bool btc_a2dp_sink_startup(void)
{
if (btc_a2dp_sink_state != BTC_A2DP_SINK_STATE_OFF) {
APPL_TRACE_ERROR("warning : media task already running");
return false;
}
APPL_TRACE_EVENT("## A2DP SINK START MEDIA THREAD ##");
btc_aa_snk_queue_set = xQueueCreateSet(BTC_A2DP_SINK_TASK_QUEUE_SET_LEN);
configASSERT(btc_aa_snk_queue_set);
btc_aa_snk_data_queue = xQueueCreate(BTC_A2DP_SINK_DATA_QUEUE_LEN, sizeof(int32_t));
configASSERT(btc_aa_snk_data_queue);
xQueueAddToSet(btc_aa_snk_data_queue, btc_aa_snk_queue_set);
btc_aa_snk_ctrl_queue = xQueueCreate(BTC_A2DP_SINK_CTRL_QUEUE_LEN, sizeof(void *));
configASSERT(btc_aa_snk_ctrl_queue);
xQueueAddToSet(btc_aa_snk_ctrl_queue, btc_aa_snk_queue_set);
if (!btc_aa_snk_data_queue || !btc_aa_snk_ctrl_queue || !btc_aa_snk_queue_set ) {
goto error_exit;
}
xTaskCreatePinnedToCore(btc_a2dp_sink_task_handler, BTC_A2DP_SINK_TASK_NAME, BTC_A2DP_SINK_TASK_STACK_SIZE, NULL, BTC_A2DP_SINK_TASK_PRIO, &btc_aa_snk_task_hdl, BTC_A2DP_SINK_TASK_PINNED_TO_CORE);
if (btc_aa_snk_task_hdl == NULL) {
goto error_exit;
}
btc_a2dp_sink_ctrl_post(BTC_MEDIA_TASK_SINK_INIT, NULL);
APPL_TRACE_EVENT("## A2DP SINK MEDIA THREAD STARTED ##\n");
return true;
error_exit:;
APPL_TRACE_ERROR("%s unable to start up media thread\n", __func__);
if (btc_aa_snk_task_hdl != NULL) {
vTaskDelete(btc_aa_snk_task_hdl);
btc_aa_snk_task_hdl = NULL;
}
if (btc_aa_snk_data_queue) {
vQueueDelete(btc_aa_snk_data_queue);
btc_aa_snk_data_queue = NULL;
}
if (btc_aa_snk_ctrl_queue) {
vQueueDelete(btc_aa_snk_ctrl_queue);
btc_aa_snk_ctrl_queue = NULL;
}
return false;
}
xQueueSetHandle MPU_xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
{
xQueueSetHandle xReturn;
portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
xReturn = xQueueCreateSet( uxEventQueueLength );
portRESET_PRIVILEGE( xRunningPrivileged );
return xReturn;
}
QueueSetHandle_t MPU_xQueueCreateSet( UBaseType_t uxEventQueueLength )
{
QueueSetHandle_t xReturn;
BaseType_t xRunningPrivileged = prvRaisePrivilege();
xReturn = xQueueCreateSet( uxEventQueueLength );
portRESET_PRIVILEGE( xRunningPrivileged );
return xReturn;
}
QueueSetHandle_t MPU_xQueueCreateSet( UBaseType_t uxEventQueueLength )
{
QueueSetHandle_t xReturn;
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
xReturn = xQueueCreateSet( uxEventQueueLength );
vPortResetPrivilege( xRunningPrivileged );
return xReturn;
}
void vStartQueueSetPollingTask( void )
{
/* Create the queue that is added to the set, the set, and add the queue to
the set. */
xQueue = xQueueCreate( setpollQUEUE_LENGTH, sizeof( uint32_t ) );
xQueueSet = xQueueCreateSet( setpollQUEUE_LENGTH );
xQueueAddToSet( xQueue, xQueueSet );
/* Create the task. */
xTaskCreate( prvQueueSetReceivingTask, "SetPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
CQueueSet &CQueueSet::CreateSet(const UBaseType_t uxEventQueueLength) {
#if (configUSE_QUEUE_SETS == 1)
assert(!IsValid());
QueueSetHandle_t handle;
handle = xQueueCreateSet(uxEventQueueLength);
if (handle != NULL)
Attach(handle);
#endif
return *this;
}
void scheduler_task::initQueueSet(uint32_t queueSetSize, uint32_t count, ...)
