Fwxv 285 Fix I2C x86

libraries/FreeRTOS/inc/FreeRTOS.h

@@ -904,8 +904,9 @@
 
 /* Defaults to uint16_t for backward compatibility, but can be overridden
  * in FreeRTOSConfig.h if uint16_t is too restrictive. */
- #define configSTACK_DEPTH_TYPE uint16_t
+ #define configSTACK_DEPTH_TYPE uint16_t 
 #endif
+// This could be too restrictive for task depths over 128, causing memory corruption
 
 #ifndef configRUN_TIME_COUNTER_TYPE
 
@@ -1359,4 +1360,4 @@ typedef StaticStreamBuffer_t StaticMessageBuffer_t;
 #endif
 /* *INDENT-ON* */
 
-#endif /* INC_FREERTOS_H */
+#endif /* INC_FREERTOS_H */

libraries/ms-freertos/inc/FreeRTOSConfig.h

@@ -76,7 +76,9 @@ extern uint32_t SystemCoreClock;
 #define configUSE_TIMERS 1
 #define configTIMER_TASK_PRIORITY 3
 #define configTIMER_QUEUE_LENGTH 10
-#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+#define configTIMER_TASK_STACK_DEPTH \
+ configMINIMAL_STACK_SIZE // setting task depth to 128 (minimal stack size) will cause segfaults
+ // for tasks above 128
 
 // Optional functions - most linkers will remove unused functions anyway
 #define INCLUDE_vTaskPrioritySet 1

projects/hello_world/README.md

@@ -0,0 +1,16 @@
+<!--
+ General guidelines
+ These are just guidelines, not strict rules - document however seems best.
+ A README for a firmware-only project (e.g. Babydriver, MPXE, bootloader, CAN explorer) should answer the following questions:
+ - What is it?
+ - What problem does it solve?
+ - How do I use it? (with usage examples / example commands, etc)
+ - How does it work? (architectural overview)
+ A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
+ - What is the purpose of the board?
+ - What are all the things that the firmware needs to do?
+ - How does it fit into the overall system?
+ - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
+-->
+# hello_world
+

projects/hello_world/config.json

@@ -0,0 +1,6 @@
+{
+ "libs": [
+ "FreeRTOS",
+ "ms-common"
+ ]
+}

projects/hello_world/src/main.c

@@ -0,0 +1,15 @@
+#include <stdio.h>
+#include <unistd.h>
+
+#include "log.h"
+
+int main(void) {
+ int in = 0;
+ while (true) {
+ in++;
+ LOG_DEBUG("%d, Hello World\n", in);
+ sleep(1);
+ }
+
+ return 0;
+}

projects/task1/README.md

@@ -0,0 +1,16 @@
+<!--
+ General guidelines
+ These are just guidelines, not strict rules - document however seems best.
+ A README for a firmware-only project (e.g. Babydriver, MPXE, bootloader, CAN explorer) should answer the following questions:
+ - What is it?
+ - What problem does it solve?
+ - How do I use it? (with usage examples / example commands, etc)
+ - How does it work? (architectural overview)
+ A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
+ - What is the purpose of the board?
+ - What are all the things that the firmware needs to do?
+ - How does it fit into the overall system?
+ - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
+-->
+# task1
+

projects/task1/config.json

@@ -0,0 +1,6 @@
+{
+ "libs": [
+ "FreeRTOS",
+ "ms-common"
+ ]
+}

projects/task1/src/tasks/tasks.c

@@ -0,0 +1,50 @@
+#include "tasks.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "FreeRTOS.h"
+#include "delay.h"
+#include "gpio.h"
+#include "log.h"
+#include "misc.h"
+
+// Non blocking delay. Simply consumes cpu cycles until a given time has passed
+static void prv_delay(const TickType_t delay_ms) {
+ TickType_t curr_tick = xTaskGetTickCount();
+ while (xTaskGetTickCount() - curr_tick < pdMS_TO_TICKS(delay_ms)) {
+ }
+}
+
+TASK(task1, TASK_STACK_512) {
+ int counter1 = 0;
+ while (true) {
+ LOG_DEBUG("task 1, %d\n", counter1);
+ ++counter1;
+ prv_delay(1000);
+ }
+}
+
+TASK(task2, TASK_STACK_512) {
+ int counter2 = 0;
+ while (true) {
+ LOG_DEBUG("task 2, %d\n", counter2);
+ ++counter2;
+
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ }
+}
+
+int main(void) {
+ log_init();
+ tasks_init();
+ // Create tasks here
+ tasks_init_task(task1, TASK_PRIORITY(0), NULL);
+ tasks_init_task(task2, TASK_PRIORITY(1), NULL);
+
+ LOG_DEBUG("Program start...\n");
+ // Start the scheduler
+ tasks_start();
+
+ return 0;
+}

readme.md

@@ -5,3 +5,4 @@ This repository contains all firmware for the [University of Waterloo](https://u
 - FreeRTOS clock is slow on x86. Look for `PortCPUClockFreqHz`. This was used as a quick patch for a strange build issue.
 - You can't `LOG_*` or `printf` in a FreeRTOS task on arm unless you set the stack size to >~512 on task creation.
 - You can't set the task depth to >128 ish on x86 or else a segfault occurs upon task creation.
+ - Could be due to setting task depth to uint16_t in FreeRTOS.h