add lots of stuff from the tempdeck-gen3 setup code

This sets up tim7 as our hal_tick source which is needed for the freertos side to work

also add a vtaskdelay in the motor task so it doesn't get caught forever

Author: ryanthecoder

stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp

@@ -30,6 +30,7 @@ auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void {
 
     //    auto policy = motor_policy::MotorPolicy();
     while (true) {
+        vTaskDelay(1000);
         //        _top_task.run_once(policy);
     }
 }

stm32-modules/flex-stacker/firmware/system/FreeRTOSConfig.h

@@ -1,8 +1,6 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights
- * Reserved. Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights
- * Reserved.
+ * FreeRTOS Kernel V10.0.1
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -32,7 +30,7 @@
 #define FREERTOS_CONFIG_H
 
 /*-----------------------------------------------------------
- * Application specific definitions.
+ * this is a template configuration files
  *
  * These definitions should be adjusted for your particular hardware and
  * application requirements.
@@ -43,40 +41,54 @@
  * See http://www.freertos.org/a00110.html
  *----------------------------------------------------------*/
 
-/* Ensure definitions are only used by the compiler, and not by the assembler.
- */
+/* Ensure stdint is only used by the compiler, and not the assembler. */
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
 #include <stdint.h>
 extern uint32_t SystemCoreClock;
 #endif
-#define configENABLE_FPU 0
-#define configENABLE_MPU 0
 
+/*  CMSIS-RTOSv2 defines 56 levels of priorities. To be able to use them
+ *  all and avoid application misbehavior,
+ * configUSE_PORT_OPTIMISED_TASK_SELECTION must be set to 0 and
+ * configMAX_PRIORITIES to 56
+ *
+ */
+/* #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0*/
+/* #define configMAX_PRIORITIES                 ( 56 ) */
 #define configUSE_PREEMPTION 1
-#define configSUPPORT_STATIC_ALLOCATION 1
-#define configSUPPORT_DYNAMIC_ALLOCATION 1
 #define configUSE_IDLE_HOOK 0
 #define configUSE_TICK_HOOK 0
+#define configMAX_PRIORITIES (7)
+#define configSUPPORT_STATIC_ALLOCATION 1
 #define configCPU_CLOCK_HZ (SystemCoreClock)
 #define configTICK_RATE_HZ ((TickType_t)1000)
-#define configMAX_PRIORITIES (7)
 #define configMINIMAL_STACK_SIZE ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE ((size_t)3072)
+#define configTOTAL_HEAP_SIZE ((size_t)(15 * 1024))
 #define configMAX_TASK_NAME_LEN (16)
+#define configUSE_TRACE_FACILITY 1
 #define configUSE_16_BIT_TICKS 0
+#define configIDLE_SHOULD_YIELD 1
 #define configUSE_MUTEXES 1
 #define configQUEUE_REGISTRY_SIZE 8
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
-/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
-/* Defaults to size_t for backward compatibility, but can be changed
-   if lengths will always be less than the number of bytes in a size_t. */
-#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
-/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+#define configCHECK_FOR_STACK_OVERFLOW 0
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configUSE_APPLICATION_TASK_TAG 0
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configGENERATE_RUN_TIME_STATS 0
+#define configUSE_TASK_NOTIFICATIONS 1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 8
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES 0
 #define configMAX_CO_ROUTINE_PRIORITIES (2)
 
+/* Software timer definitions. */
+#define configUSE_TIMERS 1
+#define configTIMER_TASK_PRIORITY (2)
+#define configTIMER_QUEUE_LENGTH 10
+#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2)
+
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet 1
@@ -88,23 +100,48 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelay 1
 #define INCLUDE_xTaskGetSchedulerState 1
 
