TaskCreate added

kassane · Aug 13, 2024 · f12994e · f12994e
1 parent b0f9ead
commit f12994e
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Showing 2 changed files with 86 additions and 4 deletions.
diff --git a/main/app.c3 b/main/app.c3
@@ -8,10 +8,26 @@ fn void main() @export("app_main")
 	defer idf::heap_caps_dump_all();
 
 	newlib::printf("Malloc test:\n");
-	void* ptr = idf::heap_caps_malloc(100, idf::MALLOC_CAP_DMA);
+	void* ptr = idf::heap_caps_malloc(100, idf::MALLOC_CAP_DEFAULT);
 	newlib::printf("Allocated 100 bytes at %p\n", ptr);
 	idf::heap_caps_free(ptr);
 	newlib::printf("Freeing memory...\n");
-	
+
 	newlib::printf("Malloc dump all\n");
+
+	if(idf::xTaskCreate(&taskSample, "taskSample", 10000, null, 1, null) != idf::ESP_OK){
+		// TODO: Handle error
+		newlib::printf("TaskSample cannot be run!!\n");
+	}
 }
+
+fn void taskSample(void* arg) @export("taskSample") {
+	newlib::printf("TaskSample started\n");
+	while(true){
+		newlib::printf("TaskSample running, %d\n", counter);
+		idf::vTaskDelay(1000 / idf::TICK_PERIOD_MS);
+		counter++;
+	}
+}
+
+int counter = 0;
diff --git a/main/wrappers/idf.c3 b/main/wrappers/idf.c3
@@ -1,5 +1,6 @@
 module idf;
 
+// typedefs
 def Esp_err_t = int;
 def Caps = isz;
 
@@ -25,6 +26,7 @@ const Esp_err_t ESP_ERR_FLASH_BASE = 0x6000;
 const Esp_err_t ESP_ERR_HW_CRYPTO_BASE = 0xc000;
 const Esp_err_t ESP_ERR_MEMPROT_BASE = 0xd000;
 
+// Memory capabilities
 const Caps MALLOC_CAP_EXEC = (1 << 0);          //< Memory must be able to run executable code
 const Caps MALLOC_CAP_32BIT = (1 << 1);         //< Memory must allow for aligned 32-bit data accesses
 const Caps MALLOC_CAP_8BIT = (1 << 2);          //< Memory must allow for 8/16/...-bit data accesses
@@ -44,13 +46,18 @@ const Caps MALLOC_CAP_RTCRAM = (1 << 15);       //< Memory must be in RTC fast m
 const Caps MALLOC_CAP_TCM = (1 << 16);          //< Memory must be in TCM memory
 const Caps MALLOC_CAP_INVALID = (1 << 31);      //< Memory can't be used / list end marker
 
-// Functions
+// ========================Functions====================================
+
+/// Get error
 extern fn char* esp_err_to_name(Esp_err_t err_code);
 extern fn char* esp_err_to_name_r(Esp_err_t err_code, char* buf, usz buflen);
 extern fn void _esp_error_check_failed(Esp_err_t err_code, char* file, int line, char* function, char* expression);
 extern fn void _esp_error_check_failed_without_abort(Esp_err_t err_code, char* file, int line, char* function, char* expression);
+
+/// Get IDF version string
 extern fn char* esp_get_idf_version();
 
+/// Memory allocation
 extern fn void* heap_caps_malloc(usz size, uint caps);
 extern fn void heap_caps_free(void* ptr);
 extern fn void* heap_caps_realloc(void* ptr, usz size, uint caps);
@@ -66,4 +73,63 @@ extern fn Esp_err_t heap_caps_monitor_local_minimum_free_size_start();
 extern fn Esp_err_t heap_caps_monitor_local_minimum_free_size_stop();
 extern fn void heap_caps_dump(Caps caps);
 extern fn void heap_caps_dump_all();
-extern fn usz heap_caps_get_allocated_size(void* ptr);
+extern fn usz heap_caps_get_allocated_size(void* ptr);
+
+/// FreeRTOS tasks
+def TaskHandle_t = void*;
+def TaskFunction_t = fn void(void*);
+def UBaseType_t = uint;
+def TickType_t = uint;
+def BaseType_t = int;
+def StackType_t = char;
+
+struct StaticListItem_t
+{
+    uint xDummy2;
+    void*[4] pvDummy3;
+}
+struct StaticTask_t
+{
+    void* pxDummy1;
+    StaticListItem_t[2] xDummy3;
+    uint uxDummy5;
+    void* pxDummy6;
+    int[2] xDummy23;
+    char[16] ucDummy7;
+    void* pxDummy8;
+    uint[2] uxDummy12;
+    void*[2] pvDummy15;
+    void* xDummy17;
+    int[1] ulDummy18;
+    char[1] ucDummy19;
+    char uxDummy20;
+    char ucDummy21;
+}
+
+const TickType_t TICK_RATE_HZ = 100;
+const TickType_t TICK_PERIOD_MS = 1000 / TICK_RATE_HZ;
+extern fn void vTaskDelay(TickType_t ticks);
+extern fn void vTaskPrioritySet(TaskHandle_t xTask, UBaseType_t uxNewPriority);
+extern fn void vTaskSuspend(TaskHandle_t xTaskToSuspend);
+extern fn void vTaskResume(TaskHandle_t xTaskToResume);
+extern fn BaseType_t xTaskResumeFromISR(TaskHandle_t xTaskToResume);
+extern fn void vTaskPreemptionDisable(TaskHandle_t xTask);
+extern fn void vTaskPreemptionEnable(TaskHandle_t xTask);
+extern fn void vTaskStartScheduler();
+extern fn void vTaskEndScheduler();
+extern fn void vTaskSuspendAll();
+extern fn BaseType_t xTaskResumeAll();
+extern fn UBaseType_t xTaskGetTickCount();
+extern fn UBaseType_t xTaskGetTickCountFromISR();
+extern fn UBaseType_t uxTaskGetNumberOfTasks();
+
+extern fn BaseType_t xTaskCreatePinnedToCore(TaskFunction_t pvTaskCode, char* pcName, uint usStackDepth, void* pvParameters, uint uxPriority, TaskHandle_t* pvCreatedTask, uint uxCoreID);
+fn BaseType_t xTaskCreate(TaskFunction_t pvTaskCode, char* pcName, uint usStackDepth, void* pvParameters, uint uxPriority, TaskHandle_t* pvCreatedTask)
+{
+    return xTaskCreatePinnedToCore(pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask, 2147483647);
+}
+extern fn BaseType_t xTaskCreateStatiicPinnedToCore(TaskFunction_t pvTaskCode, char* pcName, uint usStackDepth, void* pvParameters, uint uxPriority, TaskHandle_t* pvCreatedTask, StaticTask_t* pxTaskBuffer, StackType_t* pxStackBuffer, uint uxCoreID);
+fn BaseType_t xTaskCreateStatic(TaskFunction_t pvTaskCode, char* pcName, uint usStackDepth, void* pvParameters, uint uxPriority, TaskHandle_t* pvCreatedTask, StaticTask_t* pxTaskBuffer, StackType_t* pxStackBuffer)
+{
+    return xTaskCreateStatiicPinnedToCore(pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask, pxTaskBuffer, pxStackBuffer, 2147483647);
+}