Hello,
I have a problem with threads. All of them are of same priority, with osDelay(300), except the uartThread which has osDelay(1). Everything else is the same for all threads. I have allocated 20k of HEAP and in ioc file it says im using only 3.5k so that should be fine i guess. However, only one of the threads is running (I2C_temp works fine besides the uartDATA), others never even enter the for(;
loop. Any ideas?
So this is the freertos.c file where I create the tasks
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usart.h"
#include "i2c.h"
#include "spi.h"
#include "string.h"
#include "stepper.h"
#include <stdlib.h>
#include <stdio.h>
#include "stm32l4xx_it.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
volatile char received_data;
volatile uint8_t commands;
e_UART_Status uartStatus = undefined;
/* USER CODE END Variables */
/* Definitions for stepper */
osThreadId_t stepperHandle;
const osThreadAttr_t stepper_attributes = {
.name = "stepper",
.stack_size = 128 * 4,
.priority = (osPriority_t)osPriorityNormal,
};
/* Definitions for I2C_TempSens */
osThreadId_t I2C_TempSensHandle;
const osThreadAttr_t I2C_TempSens_attributes = {
.name = "I2C_TempSens",
.stack_size = 128 * 4,
.priority = (osPriority_t)osPriorityNormal,
};
/* Definitions for SPI_TempSens */
osThreadId_t SPI_TempSensHandle;
const osThreadAttr_t SPI_TempSens_attributes = {
.name = "SPI_TempSens",
.stack_size = 128 * 4,
.priority = (osPriority_t)osPriorityNormal,
};
/* Definitions for uart */
osThreadId_t uartHandle;
const osThreadAttr_t uart_attributes = {
.name = "uart",
.stack_size = 128 * 4,
.priority = (osPriority_t)osPriorityNormal,
};
/* Definitions for uartQueue */
osMessageQueueId_t uartQueueHandle;
const osMessageQueueAttr_t uartQueue_attributes = {
.name = "uartQueue"};
/* Definitions for Mutex1 */
osMutexId_t Mutex1Handle;
const osMutexAttr_t Mutex1_attributes = {
.name = "Mutex1"};
/* Definitions for mutexStepper */
osMutexId_t mutexStepperHandle;
const osMutexAttr_t mutexStepper_attributes = {
.name = "mutexStepper"};
/* Definitions for mutexUart */
osMutexId_t mutexUartHandle;
const osMutexAttr_t mutexUart_attributes = {
.name = "mutexUart"};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StepperMotor(void *argument);
void I2C_temp(void *argument);
void SPI_temp(void *argument);
void uartDATA(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/**
* @brief FreeRTOS initialization
* None
* @retval None
*/
void MX_FREERTOS_Init(void)
{
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Create the mutex(es) */
/* creation of Mutex1 */
Mutex1Handle = osMutexNew(&Mutex1_attributes);
/* creation of mutexStepper */
mutexStepperHandle = osMutexNew(&mutexStepper_attributes);
/* creation of mutexUart */
mutexUartHandle = osMutexNew(&mutexUart_attributes);
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the queue(s) */
/* creation of uartQueue */
uartQueueHandle = osMessageQueueNew(16, sizeof(uint16_t), &uartQueue_attributes);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of stepper */
stepperHandle = osThreadNew(StepperMotor, NULL, &stepper_attributes);
/* creation of I2C_TempSens */
I2C_TempSensHandle = osThreadNew(I2C_temp, NULL, &I2C_TempSens_attributes);
/* creation of SPI_TempSens */
SPI_TempSensHandle = osThreadNew(SPI_temp, NULL, &SPI_TempSens_attributes);
/* creation of uart */
uartHandle = osThreadNew(uartDATA, NULL, &uart_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
}
And this are the tasks.
/* USER CODE END Header_StepperMotor */
void StepperMotor(void *argument)
{
/* USER CODE BEGIN StepperMotor */
char buffer[50];
/* Infinite loop */
for (;;)
{
if (commandCheck() == set_stepper_OK)
{
if (osMutexAcquire(mutexStepperHandle, portMAX_DELAY) == osOK)
{
HAL_UART_Transmit(&huart1, "BUSY SET_STEPPER\n", 18, HAL_MAX_DELAY);
motorRotation(motorInfo.motorNum, motorInfo.numOfSteps);
HAL_UART_Transmit(&huart1, "OK SET_STEPPER\n", 16, HAL_MAX_DELAY);
osMutexRelease(mutexStepperHandle);
}
else
{
HAL_UART_Transmit(&huart1, "ERR\n", 5, HAL_MAX_DELAY);
}
}
osDelay(300);
}
/* USER CODE END StepperMotor */
}
/* USER CODE BEGIN Header_I2C_temp */
/**
* @brief Function implementing the mojTask thread.
* argument: Not used
* @retval None
*/
/* USER CODE END Header_I2C_temp */
void I2C_temp(void *argument)
{
/* USER CODE BEGIN I2C_temp */
float temp1;
char buffer[12] = {0};
char bufferTemp[10] = {0};
UBaseType_t testtest;
testtest = uxTaskGetNumberOfTasks();
for (;;)
{
if (uartStatus == get_temp_1_OK)
{
temp1 = read_I2C();
floatToString(temp1, buffer);
HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), HAL_MAX_DELAY);
uartStatus = undefined;
}
osDelay(300);
}
/* USER CODE END I2C_temp */
}
/* USER CODE BEGIN Header_SPI_temp */
/**
* @brief Function implementing the SPI_TempSens thread.
* argument: Not used
* @retval None
*/
/* USER CODE END Header_SPI_temp */
void SPI_temp(void *argument)
{
/* USER CODE BEGIN SPI_temp */
float temp1, temp2;
char buffer[12] = {0};
/* Infinite loop */
for (;;)
{
if (uartStatus == get_temp_2_OK)
{
temp1 = read_SPI1();
floatToString(temp1, buffer);
HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), HAL_MAX_DELAY);
uartStatus = undefined;
}
else if (uartStatus == get_temp_3_OK)
{
temp2 = read_SPI2();
floatToString(temp2, buffer);
HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), HAL_MAX_DELAY);
uartStatus = undefined;
}
osDelay(300);
}
/* USER CODE END SPI_temp */
}
/* USER CODE BEGIN Header_uartDATA */
/**
* @brief Function implementing the uart thread.
* argument: Not used
* @retval None
*/
/* USER CODE END Header_uartDATA */
void uartDATA(void *argument)
{
/* USER CODE BEGIN uartDATA */
uint8_t cnt = 0;
uint8_t temp;
char buffer[50] = {'\0'};
char msg = {0};
char firstByte;
__HAL_UART_CLEAR_FLAG(&huart1, UART_CLEAR_OREF);
HAL_UART_Receive_IT(&huart1, (char *)&received_data, sizeof(received_data));
/* Infinite loop */
for (;;)
{
if (osMessageQueueGet(uartQueueHandle, &msg, NULL, osWaitForever) == osOK)
{
if (msg == '\r')
{
buffer[0] = firstByte;
parse_UART(buffer);
memset(buffer, 0, sizeof(buffer));
cnt = 0;
uartStatus = commandCheck();
osMessageQueueReset(uartQueueHandle);
// commands = commandCheck();
}
else if (msg == '\n')
{
}
else if (cnt < (sizeof(buffer) - 1))
{
buffer[cnt] = msg;
cnt++;
}
if (cnt == 1)
{
firstByte = buffer[0];
}
}
osDelay(1);
}
/* USER CODE END uartDATA */
}