restructuring

examples/blinky/CMakeLists.txt

@@ -2,6 +2,7 @@ add_executable(blinky main.c ${CMAKE_SOURCE_DIR}/src/startup/startup_stm32f401.c
 
 target_link_libraries(blinky 
     hal_stm32f401
+    kernel
 )
 
 target_link_options(blinky PRIVATE

examples/blinky/main.c

@@ -1,13 +1,14 @@
-#include "hal.h"
-#include "stdint.h"
+#include "fpu.h"
+#include "rcc.h"
+#include "gpio.h"
 #include "fault_indicator.h"
+#include <stdint.h>
 
 int main(void) {
     fpu_init();
     rcc_init();
     rcc_enable_gpioc();
     gpio_init_pc13();
-    nvic_init();
 
     while (1) {
         gpio_toggle_pc13();

examples/rtos_demo/CMakeLists.txt

@@ -2,6 +2,7 @@ add_executable(rtos_demo main.c ${CMAKE_SOURCE_DIR}/src/startup/startup_stm32f40
 
 target_link_libraries(rtos_demo
     hal_stm32f401
+    kernel
 )
 
 target_link_options(rtos_demo PRIVATE

examples/rtos_demo/main.c

@@ -1,6 +1,6 @@
 #include "gpio.h"
-#include "hal.h"
-#include "task.h"
+#include "rcc.h"
+#include "fpu.h"
 #include "scheduler.h"
 #include "fault_indicator.h"
 #include <stdint.h>

include/task_types.h

@@ -0,0 +1,30 @@
+#ifndef TASK_TYPES_H
+#define TASK_TYPES_H
+
+#include <stdint.h>
+#include "rtos_config.h"
+
+/* More Granular States for Debugging*/
+typedef enum {
+    UNINITIALIZED,
+    READY,
+    RUNNING,
+    BLOCKED,
+    SUSPENDED
+} Task_State;
+
+
+typedef struct {
+    uint32_t    *stack_ptr;
+    uint32_t    *stack_base;
+    uint32_t    stack_size;
+    uint32_t    delay_until;
+    Task_State  state;
+    uint8_t     priority;
+    const char  *name;
+} Task;
+
+extern Task task_pool[MAX_TASKS];
+extern uint32_t stack_pool[MAX_TASKS][TASK_STACK_SIZE];
+
+#endif

src/hal/stm32f401/CMakeLists.txt

@@ -15,8 +15,4 @@ add_library(hal_stm32f401 STATIC
 target_include_directories(hal_stm32f401 PUBLIC 
     include 
     ${CMAKE_SOURCE_DIR}/config 
-)
-
-target_link_libraries(hal_stm32f401 PUBLIC 
-    port_cortex_m4
 )

src/hal/stm32f401/include/fault_indicator.h

@@ -4,7 +4,7 @@
 #include <stdint.h>
 
 void delay(volatile uint32_t count);
-void warning_light_init(void);
+void warning_light(void);
 void warning_light_scheduler(void);
 
 #endif

src/hal/stm32f401/src/fault_indicator.c

@@ -5,46 +5,17 @@ void delay(volatile uint32_t count) {
     while (count--);
 }
 
-void warning_light_init(void) {
+void warning_light(void) {
     while (1) {
-        for (int i = 0; i < 6; i++) {
-            gpio_toggle_pc13();
-
-            delay(1000000);
-        }
-
-        gpio_toggle_pc13();
+        gpio_set_pc13();
 
         delay(10000000);
 
-        for (int i = 0; i < 4; i++) {
-            gpio_toggle_pc13();
-
-            delay(1000000);
-        }
+        gpio_clear_pc13();
 
         delay(10000000);
-    }
-}
-
-
-void warning_light_scheduler(void) {
-    while (1) {
-        for (int i = 0; i < 6; i++) {
-            gpio_toggle_pc13();
-
-            delay(1000000);
-        }
-
-        gpio_toggle_pc13();
-
-        delay(10000000);
-
-        for (int i = 0; i < 8; i++) {
-            gpio_toggle_pc13();
 
-            delay(1000000);
-        }
+        gpio_set_pc13();
 
         delay(10000000);
     }

src/kernel/CMakeLists.txt

@@ -7,10 +7,11 @@ add_library(kernel STATIC
 )
 
 target_link_libraries(kernel PUBLIC
-    hal_stm32f401
+    port_cortex_m4
 )
 
 target_include_directories(kernel PUBLIC 
     include
     ${CMAKE_SOURCE_DIR}/config
+    ${CMAKE_SOURCE_DIR}/include
 )

src/kernel/include/queue.h

@@ -1,8 +1,8 @@
 #ifndef QUEUE_H
 #define QUEUE_H
 
-#include "stdint.h"
 #include "task.h"
+#include <stdint.h>
 typedef struct {
     Task *enqueue_waiting;
     Task *dequeue_waiting;

src/kernel/include/task.h

@@ -1,28 +1,10 @@
 #ifndef TASK_H
 #define TASK_H
 
+#include "rtos_config.h"
+#include "task_types.h"
 #include <stdint.h>
 #include <stdbool.h>
-#include "rtos_config.h"
-
-/* More Granular States for Debugging*/
-typedef enum {
-    UNINITIALIZED,
-    READY,
-    RUNNING,
-    BLOCKED,
-    SUSPENDED
-} Task_State;
-
-typedef struct {
-    uint32_t    *stack_ptr;
-    uint32_t    *stack_base;
-    uint32_t    stack_size;
-    uint32_t    delay_until;
-    Task_State  state;
-    uint8_t     priority;
-    const char  *name;
-} Task;
 
