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FreeRTOS: A few small fixes to make the FreeRTOS port simpler #5

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47 changes: 47 additions & 0 deletions projects/freertos/cmd_channel_freertos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -61,3 +61,50 @@ int cmd_channel_freertos_send_packet (QueueHandle_t tx_queue, struct cmd_packet

return 0;
}

/**
* Receive a command packet from a communication channel.
* This is an implementation of the receive_packet() function for
* the struct cmd_channel and uses the global I2CRequestQueue.
*
* @param channel The channel to receive a packet from.
* @param packet Output for the packet data being received.
* @param ms_timeout The amount of time to wait for a received packet, in milliseconds. A
* negative value will wait forever, and a value of 0 will return immediately.
*
* @return 0 if a packet was successfully received or an error code.
*/
static int cmd_channel_receive_packet (struct cmd_channel *channel,
struct cmd_packet *packet, int ms_timeout)
{
return cmd_channel_freertos_receive_packet(I2CRequestQueue, packet,
ms_timeout);
}

/**
* Send a command packet over a communication channel.
* This is an implementation of the send_packet() function for
* the struct cmd_channel and uses the global I2CResponseQueue.
*
* @param channel The channel to send a packet on.
* @param packet The packet to send.
*
* @return 0 if the the packet was successfully sent or an error code.
*/
static int cmd_channel_send_packet (struct cmd_channel *channel,
struct cmd_packet *packet)
{
return cmd_channel_freertos_send_packet(I2CResponseQueue, packet, 0);
}

/**
* Set the default receive_packet and send_packet function hooks.
* These use the global I2CRequestQueue and I2CResponseQueue.
*
* @param channel The channel to initialise.
*/
void cmd_channel_packet_default_init (struct cmd_channel *channel)
{
channel->receive_packet = cmd_channel_receive_packet;
channel->send_packet = cmd_channel_send_packet;
}
3 changes: 3 additions & 0 deletions projects/freertos/cmd_channel_freertos.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,11 +8,14 @@
#include "queue.h"
#include "cmd_interface/cmd_channel.h"

extern QueueHandle_t I2CRequestQueue;
extern QueueHandle_t I2CResponseQueue;

int cmd_channel_freertos_receive_packet (QueueHandle_t rx_queue, struct cmd_packet *packet,
int ms_timeout);
int cmd_channel_freertos_send_packet (QueueHandle_t tx_queue, struct cmd_packet *packet,
int ms_timeout);

void cmd_channel_packet_default_init (struct cmd_channel *channel);

#endif /* CMD_CHANNEL_FREERTOS_H_ */