task_manager_startup.c

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// Standard Library Includes
#include <stddef.h>
#include <stdint.h>
 
// Framework Includes
#include <task_manager_startup.h>
#include <tasks_config.h>
#include <tasks_shared.h>
#include <tasks_startup.h>
 
void TM_Startup(const scheduleEntry_t appStartupSchedule[], uint8_t scheduleLength)
{
    T_HandlePreStartupErrors();
    // Initialize hardware safety mechanisms according to configs and FMEDA
    T_InitSafetySystem();
    // Ensure startup diagnostics Task has fixed duration
    T_HandleSyncWatchdog(DUR_RUN_STARTUP_DIAGNOSTICS);
    asm("wdr");
    T_RunStartupDiagnostics();
    // Execute all Tasks in application schedule, skip if Task function pointer is NULL
    
    for (uint8_t i = 0U; i < scheduleLength; i++)
    {
        task_t nextTask       = appStartupSchedule[i].task;
        uint32_t nextDuration = appStartupSchedule[i].duration;
        if (nextTask != NULL)
        {
            // Ensure next Task has fixed duration
            T_HandleSyncWatchdog(nextDuration);
            nextTask();
        }
    }
    
    // Ensure a fixed duration, including the time until the next T_HandleSyncWatchdog call
    uint32_t exitDuration = DUR_START_MISSION_MODE + DUR_UNTIL_FIRST_SCHEDULE;
    T_HandleSyncWatchdog(exitDuration);
    T_StartMissionMode(); // Exit Safe State
}