fault handler attempt #93
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Okay so there is def a bit of work to be done, but solid first attempt. I think I've sent a few reference commits but the typical flow of adding a task is:
- create a function with similar parameters to the other
vSomethingtasks in other files (particularly monitor.c) - create a threadattributes struct, similar to the stuff implemented in monitor.h. These specify the attributes of each task
- Actually initialize the task in main.c, there is a bunch of functions grouped together in main that are all initializing the task
Core/Src/fault.c
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| @@ -1,3 +1,45 @@ | |||
| #include "fault.h" | |||
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| osMessageQueueId_t fault_handle_queue; | |||
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| //Function to determine priority base on severity | |||
| void priority(void) { | |||
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So this should be the main "task" which we will assign a priority and tell the kernel to schedule on boot. For references on other tasks, check the functions that start with vSomething in monitor.c. These have a thread attribute struct associated with them that we use to initialize in main.c
Core/Src/fault.c
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| //Function to determine priority base on severity | ||
| void priority(void) { | ||
| osThreadId_t id; | ||
| MSGQUEUE_OBJ_t msg; |
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So the type of the message that we receive depends on what we are actually queuing, in this case I believe the type is FaultStatus_t or something I forgot exactly what it is
Core/Src/fault.c
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| // Wait until a message is in the queue, send messages when they are in the queue | ||
| for(;;) { | ||
| status = osMessageQueueGet(fault_handle_queue, &msg, NULL, 0U); // wait for message | ||
| id = osThreadGetId(); // Obtain ID of current running thread |
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You shouldn't need to get the ID each time
Core/Src/fault.c
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| if (status == osOK) { | ||
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| // process data | ||
| switch (fault_sev_t) { |
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You want to access the severity field of the fault_t or whatever data type you get from the queue. The idea is that we are popping off a fault and then routing to a case for the severity
Core/Src/fault.c
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| // process data | ||
| switch (fault_sev_t) { | ||
| case 'DEFCON1': //Higest(1st) Priority | ||
| osThreadSetPriority(id, osPriorityHigh); |
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I don't think we need to set the priority here, tbh I would just leave this blank for now apart from the break;'s and we will handle faults in a later ticket
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Made edits based on suggestions provided. Used functions from "https://www.keil.com/pack/doc/cmsis/RTOS2/html/group__CMSIS__RTOS__Message.html" as references. |
Core/Src/fault.c
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| const osThreadAttr_t fault_handle_attributes = { | ||
| .name = "FaultHandler", | ||
| .stack_size = 128 * 4, | ||
| //.priority = (osPriority_t)osPriorityBelowNormal3, |
I modified the "fault.c" file, attempted to use a if loop to pop faults off the queue and made a switch statement to create priorities for tasks.