diff --git a/.mxproject b/.mxproject index 16f025e..51cedc4 100644 --- a/.mxproject +++ b/.mxproject @@ -1,36 +1,36 @@ [PreviousLibFiles] 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+SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\spi.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Core\Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c; +HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=8 -HeaderFiles#0=../Core/Inc/gpio.h -HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h -HeaderFiles#2=../Core/Inc/can.h -HeaderFiles#3=../Core/Inc/spi.h -HeaderFiles#4=../Core/Inc/usart.h -HeaderFiles#5=../Core/Inc/stm32f4xx_it.h -HeaderFiles#6=../Core/Inc/stm32f4xx_hal_conf.h -HeaderFiles#7=../Core/Inc/main.h +HeaderFiles#0=..\Core\Inc\gpio.h +HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h +HeaderFiles#2=..\Core\Inc\can.h +HeaderFiles#3=..\Core\Inc\spi.h +HeaderFiles#4=..\Core\Inc\usart.h +HeaderFiles#5=..\Core\Inc\stm32f4xx_it.h +HeaderFiles#6=..\Core\Inc\stm32f4xx_hal_conf.h +HeaderFiles#7=..\Core\Inc\main.h HeaderFolderListSize=1 -HeaderPath#0=../Core/Inc +HeaderPath#0=..\Core\Inc HeaderFiles=; SourceFileListSize=9 -SourceFiles#0=../Core/Src/gpio.c -SourceFiles#1=../Core/Src/freertos.c -SourceFiles#2=../Core/Src/can.c -SourceFiles#3=../Core/Src/spi.c -SourceFiles#4=../Core/Src/usart.c -SourceFiles#5=../Core/Src/stm32f4xx_it.c -SourceFiles#6=../Core/Src/stm32f4xx_hal_msp.c -SourceFiles#7=../Core/Src/stm32f4xx_hal_timebase_tim.c -SourceFiles#8=../Core/Src/main.c +SourceFiles#0=..\Core\Src\gpio.c +SourceFiles#1=..\Core\Src\freertos.c +SourceFiles#2=..\Core\Src\can.c +SourceFiles#3=..\Core\Src\spi.c +SourceFiles#4=..\Core\Src\usart.c +SourceFiles#5=..\Core\Src\stm32f4xx_it.c +SourceFiles#6=..\Core\Src\stm32f4xx_hal_msp.c +SourceFiles#7=..\Core\Src\stm32f4xx_hal_timebase_tim.c +SourceFiles#8=..\Core\Src\main.c SourceFolderListSize=1 -SourcePath#0=../Core/Src +SourcePath#0=..\Core\Src SourceFiles=; diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs index 5d0af61..0d7d288 100644 --- a/.settings/stm32cubeide.project.prefs +++ b/.settings/stm32cubeide.project.prefs @@ -1,5 +1,5 @@ 635E684B79701B039C64EA45C3F84D30=44DBEC1DE4EBA9B0485911FBE58BFC80 66BE74F758C12D739921AEA421D593D3=3 8DF89ED150041C4CBC7CB9A9CAA90856=7B5B92F1162457C6ECACD202698061B0 -DC22A860405A8BF2F2C095E5B6529F12=3C8525AE6BF206AA629BF4979058680C +DC22A860405A8BF2F2C095E5B6529F12=7B5B92F1162457C6ECACD202698061B0 eclipse.preferences.version=1 diff --git a/App/Src/startup.cpp b/App/Src/startup.cpp index 7832ab8..dcb1425 100644 --- a/App/Src/startup.cpp +++ b/App/Src/startup.cpp @@ -32,7 +32,7 @@ namespace sta // ###### Register different threads for different states here. ###### // The dummy task runs for state 0. - Manager::instance()->registerThread(std::make_shared("CAN test", 0x22), {ALL_STATES}); + Manager::instance()->registerThread(std::make_shared("CAN test", 0x123), {ALL_STATES}); STA_DEBUG_PRINTF("The answer to everything is %d", 42); diff --git a/App/Src/tasks/can_task.cpp b/App/Src/tasks/can_task.cpp index c668411..06e642e 100644 --- a/App/Src/tasks/can_task.cpp +++ b/App/Src/tasks/can_task.cpp @@ -27,7 +27,7 @@ namespace demo void CanTask::func() { - STA_DEBUG_PRINTLN("Can Task awaiting message"); + //STA_DEBUG_PRINTLN("Can Task awaiting message"); if (CAN_queue_.available() > 0) { // Receiving message @@ -35,9 +35,16 @@ namespace demo CAN_queue_.get(&msg); STA_DEBUG_PRINTLN("Can Task received message"); - // Sending it back + // Sending it back with one changed bit + msg.payload[1] = 3; + msg.header.sid = getCanID(); + msg.header.eid = 0; + msg.header.format = 0; + sta::tacos::queueCanBusMsg(msg, 0); STA_DEBUG_PRINTLN("Can Task sent message"); + + HAL_Delay(500); } } } // namespace