 Task *task_create(void (*function)(void), uint8_t priority, const char *name);
 bool task_state_overflow(Task task);

src/kernel/src/mutex.c

@@ -1,7 +1,6 @@
 #include "mutex.h"
 #include "scheduler.h"
 #include "port.h"
-#include "fault_indicator.h"
 #include <stddef.h>
 
 void mutex_init(Mutex *mutex) {
@@ -13,7 +12,7 @@ void mutex_init(Mutex *mutex) {
 void mutex_lock(Mutex *mutex) {
     while (mutex->is_locked) {
         if (mutex->waiting != NULL) {
-            warning_light_scheduler();
+            port_fault();
         }
         mutex->waiting = current_task;
         current_task->state = BLOCKED;

src/kernel/src/queue.c

@@ -1,7 +1,6 @@
 #include "queue.h"
 #include "scheduler.h"
 #include "port.h"
-#include "fault_indicator.h"
 #include <stddef.h>
 #include <string.h>
 
@@ -43,7 +42,7 @@ void enqueue(Queue *queue, void *item) {
         check queue is not full */
     while (queue->count == queue->depth) {
         if (queue->enqueue_waiting != NULL) {
-            warning_light_scheduler();
+            port_fault();
         }
         queue->enqueue_waiting = current_task;
         current_task->state = BLOCKED;
@@ -68,7 +67,7 @@ void enqueue(Queue *queue, void *item) {
 void dequeue(Queue *queue, void *out) {
     while (queue->count == 0) {
         if (queue->dequeue_waiting != NULL) {
-            warning_light_scheduler();
+            port_fault();
         }
         queue->dequeue_waiting = current_task;
         current_task->state = BLOCKED;

src/kernel/src/scheduler.c

@@ -1,9 +1,7 @@
 #include "scheduler.h"
 #include "systick.h"
-#include "fault_indicator.h"
 #include "port.h"
 #include "nvic.h"
-#include "stm32f401xc.h"
 #include <stddef.h>
 
 /* Only scheduler.c needs tick count */
@@ -16,12 +14,8 @@ void scheduler_start(void) {
 }
 
 void idle_task(void) {
-    while (1) {
-        /*  Special ARM Instr
-            to put CPU to sleep until 
-            next interrupt fires */
-        __WFI();
-    }
+    /* This taks just sleeps */
+    port_idle();
 }
 
 void scheduler_init(void) {
@@ -43,7 +37,7 @@ void scheduler_tick(void) {
         Task *cur_task = &task_pool[i];
 
         if (cur_task->state != UNINITIALIZED && task_state_overflow(*cur_task)) {
-            warning_light_init();
+            port_fault();
         }
 
         if (cur_task->state == BLOCKED && tick_count >= cur_task->delay_until) {

src/kernel/src/task.c

@@ -1,6 +1,5 @@
 #include "task.h"
 #include "port.h"
-#include "fault_indicator.h"
 #include "scheduler.h"
 
 Task task_pool[MAX_TASKS];
@@ -17,7 +16,7 @@ Task *task_create(void (*function)(void), uint8_t priority, const char *name) {
 
     /* Fail if not enough task slots available */
     if (new_task_slot == -1) {
-        warning_light_init();
+        port_fault();
     }
 
     Task *new_task = &task_pool[new_task_slot];

src/port/cortex_m4/CMakeLists.txt

@@ -6,10 +6,10 @@ add_library(port_cortex_m4 STATIC
 )
 
 target_link_libraries(port_cortex_m4 PUBLIC 
-    kernel
-)
+    hal_stm32f401)
 
 target_include_directories(port_cortex_m4 PUBLIC 
     include
     ${CMAKE_SOURCE_DIR}/config 
+    ${CMAKE_SOURCE_DIR}/include
 )

src/port/cortex_m4/include/port.h

@@ -1,8 +1,9 @@
 #ifndef PORT_H 
 #define PORT_H
 
+#include "task_types.h"
+#include "fault_indicator.h"
 #include <stdint.h>
-#include "task.h"
 
 #define PENDSVSET (1U << 28)
 
@@ -14,5 +15,7 @@ void port_trigger_context_switch(void);
 /* In port.s */
 void PendSV_Handler(void);
 void port_start_first_task(void);
+void port_fault(void);
+void port_idle(void);
 
 #endif

src/port/cortex_m4/include/systick.h

@@ -2,6 +2,6 @@
 #define SYSTICK_H
 
 void systick_init(void);
-void SysTick_Handler(void);
+void SysTick_Handler(void (*tick_callback)(void));
 
 #endif

src/port/cortex_m4/src/port.c

@@ -80,4 +80,14 @@ void port_init_task_stack(Task *task, void (*function)(void)) {
     context to memory */
 void port_trigger_context_switch(void) {
     SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
+}
+
+void port_fault(void) {
+    warning_light();
+}
+
+void port_idle(void) {
+    while (1) {
+        __WFI();
+    }
 }

src/port/cortex_m4/src/systick.c

@@ -1,5 +1,4 @@
 #include "systick.h"
-#include "scheduler.h"
 #include "stm32f401xc.h"
 
 void systick_init(void) {
@@ -28,6 +27,6 @@ void systick_init(void) {
     SysTick->VAL = 0x00;
 }
 
-void SysTick_Handler(void) {
-    scheduler_tick();
+void SysTick_Handler(void (*tick_callback)(void)) {
+    tick_callback();
 }