+/*------------- CMSIS-RTOS V2 specific defines -----------*/
+/* When using CMSIS-RTOSv2 set configSUPPORT_STATIC_ALLOCATION to 1
+ * is mandatory to avoid compile errors.
+ * CMSIS-RTOS V2 implmentation requires the following defines
+ *
+#define configSUPPORT_STATIC_ALLOCATION          1   <-- cmsis_os threads are
+created using xTaskCreateStatic() API #define configMAX_PRIORITIES (56) <--
+Priority range in CMSIS-RTOS V2 is [0 .. 56] #define
+configUSE_PORT_OPTIMISED_TASK_SELECTION 0    <-- when set to 1,
+configMAX_PRIORITIES can't be more than 32 which is not suitable for the new
+CMSIS-RTOS v2 priority range
+*/
+
+/* the CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation
+used
+ * by the application thus the correct define need to be enabled from the list
+ * below
+ *
+//define USE_FreeRTOS_HEAP_1
+//define USE_FreeRTOS_HEAP_2
+//define USE_FreeRTOS_HEAP_3
+//define USE_FreeRTOS_HEAP_4
+//define USE_FreeRTOS_HEAP_5
+*/
+
 /* Cortex-M specific definitions. */
 #ifdef __NVIC_PRIO_BITS
 /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
 #define configPRIO_BITS __NVIC_PRIO_BITS
 #else
-#define configPRIO_BITS 4
+#define configPRIO_BITS 4 /* 15 priority levels */
 #endif
 
 /* The lowest interrupt priority that can be used in a call to a "set priority"
 function. */
-#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf
 
 /* The highest interrupt priority that can be used by any interrupt service
 routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
 INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
 PRIORITY THAN THIS! (higher priorities are lower numeric values. */
-#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 4
 
 /* Interrupt priorities used by the kernel port layer itself.  These are generic
 to all Cortex-M ports, and do not rely on any particular library functions. */
@@ -117,23 +154,29 @@ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 
 /* Normal assert() semantics without relying on the provision of an assert.h
 header file. */
+#ifdef ASSERTIONS_ENABLED
 
 #define configASSERT(x)           \
     if ((x) == 0) {               \
         taskDISABLE_INTERRUPTS(); \
         for (;;)                  \
             ;                     \
     }
+#else
+
+#define configASSERT(x) (void)(x)
+
+#endif
 
 /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
-standard names. */
+   standard names. */
 #define vPortSVCHandler SVC_Handler
 #define xPortPendSVHandler PendSV_Handler
 
-/* IMPORTANT: This define is commented when used with STM32Cube firmware, when
-   the timebase source is SysTick, to prevent overwriting SysTick_Handler
-   defined within STM32Cube HAL */
-
+/* IMPORTANT: FreeRTOS is using the SysTick as internal time base, thus make
+   sure the system and peripherials are using a different time base (TIM based
+   for example).
+ */
 #define xPortSysTickHandler SysTick_Handler
 
 #endif /* FREERTOS_CONFIG_H */

stm32-modules/flex-stacker/firmware/system/hal_tick.c

@@ -0,0 +1,122 @@
+/**
+ * @file hal_tick.c
+ * @brief Provides an alternate source for the STM32 HAL Tick timer. This is
+ * the systick timer by default, but in a FreeRTOS application it is important
+ * to provide an alternative timer to free up systick for RTOS use.
+ *
+ * The actual tick value is incremented in the HAL_TIM_PeriodElapsedCallback.
+ * See \ref stm32g4xx_it.c for detail.
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_tim.h"
+
+
+TIM_HandleTypeDef htim7;
+
+/**
+  * @brief  This function configures the TIM7 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock = 0;
+  uint32_t              uwPrescalerValue = 0;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status = HAL_OK;
+
+  /* Enable TIM7 clock */
+  __HAL_RCC_TIM7_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Compute TIM7 clock */
+  uwTimclock = HAL_RCC_GetPCLK1Freq();
+  /* Compute the prescaler value to have TIM7 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM7 */
+  htim7.Instance = TIM7;
+
+  /* Initialize TIMx peripheral as follow:
+  + Period = [(TIM7CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim7.State = HAL_TIM_STATE_RESET;
+  htim7.Init.Period = (1000000U / 1000U) - 1U;
+  htim7.Init.Prescaler = uwPrescalerValue;
+  htim7.Init.ClockDivision = 0;
+  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+  status = HAL_TIM_Base_Init(&htim7);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim7);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM7 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM7_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM7_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM7 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+    /* Disable TIM7 update Interrupt */
+    __HAL_TIM_DISABLE_IT(&htim7, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM7 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+    /* Enable TIM7 Update interrupt */
+    __HAL_TIM_ENABLE_IT(&htim7, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM7 interrupt took place.
+  * It makes a direct call to HAL_IncTick() to increment a global variable
+  * "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void TIM7_IRQHandler(void)
+{
+    HAL_TIM_IRQHandler(&htim7);
+}

