feat(epicardium): Basic work queue

epicardium/main.c

@@ -179,6 +179,18 @@ int main(void)
 		panic("Failed to create %s task!", "Lifecycle");
 	}
 
+	/* Work Queue */
+	if (xTaskCreate(
+		    vWorkQueueTask,
+		    (const char *)"Work Queue",
+		    configMINIMAL_STACK_SIZE,
+		    NULL,
+		    tskIDLE_PRIORITY + 1,
+		    NULL) != pdPASS) {
+		panic("Failed to create %s task!", "Work Queue");
+	}
+	workqueue_init();
+
 	/*
 	 * Initialize serial driver data structures.
 	 */

epicardium/modules/meson.build

@@ -28,5 +28,6 @@ module_sources = files(
   'usb.c',
   'vibra.c',
   'watchdog.c',
+  'work_queue.c',
   'ws2812.c'
 )

epicardium/modules/modules.h

@@ -138,6 +138,13 @@ extern gpio_cfg_t gpio_configs[];
 void sleep_deepsleep(void);
 
 
+/* ---------- RNG ---------------------------------------------------------- */
 void rng_init(void);
 
+/* ---------- Work Queue --------------------------------------------------- */
+#define WORK_QUEUE_SIZE 20
+void workqueue_init(void);
+int workqueue_schedule(void (*func)(void *data), void *data);
+void vWorkQueueTask(void *pvParameters);
+
 #endif /* MODULES_H */

epicardium/modules/work_queue.c

+#include "epicardium.h"
+#include "modules/log.h"
+#include "modules.h"
+
+#include "FreeRTOS.h"
+#include "queue.h"
+
+struct work {
+	void (*func)(void *data);
+	void *data;
+};
+
+static QueueHandle_t work_queue;
+static uint8_t buffer[sizeof(struct work) * WORK_QUEUE_SIZE];
+static StaticQueue_t work_queue_data;
+
+void workqueue_init(void)
+{
+	work_queue = xQueueCreateStatic(
+		WORK_QUEUE_SIZE, sizeof(struct work), buffer, &work_queue_data
+	);
+}
+
+int workqueue_schedule(void (*func)(void *data), void *data)
+{
+	struct work work = { func, data };
+	if (xQueueSend(work_queue, &work, 0) != pdTRUE) {
+		/* Likely full */
+		LOG_WARN("workqueue", "could not schedule %p(%p)", func, data);
+		return -EAGAIN;
+	}
+
+	return 0;
+}
+
+void vWorkQueueTask(void *pvParameters)
+{
+	struct work work;
+	workqueue_init();
+	while (1) {
+		if (xQueueReceive(work_queue, &work, portMAX_DELAY) == pdTRUE) {
+			if (work.func) {
+				work.func(work.data);
+			}
+		}
+	}
+}