#include "TApplication.h"

// Единственный экзэмпляр приложения
static TApplication application;

int main()
{
    application.run();
}

// Системный таймер для синхронизации приложения (период составляет ровно 1 мс)
extern "C" void SysTick_Handler()
{
    application.synchronize();
}

#include "..\Target\TTargetSTM32.h"
#include "..\RTOS\RTOS_TNKernel.h"

.....

class TApplication
{
public:
    void run(void);
    inline void synchronize(void) { _rtos.synchronize(); }

    // для примера
    void LED_On(void) { _target.setPinToLOW(PORT_LED_RED, PIN_LED_RED); }    // Включить красный светодиод
    void LED_Off(void) { _target.setPinToHIGH(PORT_LED_RED, PIN_LED_RED); }    // Выключить красный светодиод

private:
    class TThreadDisplay : public TThread<THREAD_DISPLAY_STACK_SIZE, THREAD_DISPLAY_PRIORITY>
    {

        typedef UNSIGNED8 TCommand;    
        typedef UNSIGNED8 TData;
        typedef UNSIGNED8 TPositionX;
        typedef UNSIGNED8 TPositionY;
        typedef const char TChar;
    public:
        virtual void initialize(void * bodyArgument);
    private:
        virtual void body(void);
        void fill(TData);
        void gotoXY(TPositionX, TPositionY);
        void sendCommand(TCommand);
        void sendData(TData);
        void printChar(TChar);
        void printString(TChar*, TPositionX, TPositionY);
        THardwareSTM32 * _target;
    };

    class TThreadWatchDog : public TThread<THREAD_WATCH_DOG_STACK_SIZE, THREAD_WATCH_DOG_PRIORITY>
    {
        virtual void initialize(void * bodyArgument);
        virtual void body(void);
        THardwareSTM32 * _target;
    };

.......
    
private:
    TKernel                    _rtos;
    THardwareSTM32            _target;
    TThreadDisplay            _threadDisplay;

.....
};

void TApplication::TThreadWatchDog::initialize(void * bodyArgument)
{
    _target = (THardwareSTM32*)bodyArgument;
    _target->initializeWatchDogTimer(12); // Период сторожевого таймер 12 мс
}

void TApplication::TThreadWatchDog::body(void)
{
    _target->updateWatchDogTimer(); // Сбрасывать сторожевой таймер каждые 10 мс
    sleep(10);
}

#include <stdlib.h>
#include <stdio.h>
#include <string.h>

......

typedef unsigned            UNSIGNED;
typedef unsigned char        UNSIGNED8;
typedef unsigned short        UNSIGNED16;
typedef unsigned int        UNSIGNED32;
typedef unsigned long long     UNSIGNED64;

typedef signed char            SIGNED8;
typedef signed short        SIGNED16;
typedef signed int            SIGNED32;
typedef signed long long     SIGNED64;

typedef float                FLOAT32;
typedef double                FLOAT62;

........

class THardwareSTM32
{
public:
    typedef UNSIGNED8    TInterruptChannel;
    typedef UNSIGNED8    TInterruptPreemptionPriority;
    typedef UNSIGNED8    TInterruptSubPriority;
    typedef UNSIGNED32    TSystemTimerPeriodMs;
    typedef UNSIGNED16    TWatchDogTimerPeriodMs;
    typedef UNSIGNED32    TUserTimerPeriodUs;
    typedef UNSIGNED8    TUserTimerChannel;

.....

    void reset(void);
    void initializeWatchDogTimer(TWatchDogTimerPeriodMs);
    void updateWatchDogTimer(void);

    void setSystemFrequency(TSystemFrequency);
    void initializeMainTimer(TSystemTimerPeriodMs);

    THardwareSTM32();
    ~THardwareSTM32() { reset(); }

....
    TSystemFrequency GetSystemFrequency() const { return(_systemFrequency); }

    void initializeUserTimer(TUserTimerChannel channel, TUserTimerPeriodUs periodUs);
    void userTimerInterruptHandler(TUserTimerChannel channel);

    void initializePIN(GPIO_TypeDef*, TGPIO_Pins, TGPIO_Mode, TGPIO_Speed);

    inline void setPinToHIGH(GPIO_TypeDef* GPIOx, TGPIO_Pins pin)
        { GPIOx->BSRR = pin; }

    inline void setPinToLOW(GPIO_TypeDef* GPIOx, TGPIO_Pins pin)
        { GPIOx->BRR = pin; }

    inline bool isPinHIGH(GPIO_TypeDef* GPIOx, TGPIO_Pins pin)
        { return((GPIOx->IDR & pin) != 0); }

    inline bool isPinLOW(GPIO_TypeDef* GPIOx, TGPIO_Pins pin)
        { return((GPIOx->IDR & pin) == 0); }
....
private:
    inline void disableAllInterrupts(void) { asm ("cpsid  I"); }
    inline void enableAllInterrupts(void) { asm ("cpsie  I"); }
.....
private:
    TSystemFrequency    _systemFrequency;
....
};