More elegant fsl::Task implementation
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7eedbfdf9b
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0111f3d210
9 changed files with 301 additions and 19 deletions
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@ -16,7 +16,7 @@
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namespace f4ll_cpp {
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template<unsigned int bufSize> class SerialConsole : protected UartBase
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template<size_t bufSize> class SerialConsole : protected UartBase
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{
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public:
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struct Buffer {
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@ -52,7 +52,7 @@ private:
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void *m_callbackUserParam;
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};
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template<unsigned int bufSize> SerialConsole<bufSize>::SerialConsole(
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template<size_t bufSize> SerialConsole<bufSize>::SerialConsole(
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USART_TypeDef *uart, DMA_TypeDef *dma, uint32_t stream_rx, uint32_t stream_tx,
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ISerialConsoleCallback *callback, void *callbackUserParam
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)
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@ -63,13 +63,13 @@ template<unsigned int bufSize> SerialConsole<bufSize>::SerialConsole(
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SetupReceive(m_rxBuffers[m_activeRxBuffer].buffer, bufSize);
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}
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template<unsigned int bufSize> void SerialConsole<bufSize>::SetupTransmit(void *buffer, uint16_t length)
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template<size_t bufSize> void SerialConsole<bufSize>::SetupTransmit(void *buffer, uint16_t length)
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{
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m_txBuffer.busy = true;
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UartBase::SetupTransmit(buffer, length);
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}
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template<unsigned int bufSize> void SerialConsole<bufSize>::HandleRxDmaIrq()
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template<size_t bufSize> void SerialConsole<bufSize>::HandleRxDmaIrq()
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{
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if(*m_rxDma.GetIsReg() & m_rxDma.GetTcMask()) {
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*m_rxDma.GetIfcReg() = m_rxDma.GetTcMask();
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@ -87,7 +87,7 @@ template<unsigned int bufSize> void SerialConsole<bufSize>::HandleRxDmaIrq()
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SetupReceive(m_rxBuffers[m_activeRxBuffer].buffer, bufSize);
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}
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template<unsigned int bufSize> void SerialConsole<bufSize>::HandleTxDmaIrq()
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template<size_t bufSize> void SerialConsole<bufSize>::HandleTxDmaIrq()
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{
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if(*m_txDma.GetIsReg() & m_txDma.GetTcMask()) { // DMA transfer complete
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*m_txDma.GetIfcReg() = m_txDma.GetTcMask();
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@ -102,7 +102,7 @@ template<unsigned int bufSize> void SerialConsole<bufSize>::HandleTxDmaIrq()
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}
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}
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template<unsigned int bufSize> void SerialConsole<bufSize>::HandleUsartIrq()
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template<size_t bufSize> void SerialConsole<bufSize>::HandleUsartIrq()
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{
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if(LL_USART_IsActiveFlag_IDLE(m_uart) && LL_USART_IsEnabledIT_IDLE(m_uart)) { // receiver idle
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// we assume that new line marker will arrive without an idle cycle even if it is CRLF
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@ -136,7 +136,7 @@ template<unsigned int bufSize> void SerialConsole<bufSize>::HandleUsartIrq()
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}
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}
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template<unsigned int bufSize> void SerialConsole<bufSize>::Send(char const *buffer, uint8_t length)
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template<size_t bufSize> void SerialConsole<bufSize>::Send(char const *buffer, uint8_t length)
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{
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if(!length) {
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auto computedLength = strlen(buffer);
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@ -150,7 +150,7 @@ template<unsigned int bufSize> void SerialConsole<bufSize>::Send(char const *buf
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}
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}
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template<unsigned int bufSize> void SerialConsole<bufSize>::SendLine(char const *buffer, uint8_t length)
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template<size_t bufSize> void SerialConsole<bufSize>::SendLine(char const *buffer, uint8_t length)
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{
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if(!length) {
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auto computedLength = strlen(buffer);
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245
components/fsl/ringbuffer.h
Normal file
245
components/fsl/ringbuffer.h
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@ -0,0 +1,245 @@
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/*
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* ringbuffer.h
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*
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* Created on: Sep 14, 2021
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* Author: Attila Body
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*/
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#pragma once
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <FreeRTOS.h>
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#include <semphr.h>
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#include <task.h>
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namespace fsl {
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template<size_t capacity> class RingBuffer
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{
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public:
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/**
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* @brief Initializes the ring buffer internal structure with the corresponding parameters.
