all working

Q24ECU/core/config/pins.h

@@ -42,9 +42,6 @@
 // Vin Voltage Divider
 #define PIN_voltageSensor ((uint16_t)(PIN('C', 1)))
 
-// Debug USART (for printf)
-#define UART_DEBUG USART2
-
 #define PIN_CAN1_RX ((uint16_t)(PIN('A', 11)))
 #define PIN_CAN1_TX ((uint16_t)(PIN('A', 12)))
 

Q24ECU/core/include/main.h

@@ -14,6 +14,10 @@
 #include "nvicConfig.h"
 #include "interrupts.h"
 
+// Comment this out to remove task names from the debug print
+#define DEBUG_PRINTF_TASK_NAME
+
+
 extern void SystemInit(void);
 
 extern int main(void);

Q24ECU/core/include/taskHandlers.h

@@ -22,7 +22,8 @@ enum Tasks{
     eTask_CAN_send,
     eTask_CAN_receive,
     eTask_CAN_rxBufferHandler,
-    eTask_TaskCount // Keep this last
+    // Keep this last
+    eTask_TaskCount // Number of tasks running on the system (`taskHandlers.h`)
 };
 
 extern TaskHandle_t xTaskHandles[eTask_TaskCount];

Q24ECU/core/src/interfaces/interface_uart.c

@@ -19,6 +19,9 @@
 uart_t port_uart2;
 uart_t port_uart4;
 
+// UART Baud Rate (Bits per Second)
+#define UART_BAUD 250000
+
 
 /**
  * @brief OS UART Setup handler
@@ -31,13 +34,16 @@ uart_t port_uart4;
  * 
  */
 void os_uart_setup(void){
+
     // Enable the UART 2 port and setup its IQR handler
-    uart_send_init(&port_uart2, USART2, 115200, PIN_USART2_TX, PIN_USART2_RX);
-    uart_send_init(&port_uart4, UART4, 115200, PIN('A', 0), PIN('A', 1));
+    uart_send_init(&port_uart2, USART2, UART_BAUD, PIN_USART2_TX, PIN_USART2_RX);
     xStreamBufferSetTriggerLevel(port_uart2.rxbuffer, 5); // set the trigger level of the stream buffer. Port Specific.
     hal_uart_enable_rxne(port_uart2.port, true);
     NVIC_SetPriority(USART2_IRQn, (NVIC_Priority_MIN-10));
     NVIC_EnableIRQ(USART2_IRQn);
+
+    // Enable the UART 4 port (NO IRQ handler for receiving data)
+    uart_send_init(&port_uart4, UART4, UART_BAUD, PIN_UART4_TX, PIN_UART4_RX);
 }
 
 void USART2_IRQHandler(void){

Q24ECU/core/src/main.c

@@ -17,37 +17,40 @@
 #include "stm32f446xx.h"
 
 int main(void){
-    // set up gpio
-    // gpio_set_mode(debug_led1, GPIO_MODE_OUTPUT);
-    // gpio_write(debug_led1, false);
-    // gpio_set_mode(debug_led2, GPIO_MODE_OUTPUT);
-    // gpio_write(debug_led2, true);
-    // gpio_pull(debug_led1, GPIO_PULLDOWN);
+
+    // Initialize Timer Interrupts
 
     // Enable Timer 6 (Basic Timer) 1Hz (APB2/45000, count to 2000)
     // TIM_basic_Init(TIM6, 45000U, 2000U);
     // NVIC_SetPriority(TIM6_DAC_IRQn, NVIC_Priority_MIN); // Enable Timer IRQ (lowest priority)
     // NVIC_EnableIRQ(TIM6_DAC_IRQn);
+
+    // Initialize OS Interfaces
+
+    os_uart_setup();
 
     // clear terminal
     printf("\033[2J");
-    // initialize os interfaces
-    os_uart_setup();
+    printf("\n");
     printf("USART Initialized..\n");
-    // hal_uart_init(UART4, 115200, PIN('A', 0), PIN('A', 1));
-
+
     os_can_setup();
-    printf("CAN Initialized..\n");
+    printf("CAN Bus Initialized..\n");
+
     spin(9999999UL);
-    printf("system starting tasks...\n");
+
+    printf("System Starting Tasks...\n\n");
+
     spin(9999999UL);  
 
     // Initialize all the tasks
     os_task_init();
 
+    // Print out Task Information
+    printf("Task:\t   Identifier\t    Priority\t\tState\n");
     for (int i = 0; i < eTask_TaskCount; i++)
     {
-        printf("Task %d: %s\t", i, pcTaskGetName(xTaskHandles[i]));
+        printf("%d: %16s\t\t%lu\t\t", i, pcTaskGetName(xTaskHandles[i]), uxTaskPriorityGet(xTaskHandles[i]));
         switch(eTaskGetState(xTaskHandles[i])) {
             case eRunning:
                 printf("RUNNING\n");
@@ -72,7 +75,15 @@ int main(void){
                 break;
         }
     }
-
+
+    printf("\n");
+    printf("Total Heap Memory: %d B\n", configTOTAL_HEAP_SIZE);
+    printf("Free Heap Memory:  %d B\n", xPortGetFreeHeapSize());
+    printf("\n");
+
+
+    printf("Starting Scheduler...\n");
+    printf("\n");
 
     // Start Scheduler
     vTaskStartScheduler();
@@ -81,6 +92,7 @@ int main(void){
     for(;;) {
         // Write out Error LED
         // gpio_write(debug_led2, false);
+        __asm__("nop");
     }
     return 0;
 }

