Posted on December 08, 2015 at 11:40 The SysTimer is used for freeRTOS internal ticks count. So we can't use it directy (as we used in standard mode).
So you can do this:
1) add this define:
#define USE_FREERTOS 1
2) As I said below, the SysTick interrupt should call the xPortSysTickHandler, and Irq should not be implemented for freeRTOS usage :
#ifndef USE_FREERTOS
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
/**
* @brief This function handles PendSVC exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
void SysTick_Handler(void)
{
HAL_IncTick(); // <-- Standard call !
}
#endif
3) The HAL functions (ex: HAL_IncTick) are implemented with __weak statement in stm32f*xxx_hal.c so we redefine it:
uint32_t HAL_GetTick(void)
{
return xTaskGetTickCount();
}
/**
* dummy function to avoid the standard initialization code
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
return HAL_OK;
}
4) launch freeRTOS application:
#define LED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define ledSTACK_SIZE configMINIMAL_STACK_SIZE
static portTASK_FUNCTION( vLEDFlashTask, pvParameters )
{
portTickType xLastFlashTime, xFlashRate = 100;
/* The parameters are not used. */
( void ) pvParameters;
xLastFlashTime = xTaskGetTickCount();
for(;;)
{
printf(''.\n'');
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_8);
/* USB LED */
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_15);
vTaskDelayUntil( &xLastFlashTime, xFlashRate );
}
}
void vStart_Test_RT_Led_Tasks( unsigned portBASE_TYPE uxPriority ) {
xTaskCreate( vLEDFlashTask, ( portCHAR * ) ''testLed'', ledSTACK_SIZE, NULL, uxPriority, ( xTaskHandle * ) NULL );
}
void start_FreeRTOS(void) {
vStart_Test_RT_Led_Tasks( LED_TASK_PRIORITY );
HAL_GetTick(); // <- used in many HAL drivers.
// Now It's working with freeRTOS ;)
/* Start the scheduler. */
vTaskStartScheduler();
while(1);
}
You should start the scheduler before calling HAL_Delay ! so create a main task who call your HAL_Init function. This function call HAL initialization and the delay works.
static portTASK_FUNCTION( vMainTask, pvParameters ) {
/* The parameters are not used. */
( void ) pvParameters;
HAL_Init();
printf(''waiting for some delay ...'');
HAL_Delay(100); // <- used in many HAL drivers.
// Now It's working now with freeRTOS ;)
printf(''done\n'');
for(;;) {
portTickType xLastTickCount = xTaskGetTickCount();
vTaskDelayUntil(&xLastTickCount, LOOP_TIME_MS);
}
}
