ftask_freertos.c

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/**
 * @file    ftask_freertos.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   OS specific, i.e., FreeRTOS specific, creation of the tasks
 * @details TODO
 */
 
/*========== Includes =======================================================*/
#include "general.h"
 
#include "can_cfg.h"
 
#include "FreeRTOS.h"
#include "task.h"
 
#include "afe.h"
#include "database.h"
#include "ftask.h"
 
#include <stdint.h>
 
/*========== Macros and Definitions =========================================*/
/** helper macro to translate the stack sizes from bytes into words as FreeRTOS requires words and not bytes */
#define FTSK_BYTES_TO_WORDS(VARIABLE_IN_BYTES) ((VARIABLE_IN_BYTES) / GEN_BYTES_PER_WORD)
/** Stack size of engine task in words */
#define FTSK_TASK_ENGINE_STACK_SIZE_IN_WORDS FTSK_BYTES_TO_WORDS(FTSK_TASK_ENGINE_STACK_SIZE_IN_BYTES)
/** @brief Stack size of cyclic 1 ms task in words */
#define FTSK_TASK_CYCLIC_1MS_STACK_SIZE_IN_WORDS FTSK_BYTES_TO_WORDS(FTSK_TASK_CYCLIC_1MS_STACK_SIZE_IN_BYTES)
/** @brief Stack size of cyclic 10 ms task in words */
#define FTSK_TASK_CYCLIC_10MS_STACK_SIZE_IN_WORDS FTSK_BYTES_TO_WORDS(FTSK_TASK_CYCLIC_10MS_STACK_SIZE_IN_BYTES)
/** @brief Stack size of cyclic 100 ms task in words */
#define FTSK_TASK_CYCLIC_100MS_STACK_SIZE_IN_WORDS FTSK_BYTES_TO_WORDS(FTSK_TASK_CYCLIC_100MS_STACK_SIZE_IN_BYTES)
/** @brief Stack size of cyclic 100 ms task for algorithms in words */
#define FTSK_TASK_CYCLIC_ALGORITHM_100MS_STACK_SIZE_IN_WORDS \
    FTSK_BYTES_TO_WORDS(FTSK_TASK_CYCLIC_ALGORITHM_100MS_STACK_SIZE_IN_BYTES)
/** @brief Stack size of continuously running task for AFEs */
#define FTSK_TASK_AFE_STACK_SIZE_IN_WORDS FTSK_BYTES_TO_WORDS(FTSK_TASK_AFE_STACK_SIZE_IN_BYTES)
 
/** size of storage area for the database queue */
#define FTSK_DATABASE_QUEUE_STORAGE_AREA (FTSK_DATABASE_QUEUE_LENGTH * FTSK_DATABASE_QUEUE_ITEM_SIZE_IN_BYTES)
 
/** size of storage area for the IMD queue*/
#define FTSK_IMD_QUEUE_STORAGE_AREA (FTSK_IMD_QUEUE_LENGTH * FTSK_IMD_QUEUE_ITEM_SIZE_IN_BYTES)
 
/** size of storage area for the CAN Rx queue*/
#define FTSK_CAN_RX_QUEUE_STORAGE_AREA (FTSK_CAN_RX_QUEUE_LENGTH * FTSK_CAN_RX_QUEUE_ITEM_SIZE_IN_BYTES)
 
/** size of storage area for the CAN Tx unsent messages queue*/
#define FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_STORAGE_AREA \
    (FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_LENGTH * FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_ITEM_SIZE_IN_BYTES)
 
/** size of storage area for the RTC set time queue*/
#define FTSK_RTC_QUEUE_STORAGE_AREA (FTSK_RTC_QUEUE_LENGTH * FTSK_RTC_QUEUE_ITEM_SIZE_IN_BYTES)
 
/** size of storage area for the I2C over AFE slave queue*/
#define FTSK_AFEI2C_QUEUE_STORAGE_AREA (FTSK_AFEI2C_QUEUE_LENGTH * FTSK_AFEI2C_QUEUE_ITEM_SIZE_IN_BYTES)
 