stm32-modules/flex-stacker/firmware/system/stm32g4xx_hal_conf.h

@@ -384,7 +384,7 @@ void assert_failed(uint8_t *file, uint32_t line);
 #else
 #define assert_param(expr) ((void)0U)
 #endif /* USE_FULL_ASSERT */
-
+void Error_Handler(void);
 #ifdef __cplusplus
 }
 #endif

stm32-modules/flex-stacker/firmware/system/stm32g4xx_hal_msp.c

@@ -47,6 +47,20 @@ void HAL_MspInit(void)
     HAL_PWREx_DisableUCPDDeadBattery();
 }
 
+void HAL_MspDeInit(void)
+{
+    __HAL_RCC_SYSCFG_CLK_DISABLE();
+    __HAL_RCC_PWR_CLK_DISABLE();
+
+    __HAL_RCC_TIM7_CLK_DISABLE();
+    __HAL_RCC_USB_CLK_DISABLE();
+    __HAL_RCC_SYSCFG_CLK_DISABLE();
+    __HAL_RCC_PWR_CLK_DISABLE();
+    /* System interrupt init*/
+    /* PendSV_IRQn interrupt configuration */
+    HAL_NVIC_DisableIRQ(PendSV_IRQn);
+    HAL_NVIC_DisableIRQ(RCC_IRQn);
+}
 /**
 * @brief I2C MSP Initialization
 * This function configures the hardware resources used in this example
@@ -225,6 +239,11 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
         /* Peripheral clock enable */
         __HAL_RCC_TIM3_CLK_ENABLE();
     }
+    else if(htim_base->Instance==TIM7)
+    {
+        /* Peripheral clock enable */
+        __HAL_RCC_TIM7_CLK_ENABLE();
+    }
     else if(htim_base->Instance==TIM17)
     {
         /* Peripheral clock enable */

stm32-modules/flex-stacker/firmware/system/stm32g4xx_it.c

@@ -86,33 +86,20 @@ void DebugMon_Handler(void)
 {
 }
 
-///**
-//  * @brief This function handles System tick timer.
-// */
-//void SysTick_Handler(void)
-//{
-//    HAL_IncTick();
-//#if (INCLUDE_xTaskGetSchedulerState == 1 )
-//    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
-//    {
-//#endif /* INCLUDE_xTaskGetSchedulerState */
-//        xPortSysTickHandler();
-//#if (INCLUDE_xTaskGetSchedulerState == 1 )
-//    }
-//#endif /* INCLUDE_xTaskGetSchedulerState */
-//}
-
 /******************************************************************************/
 /* STM32G4xx Peripheral Interrupt Handlers                                    */
 /* Add here the Interrupt Handlers for the used peripherals.                  */
 /* For the available peripheral interrupt handler names,                      */
 /* please refer to the startup file (startup_stm32g4xx.s).                    */
 /******************************************************************************/
 
+
 /**
-  * @brief This function handles RCC global interrupt.
+ * TIM7 = timebase counter
  */
-void RCC_IRQHandler(void)
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
+    if(htim->Instance == TIM7) {
+        HAL_IncTick();
+    }
 }
-