40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
#include "main.hpp"
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#include "transmission_interface.hpp"
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#include "FreeRTOSConfig.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "pinConfig.hpp"
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extern AppData appData;
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void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
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QueueHandle_t queue = appData.txQueue;
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xQueueReceive(queue, dest, portMAX_DELAY);
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}
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void pushPackage(GoRPCPackage_Transport * src, void *args) {
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QueueHandle_t queue = appData.rxQueue;
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xQueueSend(queue, src, portMAX_DELAY);
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}
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void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
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QueueHandle_t queue = appData.ciInstructionQueue;
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xQueueSend(queue, src, portMAX_DELAY);
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}
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void main_core2(void * pvParameters) {
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AppData appData = *((AppData *)pvParameters);
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GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(I2C_CORE_MASK, i2c0);
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gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
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gobotrpc_ti_hardware.registerPushPackageCB(pushPackage, appData.rxQueue);
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gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
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while(1) {
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vTaskDelay(pdMS_TO_TICKS(10000));
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}
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}
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