113 lines
5.3 KiB
C
113 lines
5.3 KiB
C
/** \file
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* \brief This file defines and registers the tasks used by the Real-Time Operating System.
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*
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* See CONFIG_RTOS.h for a detailed description of the functionality implemented by this code.
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*/
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/* Include Files */
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#include "KTag.h"
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/* Local Definitions and Constants */
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/*---------------------------------------------------------------------------*/
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/* Task priorities: Low priority numbers denote low priority tasks.
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*
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* Low == 0 == tskIDLE_PRIORITY
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* ...
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* High == (configMAX_PRIORITIES - 1)
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*
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* See http://www.freertos.org/RTOS-task-priority.html for more information.
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*/
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#define CAPSENSE_TASK_PRIORITY (tskIDLE_PRIORITY + 3)
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#define SAMPLE_TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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#define FIRE_CONTROL_TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define AUDIO_TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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#define NEOPIXELS_TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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#define TAG_SENSORS_TASK_PRIORITY (tskIDLE_PRIORITY + 5)
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#define SWITCHES_TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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#define NVM_EXTERNAL_TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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#define NVM_ON_CHIP_EEPROM_TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define COMM_CONSOLE_TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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#define COMM_BLE_TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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/* External Variables [Only if necessary!] */
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/* External Function Prototypes [Only if necessary!] */
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/* Public Variables */
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//! Array of all the handles for the configured RTOS tasks.
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TaskHandle_t * const CONFIG_TaskHandles[] = {&HW_CapSense_Task_Handle,
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&Fire_Control_Task_Handle,
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&Sample_Task_Handle,
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&Audio_Task_Handle,
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&NeoPixels_Task_Handle,
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&Tag_Sensors_Task_Handle,
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&Switches_Task_Handle,
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&State_Machine_Task_Handle,
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&NVM_ExternalEEPROM_Task_Handle,
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&NVM_OnChipEEPROM_Task_Handle,
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&COMM_Console_Task_Handle,
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&COMM_BLE_Task_Handle};
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//! Size of the #CONFIG_TaskHandles array (i.e. the number of configured tasks).
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const uint8_t CONFIG_N_TASK_HANDLES = (uint8_t) (sizeof(CONFIG_TaskHandles) / sizeof(TaskHandle_t *));
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/* Private Variables */
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/* Private Function Prototypes */
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/* Public Functions */
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void CONFIG_InitTasks(void)
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{
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HW_CapSense_Init();
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COMM_I2C_Init();
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NVM_InitExternalEEPROM();
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NVM_InitOnChipEEPROM();
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Sample_Task_Init();
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Init_Fire_Control();
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Tag_Sensors_Init();
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Init_Audio();
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Switches_Init();
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COMM_Console_Init();
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COMM_BLE_Init();
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}
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//! Registers tasks with the kernel, and then runs them.
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/*!
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* This function should not return.
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*/
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void CONFIG_RunTasks(void)
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{
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(void) xTaskCreate(HW_CapSense_Task, "CapSense Task", HW_CAPSENSE_TASK_STACK_SIZE_in_bytes, NULL, CAPSENSE_TASK_PRIORITY, &HW_CapSense_Task_Handle);
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(void) xTaskCreate(Fire_Control_Task, "Fire Control Task", configMINIMAL_STACK_SIZE, NULL, FIRE_CONTROL_TASK_PRIORITY, &Fire_Control_Task_Handle);
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(void) xTaskCreate(Sample_Task, "Sample Task", configMINIMAL_STACK_SIZE, NULL, SAMPLE_TASK_PRIORITY, &Sample_Task_Handle);
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(void) xTaskCreate(Audio_Task, "Audio Task", configMINIMAL_STACK_SIZE, NULL, AUDIO_TASK_PRIORITY, &Audio_Task_Handle);
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(void) xTaskCreate(NeoPixels_Task, "NeoPixels Task", configMINIMAL_STACK_SIZE, NULL, NEOPIXELS_TASK_PRIORITY, &NeoPixels_Task_Handle);
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(void) xTaskCreate(Tag_Sensors_Task, "Tag Sensors Task", configMINIMAL_STACK_SIZE, NULL, TAG_SENSORS_TASK_PRIORITY, &Tag_Sensors_Task_Handle);
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(void) xTaskCreate(Switches_Task, "Switches Task", configMINIMAL_STACK_SIZE, NULL, SWITCHES_TASK_PRIORITY, &Switches_Task_Handle);
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(void) xTaskCreate(NVM_OnChipEEPROMTask, "NVMOn", NVM_ON_CHIP_EEPROM_TASK_STACK_SIZE_in_bytes, NULL, NVM_ON_CHIP_EEPROM_TASK_PRIORITY, &NVM_OnChipEEPROM_Task_Handle);
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(void) xTaskCreate(NVM_ExternalEEPROMTask, "NVMEx", NVM_EXTERNAL_EEPROM_TASK_STACK_SIZE_in_bytes, NULL, NVM_EXTERNAL_TASK_PRIORITY, &NVM_ExternalEEPROM_Task_Handle);
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(void) xTaskCreate(COMM_Console_Task, "Console Task", COMM_CONSOLE_TASK_STACK_SIZE_in_bytes, NULL, COMM_CONSOLE_TASK_PRIORITY, &COMM_Console_Task_Handle);
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(void) xTaskCreate(COMM_BLE_Task, "BLE Task", COMM_BLE_TASK_STACK_SIZE_in_bytes, NULL, COMM_BLE_TASK_PRIORITY, &COMM_BLE_Task_Handle);
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if (Initialize_SystemK() != SYSTEMK_RESULT_SUCCESS)
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{
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KLOG_ERROR("CONFIG", "Failed to initilaize SystemK!");
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}
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/* This should not return. */
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vTaskStartScheduler();
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// Something went wrong.
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#ifdef DEBUG
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// Break into the debugger.
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__BKPT(0);
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#else // DEBUG
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__NVIC_SystemReset();
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#endif // DEBUG
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}
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/* Private Functions */
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