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* Provided only for convenience, the structure also can be initialized locally
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*/
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RingBuffer(TaskHandle_t consumerTask,
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// BaseType_t consumerNotifyIndex,
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uint32_t consumerNotifyMask,
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TaskHandle_t producerTask,
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// BaseType_t producerNotifyIndex,
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uint32_t producerNotifyMask);
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/**
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* @brief Copies data to the ring buffer (without committing it) The amount of the committed data in the buffer
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* should not exceed the size of the buffer.
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* @param data Pointer to the data to copy
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* @param len Length of the data to copy
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*/
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void Put(uint8_t const *data_buffer, size_t len);
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/**
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* @brief Commits the data already placed into the buffer and notifies the consumer about it's availability
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*/
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void Commit();
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/**
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* @brief Waits until all the data from the ring buffer gets consumed.
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*/
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void Flush();
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/**
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* @brief Gets a pointer to the next chunk of committed data in the buffer without administering the consumption
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* of it. The caller should also call ringbuffer_RepostConsumption using the returned chunk length after
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* it finished processing the data.
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* @param[in] len_requested Length of the data requested from the buffer. The length of the actual data provided
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* might be actually smaller (because either reaching the end of the buffer or not enough data in the buffer).
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* @param[out] data Receives 1a pointer to the first byte of the available data in the buffer
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* @param[out] len Receives the length of the chunk available in the buffer. Will not exceed len_requested.
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* @retval true if the buffer has more available data, false otherwise
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* @remark The caller should wait for notification from the producer task (using m_producerNotifyIndex
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* and producer_notify_mask) before calling this function and consume the data
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* (also registering each consumption cycle) until this function returns false
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*/
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bool GetChunk(size_t len_requested, uint8_t *&data, size_t &len);
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/**
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* @brief Marks the chunk returned by ringbuffer_GetChunk as available
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* @param consumed The length of the chunk as returned by ringbuffer_GetChunk(..., len)
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*/
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void ReportConsumption(size_t consumed);
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private:
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size_t m_head; //!< Write position
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size_t m_headShadow; //!< Shadowed write position for collecting data before committing it
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size_t m_tail; //!< Read position
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TaskHandle_t m_consumerTask; //!< Task handle of the consumer (to notify when data is available)
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BaseType_t m_consumerNotifyIndex; //!< Notification index used for consumer notification
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uint32_t m_consumerNotifyMask; //!< Notification data for the consumer
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TaskHandle_t m_producerTask; //!< Task handle of the producer (to notify when available buffer space increased)
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BaseType_t m_producerNotifyIndex; //!< Notification index used for producer notification
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uint32_t m_producerNotifyMask; //!< Notification data for the producer
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uint8_t m_buffer[capacity]; //!< Pointer to the phisical memory bufer
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static inline size_t used(size_t s, size_t h, size_t t)
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{
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return (((h) >= (t)) ? ((h) - (t)) : ((s) - (t) + (h)));
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}
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static inline size_t available(size_t s, size_t h, size_t t)
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{
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return ((s) - used(s, h, t));
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}
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void __ASSERT(bool pred)
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{
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}
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};
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template<size_t capacity> RingBuffer<capacity>::RingBuffer(
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TaskHandle_t consumerTask,
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// BaseType_t consumerNotifyIndex,
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uint32_t consumerNotifyMask,
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TaskHandle_t producerTask,
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// BaseType_t producerNotifyIndex,
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uint32_t producerNotifyMask)
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: m_consumerTask(consumerTask)
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// , m_consumerNotifyIndex(consumerNotifyIndex)
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, m_consumerNotifyMask(consumerNotifyMask)
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, m_producerTask(producerTask)
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// , m_producerNotifyIndex(producerNotifyIndex)
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, m_producerNotifyMask(producerNotifyMask)
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{}
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template<size_t capacity> void RingBuffer<capacity>::Put(uint8_t const *data_buffer, size_t len)
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{
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uint16_t chunk1 = 0;
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uint16_t chunk2 = 0;
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uint16_t uncommitted = 0;
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uncommitted = used(capacity, m_headShadow, m_head);
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__ASSERT(uncommitted + len + 1 <= capacity);
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if(xPortIsInsideInterrupt()) {
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if(available(capacity, m_headShadow, m_tail) < len + 1) {
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__ASSERT(false);
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return;
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}
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} else {
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while(available(capacity, m_headShadow, m_tail) < len + 1) {
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// xTaskNotifyWaitIndexed(m_producerNotifyIndex, 0, m_producerNotifyMask, NULL, portMAX_DELAY);
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xTaskNotifyWait(0, m_producerNotifyMask, NULL, portMAX_DELAY);
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}
