97 lines
3.2 KiB
C
97 lines
3.2 KiB
C
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/*
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* Copyright (c) 2006-2021, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2022-06-15 fize the first version
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*/
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#include <rtk_task.h>
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#define LOG_TAG "USER_TASK"
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#define THREAD_get_rtcm_data_priority 10
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#define THREAD_rtcm_data_proces_priority 9
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#define get_rtcm_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
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#define rtcm_data_proces_stack_size DEFAULT_USER_THREAD_STACK_SIZE
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rtcm_t rtcm_data;
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struct rt_completion get_rtcm_data_completion;
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struct rt_completion rtcm_data_process_completion;
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static struct rt_thread get_rtcm_data;
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static char thread_get_rtcm_data_stack[get_rtcm_data_stack_size];
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static struct rt_thread rtcm_data_proces;
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static char thread_rtcm_data_proces_stack[DEFAULT_USER_THREAD_STACK_SIZE];
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static char rtcm_buff[2048];
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static void thread_get_rtcm_data(void *parameter)
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{
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init_rtcm(&rtcm_data);
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rt_completion_init(&get_rtcm_data_completion);
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while (1)
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{
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rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER);
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//to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
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//rt thread could not get uart status when it receiving data.
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//it may cross frame lost if the system runs slow.
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if (rt_completion_wait(&rtcm_data_process_completion, RT_WAITING_FOREVER)==RT_EOK) //need a completion sem connect to rtcm data processing thread.
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{
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get_rtcm_data_completion.flag = RT_UNCOMPLETED;
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length = uart3_simpack.rx_num;
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READ_SERIAL3(rtcm_buff);
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rt_completion_done(&get_rtcm_data_completion);
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}
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}
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}
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static void thread_rtcm_data_proces(void *parameter)
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{
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rt_completion_init(&rtcm_data_process_completion);
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rt_completion_done(&rtcm_data_process_completion);
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while (1)
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{
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rt_completion_wait(&get_rtcm_data_completion, RT_WAITING_FOREVER);
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rtcm_data_process_completion.flag = RT_UNCOMPLETED;
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for (int var = 0; var < uart3_simpack.rx_num; var++)
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{
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input_rtcm3(&rtcm_data, rtcm_buff[var]);
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}
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rt_completion_done(&rtcm_data_process_completion);
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}
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}
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static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(void *parameter), void *stack_start,
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rt_uint32_t stack_size, rt_uint8_t priority, rt_uint32_t tick, rt_uint32_t start)
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{
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rt_err_t result = RT_EOK;
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result = rt_thread_init(thread, name, entry, RT_NULL, stack_start, stack_size, priority, tick);
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if (start)
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{
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if (result == RT_EOK)
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{
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rt_thread_startup(thread);
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}
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else
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{
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LOG_E("task init failed :%s", name);
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}
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}
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}
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/*===========================================================================================================*/
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void task_init(void)
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{
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user_init_task(&get_rtcm_data, "get_rtcm_data", thread_get_rtcm_data, thread_get_rtcm_data_stack,
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get_rtcm_data_stack_size, THREAD_get_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
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user_init_task(&rtcm_data_proces, "rtcm_data_proces", thread_rtcm_data_proces, thread_rtcm_data_proces_stack, rtcm_data_proces_stack_size, THREAD_rtcm_data_proces_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
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}
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