works

issue with nvic priorities

Q24ECU/.vscode/settings.json

@@ -12,6 +12,10 @@
         "float.h": "c",
         "queue.h": "c",
         "taskhandlers.h": "c",
-        "freertos.h": "c"
+        "freertos.h": "c",
+        "limits.h": "c",
+        "main.h": "c",
+        "interface_uart.h": "c",
+        "task.h": "c"
     }
 }

Q24ECU/core/config/nvicConfig.h

@@ -0,0 +1,25 @@
+/**
+ * @file nvicConfig.h
+ * @author Jacob Chisholm (Jchisholm204.github.io)
+ * @brief 
+ * @version 0.1
+ * @date 2023-11-20
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ * This file exists because of some odd errors surrounding FreeRTOS and the NVIC.
+ * 
+ * In order to avoid deadlocks within an interrupt: Do NOT exceed these parameters.
+ * EX:
+ *      NVIC_SetPriority(USART2_IRQn, NVIC_Priority_MAX);
+ *      NVIC_SetPriority(USART2_IRQn, NVIC_Priority_MAX+5);
+ *      NVIC_SetPriority(USART2_IRQn, NVIC_Priority_MIN-10);
+ * 
+ */
+
+#pragma once
+
+// Highest Priority that can be given to an NVIC Interrupt
+#define NVIC_Priority_MAX 21
+// Highest Priority that can be given to an NVIC Interrupt
+#define NVIC_Priority_MIN 79

Q24ECU/core/include/main.h

@@ -16,6 +16,7 @@
 #include "hal/hal_tim_basic.h"
 #include "hal/hal_flash.h"
 #include "taskHandlers.h"
+#include "nvicConfig.h"
 
 extern void SystemInit(void);
 

Q24ECU/core/include/taskHandlers.h

@@ -13,6 +13,9 @@
 #include "FreeRTOSConfig.h"
 #include "task.h"
 
+// Test Task 1
 extern TaskHandle_t tskh_Test1;
+// Blink LED example Task
 extern TaskHandle_t tskh_BlinkLED;
+// UART2 (debug) receive task handler
 extern TaskHandle_t tskh_USART2_Handler;

Q24ECU/core/src/interfaces/interface_uart.c

@@ -13,6 +13,7 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "taskHandlers.h"
+#include "nvicConfig.h"
 
 
 uart_t debug;
@@ -21,22 +22,16 @@ void uart_setup(){
     // Enable the debug usart and setup its IQR handler
     uart_send_init(&debug, UART_DEBUG, 250000);
     hal_uart_enable_rxne(debug.interface, true);
-    NVIC_SetPriority(USART2_IRQn, 0x03);
+    NVIC_SetPriority(USART2_IRQn, (NVIC_Priority_MIN-10));
     NVIC_EnableIRQ(USART2_IRQn);
 }
 
 void USART2_IRQHandler(){
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
     uint8_t receivedData = 0;
-    // Clear the interrupt bit (enables exiting of fn)
-    // xSemaphoreTakeFromISR(debug.handle, &xHigherPriorityTaskWoken);
     receivedData = hal_uart_read_byte(UART_DEBUG);
-    // xSemaphoreGiveFromISR(debug.handle, &xHigherPriorityTaskWoken);
 
-    xStreamBufferSendFromISR(debug.stream, &receivedData, sizeof(receivedData), NULL);
+    xStreamBufferSendFromISR(debug.stream, &receivedData, sizeof(receivedData), &xHigherPriorityTaskWoken);
 
-    // portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-    if(receivedData == '1'){
-        gpio_toggle_pin(debug_led2);
-    }
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 }

Q24ECU/core/src/main.c

@@ -9,6 +9,9 @@
 
 #include "main.h"
 #include "limits.h"
+#include "taskHandlers.h"
+
+// Init global handles for tasks
 
 TaskHandle_t tskh_Test1 = NULL;
 TaskHandle_t tskh_BlinkLED = NULL;
@@ -17,8 +20,7 @@ TaskHandle_t tskh_USART2_Handler = NULL;
 void tsk_Test1(void *param){
     (void)(param); // Cast unused variable to void
     for(;;){
-        // Toggle LED Pin
-        // gpio_toggle_pin(debug_led2);
+        // Print out the systemtick timer once a second
         printf("%d\n", xTaskGetTickCount());
         vTaskDelay(1000);
     }
@@ -28,15 +30,7 @@ void tsk_Test1(void *param){
 void tsk_BlinkLED(void *param){
     (void)param;
     for(;;){
-        // if(hal_uart_read_ready(debug.interface)){
-        //     uint8_t receivedData;
-
-        //     // Read data from the USART (replace with your actual read operation)
-        //     receivedData = hal_uart_read_byte(debug.interface);
-
-        //     // Send the received data to the task
-        //     xQueueSend(debug.rxQue, (void*) &receivedData, portMAX_DELAY);
-        // }
+        // This task is currently not used so perma suspend it
         vTaskSuspend(NULL);
     }
 }
@@ -45,19 +39,14 @@ void tsk_USART2_Handler(void *param){
     (void)param;
     for(;;){
         uint8_t buf[64];
-        uint32_t pendingBit;
-        // if(xStreamBufferReceive(debug.stream, (void*) &buf, sizeof(buf), 100) > 0){
-        //     // gpio_toggle_pin(debug_led2);
-        // }
-        //printf("%d\n", xStreamBufferBytesAvailable(debug.stream));
-        // if(xStreamBufferBytesAvailable(debug.stream)){
-            int bytes = xStreamBufferReceive(debug.stream, (void*) &buf, sizeof(uint8_t), 0);
-            if(bytes > 0){
-                printf("%c\n", buf[0]);
-            }
-
-        // }
-        // printf("%c", pendingBit);
+        size_t bytes = xStreamBufferReceive(debug.stream, (void*) &buf, 64, portMAX_DELAY);
+        printf("%s (%d)\n", buf, bytes);
+        // reset the stream buffer
+        for (int i = 0; i < 64; i++)
+        {
+            buf[i] = 0;
+        }
+
     }
 }
 
@@ -78,7 +67,7 @@ int main(void){
 
     // Enable Timer 6 (Basic Timer) 1Hz (APB2/45000, count to 2000)
     TIM_basic_Init(TIM6, 45000U, 2000U);
-    NVIC_SetPriority(TIM6_DAC_IRQn, 0x03); // Enable Timer IRQ (lowest priority)
+    NVIC_SetPriority(TIM6_DAC_IRQn, NVIC_Priority_MIN); // Enable Timer IRQ (lowest priority)
     NVIC_EnableIRQ(TIM6_DAC_IRQn);
 
     // hal_uart_init(UART_DEBUG, 9600);
@@ -106,18 +95,15 @@ int main(void){
         &tskh_Test1
     );
 
-
+    // Create UART2 (debug) receive task handler
     xTaskCreate(
         tsk_USART2_Handler,
         "u2",
         1024,
         NULL,
-        tskIDLE_PRIORITY + 2,
+        tskIDLE_PRIORITY+4,
         &tskh_USART2_Handler
     );
-    printf("u2 created: %d\n", tskh_USART2_Handler != NULL);
-
-    // xTaskGetHandle()
 
     // Start Scheduler
     vTaskStartScheduler();