mirror of https://github.com/rusefi/bldc.git
55 lines
1.5 KiB
C
55 lines
1.5 KiB
C
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/*
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Copyright 2020 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "worker.h"
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#include "ch.h"
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#include "hal.h"
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// Private types
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typedef struct {
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void *arg;
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void(*func)(void *arg);
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} worker_arg_t;
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// Private variables
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static thread_t *m_tp = 0;
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static worker_arg_t m_wa;
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static THD_WORKING_AREA(work_thread_wa, 512);
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static THD_FUNCTION(work_thread, arg);
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void worker_execute(void(*func)(void *arg), void *arg) {
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worker_wait();
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m_wa.func = func;
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m_wa.arg = arg;
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chThdCreateStatic(work_thread_wa, sizeof(work_thread_wa), NORMALPRIO, work_thread, &m_wa);
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}
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void worker_wait(void) {
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if (m_tp) {
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chThdWait(m_tp);
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}
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}
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static THD_FUNCTION(work_thread, arg) {
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chRegSetThreadName("Worker");
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m_tp = chThdGetSelfX();
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((worker_arg_t*)arg)->func(((worker_arg_t*)arg)->arg);
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m_tp = 0;
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}
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