/*========== Static Constant and Variable Definitions =======================*/
 
/*========== Extern Constant and Variable Definitions =======================*/
/** @brief Definition of task handle for the AFE task */
OS_TASK_HANDLE ftsk_taskHandleAfe;
OS_TASK_HANDLE ftsk_taskHandleI2c;
 
volatile bool ftsk_allQueuesCreated = false;
 
OS_QUEUE ftsk_databaseQueue = NULL_PTR;
 
OS_QUEUE ftsk_imdCanDataQueue = NULL_PTR;
 
/* INCLUDE MARKER FOR THE DOCUMENTATION; DO NOT MOVE can-documentation-rx-queue-handle-start-include */
OS_QUEUE ftsk_canRxQueue = NULL_PTR;
/* INCLUDE MARKER FOR THE DOCUMENTATION; DO NOT MOVE can-documentation-rx-queue-handle-stop-include */
 
OS_QUEUE ftsk_canTxUnsentMessagesQueue = NULL_PTR;
 
OS_QUEUE ftsk_afeRequestQueue = NULL_PTR;
OS_QUEUE ftsk_rtcSetTimeQueue = NULL_PTR;
 
OS_QUEUE ftsk_afeToI2cQueue   = NULL_PTR;
OS_QUEUE ftsk_afeFromI2cQueue = NULL_PTR;
 
/*========== Static Function Prototypes =====================================*/
 
/*========== Static Function Implementations ================================*/
 
/*========== Extern Function Implementations ================================*/
 
extern void FTSK_CreateQueues(void) {
    /* usage of 'StaticQueue_t' and 'vQueueAddToRegistry' here is okay (no
       wrapper in 'os.h' needed) as it is only used in the internals of the
       'ftask_freertos.c' implementation and not exposed to the BMS
       application. */
 
    /* structure and array for static database queue */
    static uint8_t ftsk_databaseQueueStorageArea[FTSK_DATABASE_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_databaseQueueStructure                               = {0};
 
    /* 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_IN_BYTES,
        ftsk_databaseQueueStorageArea,
        &ftsk_databaseQueueStructure);
    FAS_ASSERT(ftsk_databaseQueue != NULL);
    vQueueAddToRegistry(ftsk_databaseQueue, "Database Queue");
 
    /* structure and array for static IMD queue */
    static uint8_t ftsk_imdQueueStorageArea[FTSK_IMD_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_imdQueueStructure                          = {0};
 
    ftsk_imdCanDataQueue = xQueueCreateStatic(
        FTSK_IMD_QUEUE_LENGTH, FTSK_IMD_QUEUE_ITEM_SIZE_IN_BYTES, 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 */
    /* structure and array for static CAN RX queue */
    static uint8_t ftsk_canRxQueueStorageArea[FTSK_CAN_RX_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_canRxQueueStructure                             = {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_IN_BYTES,
        ftsk_canRxQueueStorageArea,
        &ftsk_canRxQueueStructure);
    vQueueAddToRegistry(ftsk_canRxQueue, "CAN Receive Queue");
    FAS_ASSERT(ftsk_canRxQueue != NULL);
 
    /* structure and array for static CAN TX unsent messages queue */
    static uint8_t ftsk_canTxUnsentMessagesQueueStorageArea[FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_canTxUnsentMessagesQueueStructure                                             = {0};
 
    ftsk_canTxUnsentMessagesQueue = xQueueCreateStatic(
        FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_LENGTH,
        FTSK_CAN_TX_UNSENT_MESSAGES_QUEUE_ITEM_SIZE_IN_BYTES,
        ftsk_canTxUnsentMessagesQueueStorageArea,
        &ftsk_canTxUnsentMessagesQueueStructure);
    FAS_ASSERT(ftsk_canTxUnsentMessagesQueue != NULL);
    vQueueAddToRegistry(ftsk_canTxUnsentMessagesQueue, "CAN Transmit Unsent Messages Queue");
 
