c87200a80d
- Create `Include/` folder for all main projects - Fix some issues here and there (found while moving things) - All includes are now in `Tactility/` subfolder and must be included with that prefix. This fixes issues with clashing POSIX headers (e.g. `<semaphore.h>` versus Tactility's `Semaphore.h`)
63 lines
1.4 KiB
C++
63 lines
1.4 KiB
C++
#include "Main.h"
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#include <Tactility/TactilityCore.h>
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#include <Tactility/Thread.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#define TAG "freertos"
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namespace simulator {
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MainFunction mainFunction = nullptr;
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void setMain(MainFunction newMainFunction) {
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mainFunction = newMainFunction;
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}
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static void freertosMainTask(TT_UNUSED void* parameter) {
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TT_LOG_I(TAG, "starting app_main()");
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assert(simulator::mainFunction);
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mainFunction();
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TT_LOG_I(TAG, "returned from app_main()");
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vTaskDelete(nullptr);
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}
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void freertosMain() {
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BaseType_t task_result = xTaskCreate(
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freertosMainTask,
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"main",
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8192,
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nullptr,
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static_cast<UBaseType_t>(tt::Thread::Priority::Normal),
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nullptr
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);
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assert(task_result == pdTRUE);
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// Blocks forever
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vTaskStartScheduler();
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}
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} // namespace
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/**
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* Assert implementation as defined in the FreeRTOSConfig.h
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* It allows you to set breakpoints and debug asserts.
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*/
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void vAssertCalled(unsigned long line, const char* const file) {
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static portBASE_TYPE xPrinted = pdFALSE;
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volatile uint32_t set_to_nonzero_in_debugger_to_continue = 0;
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TT_LOG_E(TAG, "assert triggered at %s:%d", file, line);
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taskENTER_CRITICAL();
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{
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// Step out by attaching a debugger and setting set_to_nonzero_in_debugger_to_continue
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while (set_to_nonzero_in_debugger_to_continue == 0) {
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// NO-OP
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}
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}
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taskEXIT_CRITICAL();
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}
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