Refactor handler to external

Moved task handler functions to external functions, signatures are in
tasks.h, each function has its own .c file in Src/tasks

STM32/CM7/CMakeLists.txt

@@ -62,6 +62,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     Core/Src/ring_buffer.c
     Core/Src/SEGGER_RTT.c
     Core/Src/SEGGER_RTT_printf.c
+    Core/Src/tasks/crank.c
+    Core/Src/tasks/cam.c
 )
 
 # Link directories setup

STM32/CM7/Core/Inc/main.h

@@ -31,6 +31,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "global_state.h"
 
 /* USER CODE END Includes */
 
@@ -41,6 +42,7 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 /* USER CODE BEGIN EC */
+extern volatile global_state_t state_g;
 
 /* USER CODE END EC */
 

STM32/CM7/Core/Inc/tasks.h

@@ -0,0 +1,7 @@
+// Copyright (C) 2026 Hector van der Aa <hector@h3cx.dev>
+// Copyright (C) 2026 Pierre Barbier <pierrebarbier741@gmail.com>
+// Copyright (C) 2026 Association Exergie <association.exergie@gmail.com>
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+void crankHandler(void *argument);
+void camHandler(void *argument);

STM32/CM7/Core/Src/main.c

@@ -11,8 +11,9 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "global_state.h"
 #include "ring_buffer.h"
+#include "tasks.h"
+#include <assert.h>
 #ifdef DEBUG
 #include "SEGGER_RTT.h"
 #endif
@@ -55,11 +56,11 @@ osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
   .stack_size = 128 * 4,
-    .priority = (osPriority_t)osPriorityNormal,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for crankTask */
 osThreadId_t crankTaskHandle;
-uint32_t crankTaskBuffer[128];
+uint32_t crankTaskBuffer[ 128 ];
 osStaticThreadDef_t crankTaskControlBlock;
 const osThreadAttr_t crankTask_attributes = {
   .name = "crankTask",
@@ -67,11 +68,11 @@ const osThreadAttr_t crankTask_attributes = {
   .cb_size = sizeof(crankTaskControlBlock),
   .stack_mem = &crankTaskBuffer[0],
   .stack_size = sizeof(crankTaskBuffer),
-    .priority = (osPriority_t)osPriorityRealtime7,
+  .priority = (osPriority_t) osPriorityRealtime7,
 };
 /* Definitions for camTask */
 osThreadId_t camTaskHandle;
-uint32_t camTaskBuffer[128];
+uint32_t camTaskBuffer[ 128 ];
 osStaticThreadDef_t camTaskControlBlock;
 const osThreadAttr_t camTask_attributes = {
   .name = "camTask",
@@ -79,10 +80,10 @@ const osThreadAttr_t camTask_attributes = {
   .cb_size = sizeof(camTaskControlBlock),
   .stack_mem = &camTaskBuffer[0],
   .stack_size = sizeof(camTaskBuffer),
-    .priority = (osPriority_t)osPriorityRealtime7,
+  .priority = (osPriority_t) osPriorityRealtime7,
 };
 /* USER CODE BEGIN PV */
-static volatile global_state_t state_g = {0};
+volatile global_state_t state_g = {0};
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -91,8 +92,8 @@ static void MPU_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_TIM2_Init(void);
 void StartDefaultTask(void *argument);
-void crankHandler(void *argument);
+extern void crankHandler(void *argument);
-void camHandler(void *argument);
+extern void camHandler(void *argument);
 
 /* USER CODE BEGIN PFP */
 
@@ -127,7 +128,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
   * @brief  The application entry point.
   * @retval int
   */
-int main(void) {
+int main(void)
+{
 
   /* USER CODE BEGIN 1 */
 
@@ -136,7 +138,7 @@ int main(void) {
 #if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
   int32_t timeout;
 #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
-       /* USER CODE END Boot_Mode_Sequence_0 */
+/* USER CODE END Boot_Mode_Sequence_0 */
 
