/* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ This code transmit a message using the UART peripheral. ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ */ /* **************** START *********************** */ /* Libraries, Definitions and Global Declarations */ #include #include #include "main.h" #include "user_uart.h" #include "STM32FreeRTOSConfig.h" #include "STM32FreeRTOS.h" #include "task.h" TaskHandle_t StartDefaultTaskHandle; TaskHandle_t Task1Handle; TaskHandle_t Task2Handle; TaskHandle_t Task3Handle; void USER_SystemClock_Config( void ); void StartDefaultTask( void *pvParameters ); void StartTask1( void *pvParameters ); void StartTask2( void *pvParameters ); void StartTask3( void *pvParameters ); /* Superloop structure */ int main(void) { /* Declarations and Initializations */ USER_SystemClock_Config( ); USER_UART2_Init( ); // Create a task with a priority of 0 (idle), 1 (belowNormal), 2 (Normal), 3 (High), 4 (VeryHigh) xTaskCreate(StartDefaultTask, "IdleTask", 128, NULL, 0, &StartDefaultTaskHandle); xTaskCreate(StartTask1, "Task1", 128, NULL, 3, &Task1Handle); xTaskCreate(StartTask2, "Task2", 128, NULL, 2, &Task2Handle); //Creación de la Tarea 2 xTaskCreate(StartTask3, "Task3", 128, NULL, 1, &Task3Handle); // Prioridad 1 // Start the scheduler printf("Initializing Scheduler...\r\n"); vTaskStartScheduler(); /* Repetitive block */ for(;;){ } } // IdleTask function void StartDefaultTask(void * pvParameters) { for(;;) { printf("Idle Task\r\n"); vTaskDelay(1000); } } // Task1 function void StartTask1(void * pvParameters) { // 1. Obtener el Tick inicial antes del ciclo infinito TickType_t xLastWakeTime =0; for(;;) { printf("Task 1\r\n"); HAL_Delay(1000); // Ejecución // 2. Usar vTaskDelayUntil pasando el PERIODO TOTAL (4000) vTaskDelayUntil(&xLastWakeTime, 4000); } } // Task2 function void StartTask2(void * pvParameters) { // 1. Obtener el Tick inicial TickType_t xLastWakeTime = 0; for(;;) { printf("Task 2\r\n"); HAL_Delay(1000); // 1s de ejecución printf("Task 2\r\n"); HAL_Delay(1000); // 1s de ejecución // 2. Usar vTaskDelayUntil pasando el PERIODO TOTAL (6000) vTaskDelayUntil(&xLastWakeTime, 6000); } } // Task3 function void StartTask3(void * pvParameters) { // 1. Obtener el Tick inicial TickType_t xLastWakeTime = 0; for(;;) { printf("Task 3\r\n"); HAL_Delay(1000); // 1er segundo de CPU printf("Task 3\r\n"); HAL_Delay(1000); // 2do segundo de CPU printf("Task 3\r\n"); HAL_Delay(1000); // 3er segundo de CPU // 2. Usar vTaskDelayUntil pasando el PERIODO TOTAL (12000) vTaskDelayUntil(&xLastWakeTime, 12000); } } void USER_SystemClock_Config( void ){ /* System Clock (SYSCLK) configuration for 48 MHz */ FLASH->ACR &= ~( 0x6UL << 0U );// 2 HCLK cycles latency, if SYSCLK >=24MHz <=48MHz FLASH->ACR |= ( 0x1UL << 0U );// 2 HCLK cycles latency, if SYSCLK >=24MHz <=48MHz while(( FLASH->ACR & ( 0x7UL << 0U )) != 0x001UL );// wait until LATENCY[2:0]=001 RCC->CR &= ~( 0x7UL << 11U );// select HSISYS division factor by 1 while(!( RCC->CR & ( 0x1UL << 10U )));// wait until HSISYS is stable and ready RCC->CFGR &= ~( 0x7UL << 0U );// select HSISYS as the SYSCLK clock source RCC->CFGR &= ~( 0x1UL << 11U );// select HCLK division factor by 1 } // The following makes printf() write to USART2: int _write(int file, uint8_t *ptr, int len) { int DataIdx; for( DataIdx = 0; DataIdx < len; DataIdx++ ){ while(!( USART2->ISR & ( 0x1UL << 7U ))); USART2->TDR = *ptr++; } return len; } void vApplicationIdleHook( void ){ }