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}
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chunk1 = capacity - m_headShadow;
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if(chunk1 >= len) {
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chunk1 = len;
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} else {
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chunk2 = len - chunk1;
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}
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memcpy(m_buffer + m_headShadow, data_buffer, chunk1);
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m_headShadow += chunk1;
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if(m_headShadow == capacity) {
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m_headShadow = 0;
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}
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if(chunk2) {
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memcpy(m_buffer, data_buffer + chunk1, chunk2);
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m_headShadow += chunk2;
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if(m_headShadow == capacity) {
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m_headShadow = 0;
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}
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}
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}
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template<size_t capacity> void RingBuffer<capacity>::Commit()
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{
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uint16_t uncommitted = used(capacity, m_headShadow, m_head);
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if(!uncommitted) {
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return;
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}
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m_head = m_headShadow;
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if(xPortIsInsideInterrupt()) {
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BaseType_t woken_up = 0;
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// xTaskNotifyIndexedFromISR(m_consumerTask, m_consumerNotifyIndex, m_consumerNotifyMask, eSetBits, &woken_up);
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xTaskNotifyFromISR(m_consumerTask, m_consumerNotifyMask, eSetBits, &woken_up);
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portYIELD_FROM_ISR(woken_up); // NOLINT(hicpp-no-assembler)
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} else {
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// xTaskNotifyIndexed(m_consumerTask, m_consumerNotifyIndex, m_consumerNotifyMask, eSetBits);
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xTaskNotify(m_consumerTask, m_consumerNotifyMask, eSetBits);
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}
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}
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template<size_t capacity> void RingBuffer<capacity>::Flush()
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{
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while(m_head != m_tail) {
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// TODO: Watchdog?
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// xTaskNotifyWaitIndexed(m_producerNotifyIndex, 0, m_producerNotifyMask, NULL, portMAX_DELAY);
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xTaskNotifyWait(0, m_producerNotifyMask, NULL, portMAX_DELAY);
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}
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}
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template<size_t capacity> bool RingBuffer<capacity>::GetChunk(size_t len_requested, uint8_t *&data, size_t &len)
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{
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size_t head = m_head;
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size_t tail = m_tail;
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size_t chunk_size = head >= tail ? head - tail : capacity - tail;
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if(!chunk_size) {
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len = 0;
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return false;
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}
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if(chunk_size > len_requested) {
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chunk_size = len_requested;
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}
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data = m_buffer + tail;
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len = chunk_size;
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tail += chunk_size;
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if(tail == capacity) {
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tail = 0;
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}
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return tail != head;
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}
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template<size_t capacity> void RingBuffer<capacity>::ReportConsumption(size_t consumed)
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{
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if(!consumed) {
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return;
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}
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m_tail += consumed;
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if(m_tail == capacity) {
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m_tail = 0;
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}
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if(m_producerTask) {
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if(xPortIsInsideInterrupt()) {
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BaseType_t woken_up = 0;
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// xTaskNotifyIndexedFromISR(m_producerTask, m_producerNotifyIndex, m_producerNotifyMask, eSetBits, &woken_up);
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xTaskNotifyFromISR(m_producerTask, m_producerNotifyMask, eSetBits, &woken_up);
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portYIELD_FROM_ISR(woken_up); // NOLINT(hicpp-no-assembler)
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} else {
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// xTaskNotifyIndexed(m_producerTask, m_producerNotifyIndex, producerNotifyMask, eSetBits);
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xTaskNotify(m_producerTask, m_producerNotifyMask, eSetBits);
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}
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}
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}
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} // fsl
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@ -16,17 +16,26 @@ namespace fsl {
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template<typename T, uint32_t stackSize> class Task {
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public:
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Task(UBaseType_t priority) : m_priority(priority) {}
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Task(UBaseType_t priority, void (T::*fp)()) : m_priority(priority), m_fp(fp) {}
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void Start(SemaphoreHandle_t doneSem = nullptr, bool waitForInit = false) {
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m_handle = xTaskCreateStatic(T::TaskFn, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
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m_handle = xTaskCreateStatic(staticBridge, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
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this, m_priority, m_stack, &m_tcb);
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}
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virtual ~Task() {};
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virtual char const * getName() = 0;
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private:
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static void staticBridge(void *taskObj) {
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reinterpret_cast<Task<T, stackSize>*>(taskObj)->taskBridge();
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}
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void taskBridge() {
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(static_cast<T*>(this)->*m_fp)();
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}
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TaskHandle_t m_handle;
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UBaseType_t m_priority;
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void (T::*m_fp)();
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StaticTask_t m_tcb;
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StackType_t m_stack[stackSize];
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};
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