FreeRTOS - Task keep running and remain of infinite loop

[Angle]

Hi,

Why the task keep running and remain of infinite loop, and do not enter another function ?

[KnarfB]

your code snippets?

[Angle]

I don't know why it keep remain at first loop only.

Could you please help to see whats wrong with this code.

/* 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)

{

data = 0x00;

HAL_I2C_Mem_Write(&hi2c4, MPU6050_ADDR, PWR_MGMT_1_REG, 1, &data, 1,HAL_MAX_DELAY);

data = 0x08;

HAL_I2C_Mem_Write(&hi2c4, MPU6050_ADDR, GYRO_CONFIG_REG, 1, &data, 1,HAL_MAX_DELAY);

data = 0x10;

HAL_I2C_Mem_Write(&hi2c4, MPU6050_ADDR, ACC_CONFIG_REG, 1, &data, 1,HAL_MAX_DELAY);

for (i = 0; i < 2000; i++) {

prevtime2 = time2;

time2 = HAL_GetTick();

elapsedtime2 = (time2 - prevtime2) * 1000;

cuffer[0] = 0x43;

HAL_I2C_Master_Transmit(&hi2c4, MPU6050_ADDR, cuffer, 1, HAL_MAX_DELAY);

HAL_I2C_Master_Receive(&hi2c4, MPU6050_ADDR, cuffer, 6, HAL_MAX_DELAY);

gyro_raw[0] = (cuffer[0] << 8 | cuffer[1]);  //x-axis raw data

gyro_raw[1] = (cuffer[2] << 8 | cuffer[3]);  //y-axis raw data

gyro_raw[2] = (cuffer[4] << 8 | cuffer[5]);  //z-axis raw data

gyro_cal[0] += gyro_raw[0];

gyro_cal[1] += gyro_raw[1];

gyro_cal[2] += gyro_raw[2];

osDelay(3);

// HAL_Delay(3);

}

gyro_cal[0] /= 2000;

gyro_cal[1] /= 2000;

gyro_cal[2] /= 2000;

 /* USER CODE BEGIN 5 */

 /* Infinite loop */

 for(;;)

 {

  prevtime1 = time1;

time1 = HAL_GetTick();

elapsedtime1 = (time1 - prevtime1) * 1000;

//accelerometer register address

tuffer[0] = 0x3B;

HAL_I2C_Master_Transmit(&hi2c4, MPU6050_ADDR, tuffer, 1, HAL_MAX_DELAY);

HAL_I2C_Master_Receive(&hi2c4, MPU6050_ADDR, tuffer, 6, HAL_MAX_DELAY);

acc_raw[0] = (tuffer[0] << 8 | tuffer[1]);  //x-axis raw data

acc_raw[1] = (tuffer[2] << 8 | tuffer[3]);  //y-axis raw data

acc_raw[2] = (tuffer[4] << 8 | tuffer[5]);  //z-axis raw data

//temperature register address

buffer[0] = 0x41;

HAL_I2C_Master_Transmit(&hi2c4, MPU6050_ADDR, buffer, 1, HAL_MAX_DELAY);

HAL_I2C_Master_Receive(&hi2c4, MPU6050_ADDR, buffer, 2, HAL_MAX_DELAY);

raw_temp = (buffer[0] << 8 | buffer[1]);

temp = (raw_temp / 340.0) + 36.53;

//gyro register address

cuffer[0] = 0x43;

HAL_I2C_Master_Transmit(&hi2c4, MPU6050_ADDR, cuffer, 1, HAL_MAX_DELAY);

HAL_I2C_Master_Receive(&hi2c4, MPU6050_ADDR, cuffer, 6, HAL_MAX_DELAY);

gyro_raw[0] = (cuffer[0] << 8 | cuffer[1]); //x-axis

gyro_raw[1] = (cuffer[2] << 8 | cuffer[3]); //y-axis

gyro_raw[2] = (cuffer[4] << 8 | cuffer[5]); //z-axis

gyro_raw[0] -= gyro_cal[0];

gyro_raw[1] -= gyro_cal[1];

gyro_raw[2] -= gyro_cal[2] + 0.79;

angle_pitch_gyro += gyro_raw[0] * 0.0000611;

angle_roll_gyro += gyro_raw[1] * 0.0000611;

angle_pitch_gyro += angle_roll_gyro * sin(gyro_raw[2] * 0.000001066);

angle_roll_gyro -= angle_pitch_gyro * sin(gyro_raw[2] * 0.000001066);

//EULERS Angle(accelerometer)

acc_total_vector = sqrt((acc_raw[0] * acc_raw[0]) + (acc_raw[1] * acc_raw[1])+ (acc_raw[2] * acc_raw[2]));

angle_pitch_acc = asin((float) acc_raw[1] / acc_total_vector) * 57.296; //57.296

angle_roll_acc = asin((float) acc_raw[0] / acc_total_vector) * -57.296; //-57.296

angle_pitch_acc -= 0.00;

angle_roll_acc -= 0.00;

//complementary filter (LPF & HPF)

if (set_gyro)

{

angle_pitch = angle_pitch_gyro * 0.9996 + angle_pitch_acc * 0.0004;

angle_roll = angle_roll_gyro * 0.9996 + angle_roll_acc * 0.0004;

angle_yaw = angle_yaw + gyro_raw[2] / elapsedtime1;

} else

{

angle_pitch = angle_pitch_acc;

set_gyro = true;

}

while ((HAL_GetTick() - prevtime) * 1000 < 4000);

prevtime = HAL_GetTick();

printf(" pitch = %.2f  |  roll = %.2f  |  yaw = %.2f\r\n", angle_pitch, angle_roll, angle_yaw);

printf("\r\n");

// printf("counting = %d \r\n", counter++);

//  osDelay(100);

 }

 /* USER CODE END 5 */

}

[Angle]

its got stuck at this loop and do no enter into another function

[gbm]

And your definition of i is so precious you can't share it.

My wild guess: either the i variable is used by some other code (I don't understand why you didn't declare it in the for statement), or it's declared as 8-bit, like uint8_t.

In the latter case the compiler issued some warnings and you ignored them, which is defnitely not a good practice.

[Angle]

okay i have change i into local variable but it still remain execute at this loop. Could you help to see whats wrong with these code? What i missing or wrong ? i attached the code