Posted on February 20, 2017 at 12:26Hi, I'm trying to use FreeRTOS with a STM32F401RE Nucleo64 board. I have all the project files in place and the project compiles fine. But I'm trying to use the HAL_Delay() routine from the Cube HAL but I'm running into some problems. I inserted the HAL_IncTick() call before the SysTick handler from FreeRTOS and initialized the MCU with HAL_Init() and configured the clock in a function that I call before starting the scheduler (updating the SystemCoreClock variable). Now, if I call HAL_Delay() before starting the scheduler the program ends up in HardFault handler, while if I make the call after the scheduler has started (in the task) it does not. Now, I think that the variable that is updated bu HAL_IncTick() in the handler is not interfering with the FreeRTOS time base (even if they share the SysTick). Why is it so? Here's my code:
int main(void)
{
HAL_Init(); // calls HAL_MspInit(),sets NVIC priority grouping and enable SysTick (HAL base time)
SystemClock_Config();
UART_Init(&uart2_handle,USART2,115200,1024);
Nunchuck_Init();
xTaskCreate(&DisplayTask,'display task',500,NULL,1,&displayTaskHandle);
xTaskCreate(&NunchuckTask,'nunchuck task',500,NULL,1,&nunchuckTaskHandle);
vTaskStartScheduler();
while (1)
{
}
}
void SystemClock_Config(void)
{
// configure and enable clock source
RCC_OscInitTypeDef osc_config;
osc_config.OscillatorType = RCC_OSCILLATORTYPE_HSI;
osc_config.HSIState = RCC_HSI_ON;
osc_config.PLL.PLLSource = RCC_PLLSOURCE_HSI;
osc_config.PLL.PLLState = RCC_PLL_ON;
osc_config.PLL.PLLM = 8;
osc_config.PLL.PLLN = 84;
osc_config.PLL.PLLP = RCC_PLLP_DIV2;
osc_config.PLL.PLLQ = 7;
HAL_RCC_OscConfig(&osc_config);
// select clock source, update SystemCoreClock and set flash wait states
RCC_ClkInitTypeDef clk_config;
clk_config.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
clk_config.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
clk_config.AHBCLKDivider = RCC_HCLK_DIV1;
clk_config.APB1CLKDivider = RCC_HCLK_DIV2;
clk_config.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&clk_config,FLASH_LATENCY_0); // updates SystemCoreClock
}
// FreeRTOS tasks
void DisplayTask(void *parameters)
{
ST7735_Init();
UART_Write(&uart2_handle,'UART ready\r\n');
ST7735_Print('STM32 serial monitor\n\n',ST7735_Color565(0,255,200));
char charbuf[100],*p;
while (1)
{
p = &charbuf[0];
do
{
*p = UART_Receive(&uart2_handle);
} while (*p++ != '\r');
*--p = '\0';
ST7735_Print(&charbuf[0],ST7735_Color565(255,255,255));
}
}
void NunchuckTask(void *parameters)
{
Nunchuck nunchuck;
while (1)
{
Nunchuck_Update(&nunchuck);
}
}
#freertos #stm32 #tick
