app.c - stm32f103rb_hal_blink - Non-blocking, event triggered blink example using HAL library

app/src/app.c (3501B)
Line numbers
   1 /*
   2  * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
   3  * Copyright (c) 2026 Martin Javier Klöckner <mklockner@fi.uba.ar>
   4  *
   5  * See file `LICENSE` for full details
   6  */
   7 
   8 #include "main.h"
   9 
  10 #include "logger.h"
  11 #include "dwt.h"
  12 
  13 #include "board.h"
  14 #include "task_system.h"
  15 #include "task_actuator.h"
  16 #include "task_sensor.h"
  17 
  18 #define G_APP_CNT_INI       0ul
  19 #define G_APP_TICK_CNT_INI  0ul
  20 #define G_APP_WCET_INI      0ul
  21 
  22 #define TASK_X_WCET_INI     0ul
  23 #define TASK_X_DELAY_MIN    0ul
  24 
  25 typedef struct {
  26     void (*task_init)(void *);
  27     void (*task_update)(void *);
  28     void *parameters;
  29 } task_cfg_t;
  30 
  31 typedef struct {
  32     uint32_t WCET; // Task worst-case execution time (microseconds)
  33 } task_dta_t;
  34 
  35 const task_cfg_t task_cfg_list[] = {
  36     {task_sensor_init,   task_sensor_update,   NULL},
  37     {task_system_init,   task_system_update,   NULL},
  38     {task_actuator_init, task_actuator_update, NULL}
  39 };
  40 
  41 #define TASK_QTY (sizeof(task_cfg_list)/sizeof(task_cfg_t))
  42 
  43 uint32_t g_app_cnt;
  44 uint32_t g_app_runtime_us;
  45 uint32_t g_app_WCET_us; // Worst case execution time historically
  46 
  47 volatile uint32_t g_app_tick_cnt;
  48 
  49 task_dta_t task_dta_list[TASK_QTY];
  50 
  51 void app_init(void)
  52 {
  53     LOGGER_INFO("Initializing `app`...");
  54 
  55     g_app_WCET_us = G_APP_WCET_INI;
  56 
  57     cycle_counter_init();
  58 
  59     for (uint32_t index = 0; TASK_QTY > index; index++)
  60     {
  61         (*task_cfg_list[index].task_init)(task_cfg_list[index].parameters);
  62         task_dta_list[index].WCET = TASK_X_WCET_INI;
  63     }
  64 
  65     __asm("CPSID i");
  66     g_app_tick_cnt = G_APP_TICK_CNT_INI;
  67     g_task_sensor_tick_cnt = G_APP_TICK_CNT_INI;
  68     g_task_system_tick_cnt = G_APP_TICK_CNT_INI;
  69     g_task_actuator_tick_cnt = G_APP_TICK_CNT_INI;
  70     __asm("CPSIE i");
  71 
  72     LOGGER_INFO("Done initializing `app`");
  73 }
  74 
  75 void app_update(void)
  76 {
  77     uint32_t index;
  78     bool b_time_update_required = false;
  79     uint32_t cycle_counter_time_us;
  80 
  81     __asm("CPSID i");
  82     if (G_APP_TICK_CNT_INI < g_app_tick_cnt)
  83     {
  84         g_app_tick_cnt--;
  85         b_time_update_required = true;
  86     }
  87     __asm("CPSIE i");
  88 
  89     /* Check if it's time to run tasks */
  90     while (b_time_update_required)
  91     {
  92         /* Update App Counter */
  93         g_app_cnt++;
  94         g_app_runtime_us = 0;
  95 
  96         /* Go through the task arrays */
  97         for (index = 0; TASK_QTY > index; index++)
  98         {
  99             cycle_counter_reset();
 100 
 101             /* Run task_x_update */
 102             (*task_cfg_list[index].task_update)(task_cfg_list[index].parameters);
 103 
 104             cycle_counter_time_us = cycle_counter_get_time_us();
 105 
 106             /* Update variables */
 107             g_app_runtime_us += cycle_counter_time_us;
 108 
 109             if (g_app_WCET_us < g_app_runtime_us) {
 110                 g_app_WCET_us = g_app_runtime_us;
 111                 LOGGER_INFO("app worst execution time (WCET): %lu us", g_app_WCET_us);
 112             }
 113 
 114             if (task_dta_list[index].WCET < cycle_counter_time_us)
 115             {
 116                 task_dta_list[index].WCET = cycle_counter_time_us;
 117             }
 118         }
 119 
 120         __asm("CPSID i");
 121         if (G_APP_TICK_CNT_INI < g_app_tick_cnt)
 122         {
 123             g_app_tick_cnt--;
 124             b_time_update_required = true;
 125         }
 126         else
 127         {
 128             b_time_update_required = false;
 129         }
 130         __asm("CPSIE i");
 131     }
 132 }
 133 
 134 void HAL_SYSTICK_Callback(void)
 135 {
 136     /* Update Tick Counters */
 137     g_app_tick_cnt++;
 138     g_task_sensor_tick_cnt++;
 139     g_task_system_tick_cnt++;
 140     g_task_actuator_tick_cnt++;
 141 }