Q24ECU/core/src/syscalls.c

@@ -6,6 +6,7 @@
 #include "interfaces/interface_uart.h"
 #include "FreeRTOS.h"
 #include "task.h"
+#include "main.h"
 #include "string.h"
 
 int _fstat(int fd, struct stat *st) {
@@ -76,7 +77,7 @@ int _lseek(int fd, int ptr, int dir) {
 
 void _exit(int status) {
   (void) status;
-  for (;;) asm volatile("BKPT #0");
+  for (;;) __asm__ volatile("BKPT #0");
 }
 
 void _kill(int pid, int sig) {
@@ -90,18 +91,22 @@ int _getpid(void) {
 int _write(int fd, char *ptr, int len) {
   (void) fd, (void) ptr, (void) len;
   if (fd == 1 || fd == 2){
+    #ifdef DEBUG_PRINTF_TASK_NAME
     char * callerID = NULL;
     // Get the name of the task calling printf - Only run if scheduler has been started
     if(xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) callerID = pcTaskGetName(NULL);
+    #endif
     if(port_uart2.port == NULL)          return -1;
     if(port_uart2.semaphore == NULL)     return -1;
     // Take over the debug usart
-    if(xSemaphoreTake(port_uart2.semaphore, (TickType_t) 100) == pdTRUE){
+    if(xSemaphoreTake(port_uart2.semaphore, (TickType_t) 10) == pdTRUE){
+      #ifdef DEBUG_PRINTF_TASK_NAME
       // Write caller ID, followed by ": ", then the argument given to printf
       if(callerID != NULL){
         hal_uart_write_buf(port_uart2.port, callerID, strlen(callerID));
         hal_uart_write_buf(port_uart2.port, ": ", 3);
       }
+      #endif
       hal_uart_write_buf(port_uart2.port, ptr, (size_t) len);
       xSemaphoreGive(port_uart2.semaphore);
     }
@@ -112,7 +117,7 @@ int _write(int fd, char *ptr, int len) {
 
 int _read(int fd, char *ptr, int len) {
   (void) fd, (void) ptr, (void) len;
-  // should be able to use calloc to allocate memory and read usart
+  // There is no filesystem
   return -1;
 }
 

Q24ECU/core/src/taskHandlers.c

@@ -12,6 +12,7 @@
 #include "taskHandlers.h"
 #include <stdio.h>
 
+
 // Init global handles for tasks
 
 TaskHandle_t xTaskHandles[eTask_TaskCount];

Q24ECU/core/src/tasks/canRunner.c

@@ -19,8 +19,8 @@
 
 void vTask_CAN_send(void *param){
     (void)param;
-
-    printf("CAN Send Running\n");
+    vTaskDelay(1);
+    printf("Initializing TX\n");
     uart_send_buf_blocking(&port_uart4, "Running CAN TX Task from canRunner.c\n", 38U, 1000U);
     can_msg_t tx_msg;
     tx_msg.id = 33;
@@ -40,13 +40,14 @@ void vTask_CAN_send(void *param){
 
 void vTask_CAN_receive(void *param){
     (void)param;
-    printf("CAN RX Running\n");
+    vTaskDelay(1);
+    printf("Initializing RX\n");
     uart_send_buf_blocking(&port_uart4, "Running CAN RX Task from canRunner.c\n", 38U, 1000U);    
     can_msg_t rx_msg;
     for(;;){
         rx_msg = can_fetch(CAN1, 200);
         char buf[40];
-        snprintf(buf, 40, "%d: %d\n", rx_msg.id, rx_msg.data[0]);
+        snprintf(buf, 40, "%ld: %d\n", rx_msg.id, rx_msg.data[0]);
         uart_send_buf_blocking(&port_uart4, buf, strlen(buf), 1000);
         vTaskDelay(100);
     }

Q24ECU/docs/FreeRTOS.md

@@ -0,0 +1,15 @@
+# Basic FreeRTOS Information
+
+This project uses the FreeRTOS real time scheduler in conjunction with a custom developed HAL. View the [FreeRTOS Docs Here](https://www.freertos.org/features.html).
+
+Some basic information about the project:
+- Heap 4 implementation is used
+- Objects are statically allocated where possible.
+- Cortex M4 Floating Point Unit is enabled
+- 32 Levels of task priority
+- 1kHz scheduler tick rate
+- Mutexes and Counting Semaphores used
+- `xTaskDelayUntil` Used for preemptive scheduling
+
+
+*The FreeRTOS configuration used is adapted from the STM32 Cube Default Configuration*

Q24ECU/readme.md

@@ -6,22 +6,31 @@ Author: Jacob Chisholm
 Written for Queen's Formula SAE
 
 ## V2 Notes
-- Built with RTOS
+- Built with FreeRTOS
 - CMAKE compiling/linking with GCC
 - Makefile uploading (binary blobs produced cross compatible)
 
 ## Running
+
+#### VS Code
 1. Select correct compiler kit in VS code cMake extension
 2. Allow cMake automatic configuration
 3. Select flash method in the makefile
 3. Run `make flash` or upload code with another method
 
+#### MakeFile
+1. Run `make cmake` to generate cmake configuration files
+2. Run `make build` to build the project
+3. Select the flash method in the makefile
+4. Run `make flash`
+
+
 ## Required Softwares:
 - GCC
 - arm-none-eabi-gcc
 - arm-none-eabi-objcopy
 - arm-none-eabi-gdb
-- make
+- GNU make
 - VS Code
     - cMake extension
     - Teleplot extension (for plotting serial data)