demo diff --git a/CAN-Demo Debug.launch b/CAN-Demo Debug.launch index e4e4ec8..9dae82a 100644 --- a/CAN-Demo Debug.launch +++ b/CAN-Demo Debug.launch @@ -40,7 +40,7 @@ - + diff --git a/CAN-Demo.ioc b/CAN-Demo.ioc index 5e7ed51..ececced 100644 --- a/CAN-Demo.ioc +++ b/CAN-Demo.ioc @@ -11,11 +11,13 @@ CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Presca CAN1.NART=ENABLE CAN1.Prescaler=8 CAN1.SJW=CAN_SJW_1TQ -FREERTOS.IPParameters=Tasks01,configRECORD_STACK_HIGH_ADDRESS,configTIMER_TASK_PRIORITY,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE -FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL +FREERTOS.IPParameters=Tasks01,configRECORD_STACK_HIGH_ADDRESS,configTIMER_TASK_PRIORITY,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE,configCHECK_FOR_STACK_OVERFLOW +FREERTOS.Tasks01=defaultTask,24,512,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL +FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2 +FREERTOS.configMINIMAL_STACK_SIZE=512 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1 FREERTOS.configTIMER_TASK_PRIORITY=55 -FREERTOS.configTOTAL_HEAP_SIZE=20360 +FREERTOS.configTOTAL_HEAP_SIZE=30360 FREERTOS.configUSE_NEWLIB_REENTRANT=1 File.Version=6 GPIO.groupedBy=Group By Peripherals diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index adf0f92..16ed251 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -67,13 +67,14 @@ #define configCPU_CLOCK_HZ ( SystemCoreClock ) #define configTICK_RATE_HZ ((TickType_t)1000) #define configMAX_PRIORITIES ( 56 ) -#define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)20360) +#define configMINIMAL_STACK_SIZE ((uint16_t)512) +#define configTOTAL_HEAP_SIZE ((size_t)30360) #define configMAX_TASK_NAME_LEN ( 16 ) #define configUSE_TRACE_FACILITY 1 #define configUSE_16_BIT_TICKS 0 #define configUSE_MUTEXES 1 #define configQUEUE_REGISTRY_SIZE 8 +#define configCHECK_FOR_STACK_OVERFLOW 2 #define configUSE_RECURSIVE_MUTEXES 1 #define configUSE_COUNTING_SEMAPHORES 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 @@ -92,7 +93,7 @@ #define configUSE_TIMERS 1 #define configTIMER_TASK_PRIORITY ( 55 ) #define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH 256 +#define configTIMER_TASK_STACK_DEPTH 1024 /* The following flag must be enabled only when using newlib */ #define configUSE_NEWLIB_REENTRANT 1 diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 1bfdfeb..67819be 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -51,7 +51,7 @@ typedef StaticSemaphore_t osStaticMutexDef_t; osThreadId_t defaultTaskHandle; const osThreadAttr_t defaultTask_attributes = { .name = "defaultTask", - .stack_size = 128 * 4, + .stack_size = 512 * 4, .priority = (osPriority_t) osPriorityNormal, }; @@ -64,6 +64,18 @@ void StartDefaultTask(void *argument); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ +/* Hook prototypes */ +void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName); + +/* USER CODE BEGIN 4 */ +void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName) +{ + /* Run time stack overflow checking is performed if + configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is + called if a stack overflow is detected. */ +} +/* USER CODE END 4 */ + /** * @brief FreeRTOS initialization * @param None diff --git a/Libs/TACOS b/Libs/TACOS index 7147d6d..39024e4 160000 --- a/Libs/TACOS +++ b/Libs/TACOS @@ -1 +1 @@ -Subproject commit 7147d6de8308110eace178b11ab88548ca29177a +Subproject commit 39024e4a8c53ed19f9313a1d52adff763d06ba75 diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils index 1925a16..a6704f4 160000 --- a/Libs/rtos2-utils +++ b/Libs/rtos2-utils @@ -1 +1 @@ -Subproject commit 1925a1668e847e048423499f523f3293ea9d923a +Subproject commit a6704f4c45a82cf607907854a0005d6450cb0f06