    /**
     * @brief   size of storage area for the AFE request queue
     * @details The array that is used for the queue's storage area.
     *          This must be at least
     *          #FTSK_AFE_REQUEST_QUEUE_LENGTH * #FTSK_AFE_REQUEST_QUEUE_ITEM_SIZE
     */
    static uint8_t ftsk_afeRequestQueueStorageArea[FTSK_AFE_REQUEST_QUEUE_LENGTH * FTSK_AFE_REQUEST_QUEUE_ITEM_SIZE] = {
        0};
    static StaticQueue_t ftsk_afeRequestQueueStructure = {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_afeRequestQueue = xQueueCreateStatic(
        FTSK_AFE_REQUEST_QUEUE_LENGTH,
        FTSK_AFE_REQUEST_QUEUE_ITEM_SIZE,
        ftsk_afeRequestQueueStorageArea,
        &ftsk_afeRequestQueueStructure);
    FAS_ASSERT(ftsk_afeRequestQueue != NULL);
    vQueueAddToRegistry(ftsk_afeRequestQueue, "LTC Request Queue");
 
    /* structure and array for static RTC queue */
    static uint8_t ftsk_rtcQueueStorageArea[FTSK_RTC_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_rtcQueueStructure                          = {0};
 
    ftsk_rtcSetTimeQueue = xQueueCreateStatic(
        FTSK_RTC_QUEUE_LENGTH, FTSK_RTC_QUEUE_ITEM_SIZE_IN_BYTES, ftsk_rtcQueueStorageArea, &ftsk_rtcQueueStructure);
    vQueueAddToRegistry(ftsk_rtcSetTimeQueue, "RTC set time Queue");
    FAS_ASSERT(ftsk_rtcSetTimeQueue != NULL);
 
    /* structure and array for static I2C over AFE slave queue */
    static uint8_t ftsk_afeToI2cQueueStorageArea[FTSK_AFEI2C_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_afeToI2cQueueStructure                             = {0};
 
    ftsk_afeToI2cQueue = xQueueCreateStatic(
        FTSK_AFEI2C_QUEUE_LENGTH,
        FTSK_AFEI2C_QUEUE_ITEM_SIZE_IN_BYTES,
        ftsk_afeToI2cQueueStorageArea,
        &ftsk_afeToI2cQueueStructure);
    vQueueAddToRegistry(ftsk_afeToI2cQueue, "I2C over AFE slave");
    FAS_ASSERT(ftsk_afeToI2cQueue != NULL);
 
    /* structure and array for static I2C over AFE slave queue */
    static uint8_t ftsk_afeFromI2cQueueStorageArea[FTSK_AFEI2C_QUEUE_STORAGE_AREA] = {0};
    static StaticQueue_t ftsk_afeFromI2cQueueStructure                             = {0};
 
    ftsk_afeFromI2cQueue = xQueueCreateStatic(
        FTSK_AFEI2C_QUEUE_LENGTH,
        FTSK_AFEI2C_QUEUE_ITEM_SIZE_IN_BYTES,
        ftsk_afeFromI2cQueueStorageArea,
        &ftsk_afeFromI2cQueueStructure);
    vQueueAddToRegistry(ftsk_afeFromI2cQueue, "I2C over AFE slave");
    FAS_ASSERT(ftsk_afeFromI2cQueue != NULL);
 
    OS_EnterTaskCritical();
    ftsk_allQueuesCreated = true;
    OS_ExitTaskCritical();
}
 
extern void FTSK_CreateTasks(void) {
    /* usage of the FreeRTOS internals here is okay (no wrapper in 'os.h'
       needed) as it is only used in the internals of the 'ftask_freertos.c'
       implementation and not exposed to the BMS application.
       The only exception is the AFE task handle (ftsk_taskHandleAfe), see
       below */
 
    /* Engine Task */
    static StaticTask_t ftsk_taskEngine                                       = {0};
    static StackType_t ftsk_stackEngine[FTSK_TASK_ENGINE_STACK_SIZE_IN_WORDS] = {0};
 
