FreeRTOS

C++ Wrapper

I made a c++ wrapper class to use FreeRTOS. That's the main idea here.

To expend your task:

1. Define the task handler and function

   TaskHandle_t parse_Handle;
   void parse();
   

2. Use lamda to create the task

   auto t1 = [](void *arg) { static_cast<Thread *>(arg)->parse(); };
   xTaskCreate(t1, "cli parsing", 256, this, -2, &parse_Handle);
   

3. Trap the task into its own tiny while() like the one in your main()

   void Thread::parse() {
   	while (1) {
   		vTaskSuspend(NULL);
   		cli.parse();
   	}
   }
   

4. Use task control (i.e. queue, notify, suspend, resume) to run your app and feature.

   xTaskResumeFromISR(thread.parse_Handle);
   

Use of FreeRTOS Wrapper Class

The task are created in the object initialization using Lamda due to C++ wrapping.

• In object initializer:

  auto t1 = [](void *arg) { static_cast<Thread *>(arg)->parse(); };
  xTaskCreate(t1, "cli parsing", 256, this, -2, &parse_Handle);
  

Each of the corresponding task are decleared with its handle typle.

• In header:

  TaskHandle_t parse_Handle;
  void parse();
  

FreeRTOS Debugging

• Install VS Code Extension: RTOS Views (mcu-debug.rtos-views)
• Use a hardware timer with 20KHz setting. In this projcet timer 7 is used.
• Include the follwing code to enable full debugging feature.

In FreeRTOSConfig.h:

#include "tim.h"					// Using 20kHz hardware timer
#define configUSE_TRACE_FACILITY 1			// Show RTOS task ID stats
#define configUSE_STATS_FORMATTING_FUNCTIONS 1		// Enable using vTaskList()
#define configRECORD_STACK_HIGH_ADDRESS 1		// Show RTOS stack stats
#define configGENERATE_RUN_TIME_STATS 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() MX_TIM7_Init()
#define portGET_RUN_TIME_COUNTER_VALUE() htim7.Instance->CNT

In MX_TIM7_Init():

/* USER CODE BEGIN TIM7_Init 2 */
__TIM7_CLK_ENABLE();
HAL_TIM_Base_Init(&htim7);
HAL_TIM_Base_Start(&htim7);