rtos.h

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#ifndef RTOS_H
#define RTOS_H
 
#include <stdbool.h>
#include <stdint.h>
 
#include "constants.h"
#include "types.h"
#include "iem_utils.h"
 
#include "FreeRTOS.h"
 
#include "queue.h"
#include "semphr.h"
#include "task.h"
#include "timers.h"
 
 
// Task priority aliases
enum {
    PRIO_IDLE = 0,
    PRIO_LOW,
    PRIO_NORMAL,
    PRIO_ABOVE_NORMAL,
    PRIO_HIGH,
    PRIO_LUDICROUS,
};
 

#define TASK_STATE_NAME        "state"
#define TASK_STATE_PRIO        PRIO_ABOVE_NORMAL
#define TASK_STATE_STACK_DEPTH ((size_t)1024)
#define TASK_STATE_PERIOD      5
 
#define TASK_STATE_NOTIF_THROTTLE 0
#define TASK_STATE_NOTIF_TIMER    1
 
#define STATE_QUEUE_LENGTH 128

#define TASK_TRACTIVE_NAME        "tractive"
#define TASK_TRACTIVE_PRIO        PRIO_HIGH
#define TASK_TRACTIVE_STACK_DEPTH ((size_t)4096)
#define TASK_TRACTIVE_PERIOD      4
 
#define TASK_TRACTIVE_NOTIF_CAR_STATE 0
 
#define TRACTIVE_CAN_QUEUE_LENGTH 128

#define TASK_VNAV_NAME        "vnav"
#define TASK_VNAV_PRIO        PRIO_LUDICROUS  // TODO
#define TASK_VNAV_STACK_DEPTH configMINIMAL_STACK_SIZE
 
#define TASK_VNAV_NOTIF_SYNC_OUT   0
#define TASK_VNAV_NOTIF_UART_EVENT 1

#define TASK_CAN_RX_PRIO        PRIO_ABOVE_NORMAL
#define TASK_CAN_RX_STACK_DEPTH configMINIMAL_STACK_SIZE
 
#define TASK_CAN_RX_NOTIF_MSG 0

#define TASK_CAN_TX_PRIO        PRIO_LOW
#define TASK_CAN_TX_STACK_DEPTH configMINIMAL_STACK_SIZE
 
#define CAN_TX_QUEUE_LENGTH 128
 
 
#define FERAM_HSPI    &hspi4
#define FERAM_CS_PORT FERAM_CS_GPIO_Port
#define FERAM_CS_PIN  FERAM_CS_Pin
 
#define FERAM_PWR_CUT_TIME_MS 5
#define FERAM_SPI_CLOCK_SPEED 24000000
 
extern Global_Handles_t hdls_g;
 
extern void application_init();
extern void application_start();
 
#endif