I2C transmission over NXP slave queue */
extern OS_QUEUE ftsk_afeToI2cQueue;
extern OS_QUEUE ftsk_afeFromI2cQueue;
 
/** indicator whether the queues have successfully been initialized to be used
 * in other parts of the software  */
extern volatile bool ftsk_allQueuesCreated;
 
/*========== Extern Function Prototypes =====================================*/
/**
 * @brief   Creates all queues
 * @details Creates all queues. Is called after the hardware is initialized
 *          and before the scheduler starts. Queues, Mutexes and Events are
 *          already initialized.
 */
extern void FTSK_CreateQueues(void);
 
/**
 * @brief   Creates all tasks of the group
 * @details Creates all tasks. Is called after the hardware is initialized
 *          and before the scheduler starts. Queues, Mutexes and Events are
 *          already initialized.
 */
extern void FTSK_CreateTasks(void);
 
/**
 * @brief   Database-Task
 * @details The task manages the data exchange with the database and must have
 *          a higher task priority than any task using the database.
 * @param   pvParameters parameter for the to task
 */
extern void FTSK_CreateTaskEngine(void *const pvParameters);
 
/**
 * @brief   Creation of cyclic 1 ms task
 * @details Then the Task is delayed by a phase as defined in
 *          ftsk_taskDefinitionCyclic1ms.phase (in milliseconds). After the
 *          phase delay, the cyclic execution starts, the entry time is saved
 *          in current_time. After one cycle, the Task is set to sleep until
 *          entry time + ftsk_taskDefinitionCyclic1ms.cycleTime (in
 *          milliseconds).
 * @param   pvParameters parameter for the to task
 */
extern void FTSK_CreateTaskCyclic1ms(void *const pvParameters);
 
/**
 * @brief   Creation of cyclic 10 ms task
 * @details Task is delayed by a phase as defined in
 *          ftsk_taskDefinitionCyclic10ms.phase (in milliseconds). After
 *          the phase delay, the cyclic execution starts, the entry time is
 *          saved in current_time. After one cycle, the Task is set to sleep
 *          until entry time + ftsk_taskDefinitionCyclic10ms.cycleTime (in
 *          milliseconds).
 * @param   pvParameters parameter for the to task
 */
extern void FTSK_CreateTaskCyclic10ms(void *const pvParameters);
 
/**
 * @brief   Creation of cyclic 100 ms task
 * @details Task is delayed by a phase as defined in
 *          ftsk_taskDefinitionCyclic100ms.phase (in milliseconds). After the
 *          phase delay, the cyclic execution starts, the entry time is saved
 *          in current_time. After one cycle, the Task is set to sleep until
 *          entry time + ftsk_taskDefinitionCyclic100ms.cycleTime (in
 *          milliseconds).
 * @param   pvParameters parameter for the to task
 */
extern void FTSK_CreateTaskCyclic100ms(void *const pvParameters);
 
/**
 * @brief   Creation of cyclic 100 ms algorithm task
 * @details Task is delayed by a phase as defined in
 *          ftsk_taskDefinitionCyclicAlgorithm100ms.Phase (in milliseconds).
 *          After the phase delay, the cyclic execution starts, the entry time
 *          is saved in current_time. After one cycle, the Task is set to sleep
 *          until entry
 *          time + ftsk_taskDefinitionCyclicAlgorithm100ms.CycleTime (in
 *          milliseconds).
 * @param   pvParameters parameter for the to task
 */
extern void FTSK_CreateTaskCyclicAlgorithm100ms(void *const pvParameters);
 
/**
 * @brief   Creation of continuously running task for I2c
 */
extern void FTSK_CreateTaskI2c(void *const pvParameters);
 
/**
 * @brief   Creation of continuously running task for AFEs
 * @param   pvParameters parameter for the to task
 */
extern void FTSK_CreateTaskAfe(void *const pvParameters);
 
/*========== Externalized Static Functions Prototypes (Unit Test) ===========*/
#ifdef UNITY_UNIT_TEST
#endif
 
#endif /* FOXBMS__FTASK_H_ */