/* USER CODE BEGIN Header */ /** ****************************************************************************** * File Name : freertos.c * Description : Code for freertos applications ****************************************************************************** * @attention * *

© Copyright (c) 2021 STMicroelectronics. * All rights reserved.

* * This software component is licensed by ST under Ultimate Liberty license * SLA0044, the "License"; You may not use this file except in compliance with * the License. You may obtain a copy of the License at: * www.st.com/SLA0044 * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "FreeRTOS.h" #include "task.h" #include "main.h" #include "cmsis_os.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "common_inc.h" #include "communication.hpp" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN Variables */ // List of semaphores osSemaphoreId sem_usb_irq; osSemaphoreId sem_uart4_dma; osSemaphoreId sem_uart5_dma; osSemaphoreId sem_usb_rx; osSemaphoreId sem_usb_tx; osSemaphoreId sem_can1_tx; osSemaphoreId sem_can2_tx; /* USER CODE END Variables */ /* Definitions for defaultTask */ osThreadId_t defaultTaskHandle; const osThreadAttr_t defaultTask_attributes = { .name = "defaultTask", .stack_size = 2000, .priority = (osPriority_t) osPriorityNormal, }; /* Private function prototypes -----------------------------------------------*/ /* USER CODE BEGIN FunctionPrototypes */ /* USER CODE END FunctionPrototypes */ void StartDefaultTask(void *argument); extern void MX_USB_DEVICE_Init(void); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ /** * @brief FreeRTOS initialization * @param None * @retval None */ void MX_FREERTOS_Init(void) { /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* USER CODE BEGIN RTOS_MUTEX */ /* add mutexes, ... */ /* USER CODE END RTOS_MUTEX */ /* USER CODE BEGIN RTOS_SEMAPHORES */ // Init usb irq binary semaphore, and start with no tokens by removing the starting one. osSemaphoreDef(sem_usb_irq); sem_usb_irq = osSemaphoreNew(1, 0, osSemaphore(sem_usb_irq)); // Create a semaphore for UART DMA and remove a token osSemaphoreDef(sem_uart4_dma); sem_uart4_dma = osSemaphoreNew(1, 1, osSemaphore(sem_uart4_dma)); osSemaphoreDef(sem_uart5_dma); sem_uart5_dma = osSemaphoreNew(1, 1, osSemaphore(sem_uart5_dma)); // Create a semaphore for USB RX, and start with no tokens by removing the starting one. osSemaphoreDef(sem_usb_rx); sem_usb_rx = osSemaphoreNew(1, 0, osSemaphore(sem_usb_rx)); // Create a semaphore for USB TX osSemaphoreDef(sem_usb_tx); sem_usb_tx = osSemaphoreNew(1, 1, osSemaphore(sem_usb_tx)); // Create a semaphore for CAN TX osSemaphoreDef(sem_can1_tx); sem_can1_tx = osSemaphoreNew(1, 1, osSemaphore(sem_can1_tx)); osSemaphoreDef(sem_can2_tx); sem_can2_tx = osSemaphoreNew(1, 1, osSemaphore(sem_can2_tx)); /* USER CODE END RTOS_SEMAPHORES */ /* USER CODE BEGIN RTOS_TIMERS */ /* USER CODE END RTOS_TIMERS */ /* USER CODE BEGIN RTOS_QUEUES */ // This Task must run before MX_USB_DEVICE_Init(), so have to put it here. const osThreadAttr_t usbIrqTask_attributes = { .name = "usbIrqTask", .stack_size = 500, .priority = (osPriority_t) osPriorityAboveNormal, }; usbIrqTaskHandle = osThreadNew(UsbDeferredInterruptTask, NULL, &usbIrqTask_attributes); /* USER CODE END RTOS_QUEUES */ /* Create the thread(s) */ /* creation of defaultTask */ defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ /* USER CODE END RTOS_THREADS */ /* USER CODE BEGIN RTOS_EVENTS */ /* add events, ... */ /* USER CODE END RTOS_EVENTS */ } /* USER CODE BEGIN Header_StartDefaultTask */ /** * @brief Function implementing the defaultTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_StartDefaultTask */ void StartDefaultTask(void *argument) { /* init code for USB_DEVICE */ MX_USB_DEVICE_Init(); /* USER CODE BEGIN StartDefaultTask */ // Invoke cpp-version main(). Main(); vTaskDelete(defaultTaskHandle); /* USER CODE END StartDefaultTask */ } /* Private application code --------------------------------------------------*/ /* USER CODE BEGIN Application */ /* USER CODE END Application */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/