{
void *handle = 0;
va_list vl;
va_start(vl, count);
mQueueSet = xQueueCreateSet(queueSetSize);
while(count--) {
handle = va_arg(vl, void*);
xQueueAddToSet( handle, mQueueSet);
}
va_end(vl);
}
void communication_task(){
int status;
rsc_info.rsc_tab = (struct resource_table *)&resources;
rsc_info.size = sizeof(resources);
zynqMP_r5_gic_initialize();
/* Initialize RPMSG framework */
status = remoteproc_resource_init(&rsc_info, rpmsg_channel_created, rpmsg_channel_deleted,
rpmsg_read_cb ,&proc);
if (status < 0) {
return;
}
#ifdef USE_FREERTOS
comm_queueset = xQueueCreateSet( 2 );
xQueueAddToSet( OpenAMPInstPtr.send_queue, comm_queueset);
xQueueAddToSet( OpenAMPInstPtr.lock, comm_queueset);
#else
env_create_sync_lock(&OpenAMPInstPtr.lock,LOCKED);
#endif
env_enable_interrupt(VRING1_IPI_INTR_VECT,0,0);
while (1) {
#ifdef USE_FREERTOS
QueueSetMemberHandle_t xActivatedMember;
xActivatedMember = xQueueSelectFromSet( comm_queueset, portMAX_DELAY);
if( xActivatedMember == OpenAMPInstPtr.lock ) {
env_acquire_sync_lock(OpenAMPInstPtr.lock);
process_communication(OpenAMPInstPtr);
}
if (xActivatedMember == OpenAMPInstPtr.send_queue) {
xQueueReceive( OpenAMPInstPtr.send_queue, &send_data, 0 );
rpmsg_send(app_rp_chnl, send_data.data, send_data.length);
}
#else
env_acquire_sync_lock(OpenAMPInstPtr.lock);
process_communication(OpenAMPInstPtr);
echo_test();
/* Wait for the result data on queue */
if(pq_qlength(OpenAMPInstPtr.send_queue) > 0) {
send_data = pq_dequeue(OpenAMPInstPtr.send_queue);
/* Send the result of echo_test back to master. */
rpmsg_send(app_rp_chnl, send_data->data, send_data->length);
}
#endif
}
}
/**
* \brief Gatekeeper task initialization. Generates the task and initialize
* the hardware.
*/
void taskGatekeeperInit(void) {
/* Initialize the serial interface */
bsp_SerialInit();
/* Generate the task */
xTaskCreate(taskGatekeeper, TASK_GATEKEEPER_NAME, TASK_GATEKEEPER_STACKSIZE,
NULL, TASK_GATEKEEPER_PRIORITY, &taskGatekeeperHandle);
/* Generate the queue */
queueMessage = xQueueCreate(Q_MESSAGE_LENGTH, sizeof(message_t));
queueMessageData = xQueueCreate(Q_MESSAGE_DATA_LENGTH, sizeof(char[DATA_MESSAGE_STRING_LENGTH]));
/* Create the message queue set */
queueMessageSet = xQueueCreateSet(Q_MESSAGE_LENGTH + Q_MESSAGE_DATA_LENGTH);
xQueueAddToSet(queueMessage, queueMessageSet);
xQueueAddToSet(queueMessageData, queueMessageSet);
/* Generate the mutual exclusion */
mutexTxCircBuf = xSemaphoreCreateMutex();
xSemaphoreGive(mutexTxCircBuf);
}
static void prvSetupTest( void )
{
portBASE_TYPE x;
unsigned long ulValueToSend = 0;
/* Ensure the queues are created and the queue set configured before the
sending task is unsuspended.
