Merge pull request #20 from CR-Formula/freertos-fix

Switch to FreeRTOS direct

Core/Inc/FreeRTOSConfig.h

@@ -1,32 +1,10 @@
-/* USER CODE BEGIN Header */
-/*
- * FreeRTOS Kernel V10.3.1
- * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
- * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-/* USER CODE END Header */
+/************************************************
+* @file    FreeRTOSConfig.h 
+* @author  APBashara
+* @date    9/2024
+* 
+* @brief   FreeRTOS Configuration File
+***********************************************/
 
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H
@@ -43,10 +21,6 @@
  * See http://www.freertos.org/a00110.html
  *----------------------------------------------------------*/
 
-/* USER CODE BEGIN Includes */
-/* Section where include file can be added */
-/* USER CODE END Includes */
-
 /* Ensure definitions are only used by the compiler, and not by the assembler. */
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
@@ -78,11 +52,9 @@
 #define configUSE_RECURSIVE_MUTEXES              1
 #define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
-/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
 /* Defaults to size_t for backward compatibility, but can be changed
    if lengths will always be less than the number of bytes in a size_t. */
 #define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
-/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES                    0
@@ -151,9 +123,7 @@ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 
 /* Normal assert() semantics without relying on the provision of an assert.h
 header file. */
-/* USER CODE BEGIN 1 */
 #define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
-/* USER CODE END 1 */
 
 /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
 standard names. */
@@ -164,8 +134,4 @@ standard names. */
 
 #define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
 
-/* USER CODE BEGIN Defines */
-/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
-/* USER CODE END Defines */
-
 #endif /* FREERTOS_CONFIG_H */

Core/Inc/main.h

@@ -25,9 +25,15 @@ extern "C" {
 #endif
 
 /* Includes -----------------------------------------------------------------*/
+// OS Specific Includes
+#include "FreeRTOS.h" /* Must come first. */
+#include "task.h" /* RTOS task related API prototypes. */
+#include "queue.h" /* RTOS queue related API prototypes. */
+#include "timers.h" /* Software timer related API prototypes. */
+#include "semphr.h" /* Semaphore related API prototypes. */
+// Hardware Specific Includes
 #include "stm32f4xx_hal.h"
 #include "stm32f415xx.h"
-#include "cmsis_os2.h"
 
 #include <stdint.h>
 
@@ -62,6 +68,11 @@ typedef struct {
 } Telemetry;
 
 /* Functions prototypes -----------------------------------------------------*/
+
+/**
+ * @brief Handles Systems Errors
+ * @note Currently holds LED on in infinite loop
+ */
 void Error_Handler(void);
 
 /**

Core/Src/main.c

@@ -11,45 +11,29 @@
 /* Global Variables ---------------------------------------------------------*/
 Telemetry telemetry;
 
-/* Thread Attributes --------------------------------------------------------*/
-osThreadId_t StatusLED;
-const osThreadAttr_t StatusLED_attr = {
-  .name = "Status_Task",
-  .priority = osPriorityBelowNormal,
-  .stack_size = 128 * 4
-};
-
-osThreadId_t CANTask;
-const osThreadAttr_t CANTask_attr = {
-  .name = "CAN_Task",
-  .priority = osPriorityNormal,
-  .stack_size = 128 * 4
-};
-
-osThreadId_t GPSTask;
-const osThreadAttr_t GPSTask_attr = {
-  .name = "GPS_Task",
-  .priority = osPriorityNormal,
-  .stack_size = 128 * 4
-};
-
+/* Function Calls -----------------------------------------------------------*/
 void main() {
-  osKernelInitialize(); // Initialize FreeRTOS
+  uint8_t Task_Status = 1;
 
-  // Initialize Peripherals
+  // Initialize Hardware
   Sysclk_168();
   LED_Init();
   I2C1_Init();
   CAN1_Init();
   CAN_Filters_Init();
   CAN_Start();
 
-  // Create FreeRTOS Threads
-  StatusLED = osThreadNew(Status_LED, NULL, &StatusLED_attr);
-  CANTask = osThreadNew(CAN_Task, NULL, &CANTask_attr);
-  GPSTask = osThreadNew(GPS_Task, NULL, &GPSTask_attr);
+  // Create FreeRTOS Tasks
+  Task_Status &= xTaskCreate(Status_LED, "Status_Task", 128, NULL, 1, NULL);
+  Task_Status &= xTaskCreate(CAN_Task, "CAN_Task", 128, NULL, 1, NULL);
+  Task_Status &= xTaskCreate(GPS_Task, "GPS_Task", 128, NULL, 1, NULL);
+
+  if (Task_Status != pdPASS) {
+    Error_Handler();
+  }
+
+  vTaskStartScheduler(); // Start FreeRTOS Scheduler
 
-  osKernelStart(); // Start FreeRTOS
   while(1);
 }
 
@@ -89,4 +73,9 @@ void GPS_Task() {
   while(1) {
     osDelay(1000);
   }
+}
+
+void Error_Handler() {
+  Set_Pin(GPIOC, STATUS_LED_PIN);
+  while(1);
 }