vexcortex.c File Reference

Cortex initialization and system tasks. More...

#include "ch.h"
#include "hal.h"
#include "vex.h"

Data Structures
struct	vexThread
	Link thread with it's event listener. More...

Macros
#define	MAX_THREAD   20
	Storage for the user threads. More...

Functions
void	CleanupTask (Thread *tp) __attribute__((weak))
	cleanup a task if it was terminated elsewhere More...
void	vexTaskRegister (char *name)
	Register a thread so it can be terminated during vexSleep. More...
void	vexTaskRegisterPersistant (char *name, bool_t p)
	Register a thread so it can be terminated during vexSleep. More...
bool_t	vexTaskIsRegistered (Thread *tp)
	Check if this thread was already registered. More...
bool_t	vexTaskPersistentGet (Thread *tp)
	Check if this thread has persistent flag set. More...
void	vexTaskPersistentSet (Thread *tp, bool_t p)
	Set persistent flag. More...
void	vexTaskDebug (vexStream *chp, int argc, char *argv[])
	Dump the list of registered tasks. More...
void	vexTaskEmergencyStop ()
	Stop all tasks. More...
void	vexSleep (int32_t msec)
	Sleep for given number of ms. More...
void	vexCortexInit ()
	Initialize the VEX cortex. More...
void	vexConsoleInit ()
	Initialize the console serial port. More...
void	vexWatchdogInit ()
	Init watchdog timer. More...
void	vexWatchdogReload ()
	Reload the IWDG - call several times per second. More...
int16_t	vexWatchdogResetFlagGet ()
	Check to see if the IWDG was the cause of reset. More...

Detailed Description

Cortex initialization and system tasks.

Macro Definition Documentation

#define MAX_THREAD   20

Storage for the user threads.

Function Documentation

void CleanupTask

(

Thread *

tp)

cleanup a task if it was terminated elsewhere

Parameters

[in]

tp

A pointer to a thread

Note

this will not usually be called by the user by by an internal thread

void vexTaskRegister

(

char *

name)

Register a thread so it can be terminated during vexSleep.

Parameters

[in]

name

string describing the thread

void vexTaskRegisterPersistant	(	char *	name,
		bool_t	p
	)

Register a thread so it can be terminated during vexSleep.

Parameters

[in]	name	string describing the thread
[in]	p	persistent flag

bool_t vexTaskIsRegistered

(

Thread *

tp)

Check if this thread was already registered.

Parameters

[in]

tp

pointer to the Thread structure

Returns

bool with registration status

bool_t vexTaskPersistentGet

(

Thread *

tp)

Check if this thread has persistent flag set.

Parameters

[in]

tp

pointer to the Thread structure

Returns

bool with persistent status

void vexTaskPersistentSet	(	Thread *	tp,
		bool_t	p
	)

Set persistent flag.

Parameters

[in]	tp	pointer to the Thread structure
[in]	p	persistent flag

void vexTaskDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Dump the list of registered tasks.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args

void vexTaskEmergencyStop

(

void

)

Stop all tasks.

Call this to stop all tasks that were registered with vexTaskRegister or vexTaskRegisterPersistant. Use as emergency stop, cortex will need rebooting

void vexSleep

(

int32_t

msec)

Sleep for given number of ms.

Parameters

[in]

msec

number of ms to sleep

Used as a replacement for chThdSleepMilliseconds so calling thread can be terminated

void vexCortexInit

(

void

)

Initialize the VEX cortex.

void vexConsoleInit

(

void

)

Initialize the console serial port.

void vexWatchdogInit

(

void

)

Init watchdog timer.

void vexWatchdogReload ( void  )

inline

Reload the IWDG - call several times per second.

int16_t vexWatchdogResetFlagGet

(

void

)

Check to see if the IWDG was the cause of reset.