First Create the queue set such that it will be able to hold a message for
every space in every queue in the set. */
xQueueSet = xQueueCreateSet( queuesetNUM_QUEUES_IN_SET * queuesetQUEUE_LENGTH );
for( x = 0; x < queuesetNUM_QUEUES_IN_SET; x++ )
{
/* Create the queue and add it to the set. The queue is just holding
unsigned long value. */
xQueues[ x ] = xQueueCreate( queuesetQUEUE_LENGTH, sizeof( unsigned long ) );
configASSERT( xQueues[ x ] );
if( xQueueAddToSet( xQueues[ x ], xQueueSet ) != pdPASS )
{
xQueueSetTasksStatus = pdFAIL;
}
else
{
/* The queue has now been added to the queue set and cannot be added to
another. */
if( xQueueAddToSet( xQueues[ x ], xQueueSet ) != pdFAIL )
{
xQueueSetTasksStatus = pdFAIL;
}
}
}
/* Attempt to remove a queue from a queue set it does not belong
to (NULL being passed as the queue set in this case). */
if( xQueueRemoveFromSet( xQueues[ 0 ], NULL ) != pdFAIL )
{
/* It is not possible to successfully remove a queue from a queue
set it does not belong to. */
xQueueSetTasksStatus = pdFAIL;
}
/* Attempt to remove a queue from the queue set it does belong to. */
if( xQueueRemoveFromSet( xQueues[ 0 ], xQueueSet ) != pdPASS )
{
/* It should be possible to remove the queue from the queue set it
does belong to. */
xQueueSetTasksStatus = pdFAIL;
}
/* Add an item to the queue before attempting to add it back into the
set. */
xQueueSend( xQueues[ 0 ], ( void * ) &ulValueToSend, 0 );
if( xQueueAddToSet( xQueues[ 0 ], xQueueSet ) != pdFAIL )
{
/* Should not be able to add a non-empty queue to a set. */
xQueueSetTasksStatus = pdFAIL;
}
/* Remove the item from the queue before adding the queue back into the
set so the dynamic tests can begin. */
xQueueReceive( xQueues[ 0 ], &ulValueToSend, 0 );
if( xQueueAddToSet( xQueues[ 0 ], xQueueSet ) != pdPASS )
{
/* If the queue was successfully removed from the queue set then it
should be possible to add it back in again. */
xQueueSetTasksStatus = pdFAIL;
}
/* The task that sends to the queues is not running yet, so attempting to
read from the queue set should fail. */
if( xQueueSelectFromSet( xQueueSet, queuesetSHORT_DELAY ) != NULL )
{
xQueueSetTasksStatus = pdFAIL;
}
/* Resume the task that writes to the queues. */
vTaskResume( xQueueSetSendingTask );
/* Let the ISR access the queues also. */
xSetupComplete = pdTRUE;
}
static void
main_thread(void *pdata) {
QueueSetHandle_t qs;
QueueSetMemberHandle_t active;
ASSERT((qs = xQueueCreateSet(SERIAL_RX_SIZE * 3)));
serial_start(cli_serial, 115200, qs);
serial_start(&Serial4, 57600, qs);
serial_start(&Serial5, cfg.gps_baud_rate ? cfg.gps_baud_rate : 57600, qs);
cli_set_output(cli_serial);
log_start(cli_serial);
cl_enabled = 1;
load_eeprom();
cfg.flags &= ~FLAG_HOLDOVER_TEST;
if (cfg.flags & FLAG_GPSEXT) {
gps_serial = &Serial5;
} else {
gps_serial = &Serial4;
}
if (!cfg.holdover) {
cfg.holdover = 60;
}
if (!cfg.loopstats_interval) {
cfg.loopstats_interval = 60;
}
ppscapture_start();
vtimer_start();
tcpip_start();
test_reset();
cli_banner();
if (!(cfg.flags & FLAG_GPSEXT)) {
ublox_configure();
if (HAS_FEATURE(PPSEN) && (cfg.flags & FLAG_PPSEN)) {
GPIO_OFF(PPSEN);
}
}
cl_enabled = 0;
while (1) {
watchdog_main = 5;
active = xQueueSelectFromSet(qs, pdMS_TO_TICKS(1000));
if (active == cli_serial->rx_q) {
int16_t val = serial_get(cli_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
cli_feed(val);
} else if (active == gps_serial->rx_q) {
int16_t val = serial_get(gps_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
gps_byte_received(val);
if (cfg.flags & FLAG_GPSOUT) {
char tmp = val;
serial_write(&Serial5, &tmp, 1);
}
#if 0
} else if (active == Serial5.rx_q) {
char tmp = serial_get(&Serial5, TIMEOUT_NOBLOCK);
serial_write(&Serial4, &tmp, 1);
#endif
}
}
}
