Ok, firstly the answer to your question:
"Too vague. Step through the code. What is happening? What do you expect to happen instead?"
Here is the array:
MotorInstruction instructions[] = {
{'F', {900, 900}, 10}, // Move forward at speed 900 for 10 seconds
{'F', {100, 600}, 3}, // Turn with speeds 500 and 600 for 3 seconds
{'F', {600, 600}, 10}, // Move forward at speed 600 for 10 seconds
{'F', {700, 700}, 3},// Move forward at speed 1000 for 3 seconds
{'F', {900, 900}, 3},
// etc etc.....
};
These figures are assigned to the respective timer channels
eg:
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, motor2_speed);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, motor3_speed);
As the execution iterates (after the time in seconds) it assigns the values to motor2 and motor3 respectively.
That said, these executing lines are blocking the GPS which is automatically coming through the USART2.
You mention RTOS.
I spent hours with the RTOS task. Maybe I was not doing things correctly.
Here is the code:
#define UART_QUEUE_SIZE 64 QueueHandle_t uartQueue;
void GPS_Task(void *pvParameters) { uint8_t received_byte; while (1) { // Wait for a byte from the queue if (xQueueReceive(uartQueue, &received_byte, portMAX_DELAY) == pdPASS) { // Process the byte processGPSData(&received_byte, 1); } } }
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART2) { // Send received byte to the queue xQueueSendFromISR(uartQueue, &received_char, NULL); // Re-enable UART interrupt for next byte HAL_UART_Receive_IT(&huart2, &received_char, 1); } }
In the HAL_UART_RxCpltCallback() I have this:
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART2) { // Send received byte to the queue xQueueSendFromISR(uartQueue, &received_char, NULL); // Re-enable UART interrupt for next byte HAL_UART_Receive_IT(&huart2, &received_char, 1); } }
Then in my INT Main
I have this:
// Initialize the FreeRTOS queue
uartQueue = xQueueCreate(UART_QUEUE_SIZE, sizeof(uint8_t));
if (uartQueue == NULL) {
// Handle queue creation error
Error_Handler(); }
// Create the GPS task
xTaskCreate(GPS_Task, "GPS_Task", 128, NULL, 2, NULL); // Stack size = 128, priority = 2
// Start the scheduler
vTaskStartScheduler();
Like I said, this code ought to work. But nothing happens
