FreeRTOS: A few small fixes to make the FreeRTOS port simpler #5
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chweimer
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Jan 25, 2021
chweimer
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Jan 25, 2021
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Add a default send and receive function that can be used. Currently cmd_channel_freertos.c includes a receive and send function, but these can't directly be called from struct cmd_channel. Let's add default implementations that can be used. The queue being global allows it to be accessed from interrupt service routines (ISRs) which is generally where the data will be processed, at least for receives. Signed-off-by: Alistair Francis <[email protected]>
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| void cmd_channel_packet_default_init (struct cmd_channel *channel) | ||
| { | ||
| channel->receive_packet = cmd_channel_receive_packet; | ||
| channel->send_packet = cmd_channel_send_packet; |
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If we're looking to turn this into a proper implementation of cmd_channel and do it in way that is consistent with the overall architecture and existing coding style, we would do the following:
- Define a new 'struct cmd_channel_freertos' that derives from cmd_channel. This new structure would contain the Rx and Tx queues necessary for receive_packet and send_packet, removing the dependencies on any global context.
- Create cmd_channel_freertos_init and cmd_channel_freertos_release functions to initialize and free the instance. The init function returns int (returning error for null parameters), while release returns void (probably with an empty implementation since nothing would be internally created).
- The init function would take the cmd_channel_freertos instance to initialize and the Rx and Tx queue instances to use with the channel. It would save these internally and set the function pointers.
- The functions you have here as cmd_channel_receive_packet/send_packet would be named cmd_channel_freertos_receive_packet/send_packet, which would probably require a name change of the existing functions. No comment block is necessary on these functions since they are implementations of a base API.
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This contains two commits that help when porting to FreeRTOS.