164 lines
3.9 KiB
C
164 lines
3.9 KiB
C
#include "drv_wdog.h"
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#include "bsp_task.h"
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#include "kit_time.h"
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#include "kit_debug.h"
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#include "bsp_malloc.h"
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#include "os.h"
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#define TASK_RUNNING_TIME_CHECK true
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typedef struct
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{
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UintArgCall reset_call;
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TaskArray *task_array[OS_MAX_TASKS];
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uint16_t max_wdog_tick[OS_MAX_TASKS];
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}TaskItem;
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TaskItem task_item;
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static void task_template(void *item)
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{
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TaskArray *_item;
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uint32_t start_tick = 0;
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KIT_ASSERT_PARAM(item != NULL);
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if(item != NULL)
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{
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_item = item;
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if(_item->init != NULL)
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{
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_item->init();
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}
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for (;;)
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{
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#if (TASK_RUNNING_TIME_CHECK == true)
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KIT_DEBUG_PRINTF("task:%d period:%d\r\n", _item->task_id, kit_time_get_tick() - start_tick);
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#endif
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start_tick = kit_time_get_tick();
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//清除看门狗时间
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_item->wdog_tick = 0;
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_item->task(_item->task_period);
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kit_time_dly_by_fix_period(start_tick, _item->task_period);
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}
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}
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}
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void bsp_task_beat_wdog(void)
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{
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uint32_t i;
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TaskArray *cur_task;
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bool is_timeout = false;
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static uint32_t wdog_tick;
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for(i = 0; i < OS_MAX_TASKS; i++ )
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{
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cur_task = task_item.task_array[i];
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if(cur_task != NULL)
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{
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if ((cur_task->wdog_tick++ > cur_task->wdog_timeout))
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{
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if((cur_task->is_time_out == false) && (task_item.reset_call != NULL))
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{
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task_item.reset_call(i);
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cur_task->is_time_out = true;
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KIT_DEBUG_PRINTF("wdog timeout task id %d \r\n", cur_task->task_id);
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}
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is_timeout = true;
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}
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if(task_item.max_wdog_tick[cur_task->task_id] < cur_task->wdog_tick)
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{
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task_item.max_wdog_tick[cur_task->task_id] = cur_task->wdog_tick;
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}
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}
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}
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if(is_timeout == false)
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{
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wdog_tick = 0;
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drv_wdog_feed();
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}
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else if(wdog_tick++ >= 2000)
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{
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//bms_soft_reset_save(kSoftReset_Wdog, NULL, 0);
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//drv_misc_reset_mcu();
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}
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}
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KitResult bsp_task_creat(TaskArray* task, uint8_t * name)
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{
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uint8_t res;
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KIT_ASSERT_PARAM(task != NULL);
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if((task != NULL) && (task->task_id < OS_MAX_TASKS))
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{
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OS_ERR err;
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//CPU_STK *Task2Task_STK = (CPU_STK *)mymalloc(SRAMIN, task->stk_size * sizeof(CPU_STK));
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OSTaskCreate((OS_TCB *)task->task_tcb,
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(CPU_CHAR *)name,
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(OS_TASK_PTR )task_template,
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(void *)task,
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(OS_PRIO )task->task_prio,
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(CPU_STK *)task->stk_array,
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(CPU_STK_SIZE )task->stk_size/10,
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(CPU_STK_SIZE )task->stk_size,
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(OS_MSG_QTY )0,
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(OS_TICK )0,
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(void *)0,
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(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
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(OS_ERR *)&err);
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task_item.task_array[task->task_id] = task;
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}
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return (KitResult)res;
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}
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void bsp_task_feed_wdog(uint32_t tick)
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{
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TaskArray *cur_task;
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if(OSPrioCur < OS_MAX_TASKS)
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{
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cur_task = task_item.task_array[OSPrioCur];
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if(cur_task != NULL)
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{
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cur_task->wdog_tick = (cur_task->wdog_tick > tick) ? (cur_task->wdog_tick - tick) : 0;
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}
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}
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}
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uint32_t bsp_task_delay_ms(uint32_t dly)
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{
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OS_ERR err;
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bsp_task_feed_wdog(dly);
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OSTimeDly(dly, OS_OPT_TIME_DLY, &err);
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return dly;
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}
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void bsp_task_set_timeout_call(UintArgCall call)
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{
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if(call != NULL)
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{
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task_item.reset_call = call;
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}
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}
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uint16_t bsp_task_get_max_wdog_tick(uint8_t task_id)
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{
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uint16_t tmp = 0;
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if(task_id < OS_MAX_TASKS)
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{
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tmp = task_item.max_wdog_tick[task_id];
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}
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return tmp;
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}
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