    const TaskHandle_t ftsk_taskHandleEngine = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskEngine,
        (const portCHAR *)"TaskEngine",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionEngine.stackSize_B),
        (void *)ftsk_taskDefinitionEngine.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionEngine.priority,
        ftsk_stackEngine,
        &ftsk_taskEngine);
    FAS_ASSERT(ftsk_taskHandleEngine != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 1ms */
    static StaticTask_t ftsk_taskCyclic1ms                                           = {0};
    static StackType_t ftsk_stackCyclic1ms[FTSK_TASK_CYCLIC_1MS_STACK_SIZE_IN_WORDS] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclic1ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclic1ms,
        (const portCHAR *)"TaskCyclic1ms",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionCyclic1ms.stackSize_B),
        (void *)ftsk_taskDefinitionCyclic1ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclic1ms.priority,
        ftsk_stackCyclic1ms,
        &ftsk_taskCyclic1ms);
    FAS_ASSERT(ftsk_taskHandleCyclic1ms != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 10ms */
    static StaticTask_t ftsk_taskCyclic10ms                                            = {0};
    static StackType_t ftsk_stackCyclic10ms[FTSK_TASK_CYCLIC_10MS_STACK_SIZE_IN_WORDS] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclic10ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclic10ms,
        (const portCHAR *)"TaskCyclic10ms",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionCyclic10ms.stackSize_B),
        (void *)ftsk_taskDefinitionCyclic10ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclic10ms.priority,
        ftsk_stackCyclic10ms,
        &ftsk_taskCyclic10ms);
    FAS_ASSERT(ftsk_taskHandleCyclic10ms != NULL); /* Trap if initialization failed */
 
    /* Cyclic Task 100ms */
    static StaticTask_t ftsk_taskCyclic100ms                                             = {0};
    static StackType_t ftsk_stackCyclic100ms[FTSK_TASK_CYCLIC_100MS_STACK_SIZE_IN_WORDS] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclic100ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclic100ms,
        (const portCHAR *)"TaskCyclic100ms",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionCyclic100ms.stackSize_B),
        (void *)ftsk_taskDefinitionCyclic100ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclic100ms.priority,
        ftsk_stackCyclic100ms,
        &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_stackCyclicAlgorithm100ms[FTSK_TASK_CYCLIC_ALGORITHM_100MS_STACK_SIZE_IN_WORDS] = {0};
 
    const TaskHandle_t ftsk_taskHandleCyclicAlgorithm100ms = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskCyclicAlgorithm100ms,
        (const portCHAR *)"TaskCyclicAlgorithm100ms",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionCyclicAlgorithm100ms.stackSize_B),
        (void *)ftsk_taskDefinitionCyclicAlgorithm100ms.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionCyclicAlgorithm100ms.priority,
        ftsk_stackCyclicAlgorithm100ms,
        &ftsk_taskCyclicAlgorithm100ms);
    FAS_ASSERT(ftsk_taskHandleCyclicAlgorithm100ms != NULL); /* Trap if initialization failed */
 
    /* Continuously running Task for I2C */
    static StaticTask_t ftsk_taskI2c                                        = {0};
    static StackType_t ftsk_stackSizeI2c[FTSK_TASK_AFE_STACK_SIZE_IN_WORDS] = {0};
 
    ftsk_taskHandleI2c = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskI2c,
        (const portCHAR *)"TaskI2c",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionI2c.stackSize_B),
        (void *)ftsk_taskDefinitionI2c.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionI2c.priority,
        ftsk_stackSizeI2c,
        &ftsk_taskI2c);
    FAS_ASSERT(ftsk_taskHandleI2c != NULL); /* Trap if initialization failed */
 
    /* This task is required in the BMS application and therefore declared by
       the public name as defined in 'os.h'. The details how this task is
       declared is however only important for the implementation and therefore
       the FreeRTOS specific names can be used. */
    /* Continuously running Task for AFE */
    static StaticTask_t ftsk_taskAfe                                        = {0};
    static StackType_t ftsk_stackSizeAfe[FTSK_TASK_AFE_STACK_SIZE_IN_WORDS] = {0};
 
    ftsk_taskHandleAfe = xTaskCreateStatic(
        (TaskFunction_t)FTSK_CreateTaskAfe,
        (const portCHAR *)"TaskAfe",
        FTSK_BYTES_TO_WORDS(ftsk_taskDefinitionAfe.stackSize_B),
        (void *)ftsk_taskDefinitionAfe.pvParameters,
        (UBaseType_t)ftsk_taskDefinitionAfe.priority,
        ftsk_stackSizeAfe,
        &ftsk_taskAfe);
    FAS_ASSERT(ftsk_taskHandleAfe != NULL); /* Trap if initialization failed */
}
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/
#ifdef UNITY_UNIT_TEST
#endif