Issue with integrating FreeRTOS into STM32 project

[Quangvm]

Hello everyone, I am integrating FreeRTOS into a project with an LCD16x2. The issue is when I initialize the LCD handle in the main function and use it in a task, it doesn't print the correct character. However, if I initialize the LCD handle in the task itself, it works fine. I suspect the issue is with the LCD_Write_4bit function. When using HAL_Delay(), I get a hard fault error. Can anyone help me with this?

I'm using STM32F407 Discovery Board (STM32F407-DISC1) and STM32CubeIDE

static LCD_HandleTypeDef lcd;
int main(void)
{
  /* USER CODE BEGIN 1 */

	TaskHandle_t task1_handle;
	BaseType_t status;

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */

  LCD_PortType ports[] = { GPIOB, GPIOB, GPIOB, GPIOB };
  LCD_PinType pins[] = { GPIO_PIN_7, GPIO_PIN_5, GPIO_PIN_3, GPIO_PIN_9 };

  // Create the LCD instance with the defined ports and pins
  lcd = LCD_Define(ports, pins, GPIOD, GPIO_PIN_0, GPIOD, GPIO_PIN_2, LCD_4_BIT_MODE);
  // Initialize the LCD display
  LCD_Init(&lcd);

  vSemaphoreCreateBinary( xWork );

  //Enable the CYCCNT counter.
  DWT_CTRL |= ( 1 << 0);

  SEGGER_SYSVIEW_Conf();

  SEGGER_SYSVIEW_Start();


  status = xTaskCreate(print_handler, "print_task", 400, NULL, 3, &task1_handle);

  configASSERT(status == pdPASS);


  //start the freeRTOS scheduler
  vTaskStartScheduler();

  //if the control comes here, then the launch of the scheduler has failed due to
  //insufficient memory in heap

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

void print_handler(void *parameters)
{
	  //if using this code the task work fine
//	  LCD_PortType ports[] = { GPIOB, GPIOB, GPIOB, GPIOB };
//	  LCD_PinType pins[] = { GPIO_PIN_7, GPIO_PIN_5, GPIO_PIN_3, GPIO_PIN_9 };
//
//	  // Create the LCD instance with the defined ports and pins
//	  lcd = LCD_Define(ports, pins, GPIOD, GPIO_PIN_0, GPIOD, GPIO_PIN_2, LCD_4_BIT_MODE);
    while (1)
    {
        if (xSemaphoreTake(xWork, portMAX_DELAY) == pdTRUE)
        {
            LCD_Write_Data(&lcd, 0x45);
            LCD_Write_Data(&lcd, 0x31);
            HAL_GPIO_TogglePin(GPIOD, LED_GREEN_PIN);

            vTaskDelay(pdMS_TO_TICKS(500));
        }
    }
}

////////////////////////////////////////LCD_FUNCTION/////////////////////////////////
LCD_HandleTypeDef LCD_Define(
		LCD_PortType data_port[], LCD_PinType data_pin[],
		LCD_PortType rs_port, LCD_PinType rs_pin,
		LCD_PortType en_port, LCD_PinType en_pin, LCD_ModeTypeDef mode)
{
	LCD_HandleTypeDef lcd;
    lcd.mode = mode;
    lcd.data_port = data_port;
    lcd.data_pin = data_pin;
    lcd.en_port = en_port;
    lcd.en_pin = en_pin;
    lcd.rs_port = rs_port;
    lcd.rs_pin = rs_pin;

    return lcd;
}

void LCD_Write_Data(LCD_HandleTypeDef * lcd ,uint8_t data)
{
	HAL_GPIO_WritePin(lcd->rs_port, lcd->rs_pin, LCD_DATA_REG);

    if(lcd->mode == LCD_4_BIT_MODE)
    {
    	LCD_Write_4bit(lcd, data >> 4);  /*Higher nibble*/
    	LCD_Write_4bit(lcd, data & 0x0F); /*Lower nibble*/
    }else
    {
    	LCD_Write_8bit(lcd, data);
    }
}

static void LCD_Write_4bit(LCD_HandleTypeDef * lcd, uint8_t value)
{
	HAL_GPIO_WritePin(lcd->data_port[0],lcd->data_pin[0], ((value >> 0) & 0x1) );
	HAL_GPIO_WritePin(lcd->data_port[1],lcd->data_pin[1], ((value >> 1) & 0x1) );
	HAL_GPIO_WritePin(lcd->data_port[2],lcd->data_pin[2], ((value >> 2) & 0x1) );
	HAL_GPIO_WritePin(lcd->data_port[3],lcd->data_pin[3], ((value >> 3) & 0x1) );

	HAL_GPIO_WritePin(lcd->en_port, lcd->en_pin, GPIO_PIN_SET);				//figure 15, page 32 (rising edge & falling edge to)
//	HAL_Delay(1);
//	HAL_GPIO_WritePin(lcd->en_port, lcd->en_pin, GPIO_PIN_RESET);
//	HAL_Delay(1);

	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
	{
		vTaskDelay(1 / portTICK_PERIOD_MS);
	}
	else
	{
		HAL_Delay(1);
	}

	HAL_GPIO_WritePin(lcd->en_port, lcd->en_pin, GPIO_PIN_RESET);

	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
	{
		vTaskDelay(1 / portTICK_PERIOD_MS);
	}
	else
	{
		HAL_Delay(1);
	}
}

[SofLit]

Hello @Quangvm  and welcome to the community,

Please review tips on how to post a thread here.

Please read it and make the necessary changes: in the title, the code sharing (do not psot screen shots) and the used MCU part number.

Thank you for your understanding.

[Quangvm]

Sorry for the carelessness, I will follow the tip. Thank you so much