Helper functions for StartTxTask() More...
|
Functions | |
| void | shiftNotificationMask (void) |
| Shifts bits of NOTIFICATION_MASK. More... | |
| void | copySensorDataToSend (void) |
| Validates and copies sensor data to transmit. More... | |
| void | transmitStatusFromPC (void) |
| Makes calls to the UART module responsible for PC communication atomic. More... | |
| void | waitForNotificationTX (void) |
| Waits until notified from ISR. More... | |
Detailed Description
Helper functions for StartTxTask()
StartTxTask Helper Functions
Function Documentation
◆ copySensorDataToSend()
| void copySensorDataToSend | ( | void | ) |
Validates and copies sensor data to transmit.
This function receives two types of sensor data(motor and IMU) and updates to the according section of robotState.msg.
- Parameters
-
None
- Returns
- None
Definition at line 72 of file tx_helper.cpp.
◆ shiftNotificationMask()
| void shiftNotificationMask | ( | void | ) |
Shifts bits of NOTIFICATION_MASK.
- Parameters
-
None
- Returns
- None
Definition at line 59 of file tx_helper.cpp.
◆ transmitStatusFromPC()
| void transmitStatusFromPC | ( | void | ) |
Makes calls to the UART module responsible for PC communication atomic.
This do-while loop with the mutex inside of it makes c This attempts to solve the following scenario: the TX thread is in the middle of executing the call to HAL_UART_Transmit when suddenly the RX thread is unblocked. The RX thread calls HAL_UART_Receive, and returns immediately when it detects that the uart module is already locked. Then the RX thread blocks itself and never wakes up since a RX transfer was never initialized.
- Parameters
-
None
- Returns
- None
Definition at line 123 of file tx_helper.cpp.
◆ waitForNotificationTX()
| void waitForNotificationTX | ( | void | ) |
Waits until notified from ISR.
Clear no bits on entry in case the notification came while a higher priority task was executing.
- Parameters
-
None
- Returns
- None
Definition at line 139 of file tx_helper.cpp.