   /* MPU Configuration--------------------------------------------------------*/
   MPU_Config();
@@ -151,11 +153,10 @@ int main(void) {
     Error_Handler();
   }
 #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
-       /* USER CODE END Boot_Mode_Sequence_1 */
+/* USER CODE END Boot_Mode_Sequence_1 */
   /* MCU Configuration--------------------------------------------------------*/
 
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-   */
   HAL_Init();
 
   /* USER CODE BEGIN Init */
@@ -182,7 +183,7 @@ int main(void) {
     Error_Handler();
   }
 #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
-       /* USER CODE END Boot_Mode_Sequence_2 */
+/* USER CODE END Boot_Mode_Sequence_2 */
 
   /* USER CODE BEGIN SysInit */
 
@@ -222,8 +223,7 @@ int main(void) {
 
   /* Create the thread(s) */
   /* creation of defaultTask */
-  defaultTaskHandle =
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
-      osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* creation of crankTask */
   crankTaskHandle = osThreadNew(crankHandler, NULL, &crankTask_attributes);
@@ -258,7 +258,8 @@ int main(void) {
   * @brief System Clock Configuration
   * @retval None
   */
-void SystemClock_Config(void) {
+void SystemClock_Config(void)
+{
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
@@ -270,8 +271,7 @@ void SystemClock_Config(void) {
   */
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
 
-  while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {
+  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
-  }
 
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
@@ -288,15 +288,16 @@ void SystemClock_Config(void) {
   RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
   RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
   RCC_OscInitStruct.PLL.PLLFRACN = 0;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
     Error_Handler();
   }
 
   /** Initializes the CPU, AHB and APB buses clocks
   */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 |
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
-                                RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
+                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
@@ -305,7 +306,8 @@ void SystemClock_Config(void) {
   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
     Error_Handler();
   }
 }
@@ -315,7 +317,8 @@ void SystemClock_Config(void) {
   * @param None
   * @retval None
   */
-static void MX_TIM2_Init(void) {
+static void MX_TIM2_Init(void)
+{
 
   /* USER CODE BEGIN TIM2_Init 0 */
 
@@ -334,36 +337,43 @@ static void MX_TIM2_Init(void) {
   htim2.Init.Period = 4294967295;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim2) != HAL_OK) {
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
     Error_Handler();
   }
   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) {
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Init(&htim2) != HAL_OK) {
+  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
+  {
     Error_Handler();
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
     Error_Handler();
   }
   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
   sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
   sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
   sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) {
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+  {
     Error_Handler();
   }
   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
-  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) {
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
+  {
     Error_Handler();
   }
   /* USER CODE BEGIN TIM2_Init 2 */
   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
   /* USER CODE END TIM2_Init 2 */
+
 }
 
 /**
@@ -371,7 +381,8 @@ static void MX_TIM2_Init(void) {
   * @param None
   * @retval None
   */
-static void MX_GPIO_Init(void) {
+static void MX_GPIO_Init(void)
+{
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   /* USER CODE BEGIN MX_GPIO_Init_1 */
 
@@ -407,7 +418,8 @@ static void MX_GPIO_Init(void) {
  * @retval None
  */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument) {
+void StartDefaultTask(void *argument)
+{
   /* USER CODE BEGIN 5 */
   /* Infinite loop */
   for (;;) {
@@ -416,55 +428,10 @@ void StartDefaultTask(void *argument) {
   /* USER CODE END 5 */
 }
 
-/* USER CODE BEGIN Header_crankHandler */
+ /* MPU Configuration */
-/**
- * @brief Function implementing the crankTask thread.
- * @param argument: Not used
- * @retval None
- */
-/* USER CODE END Header_crankHandler */
-void crankHandler(void *argument) {
-  /* USER CODE BEGIN crankHandler */
-  /* Infinite loop */
-  for (;;) {
-    osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
-#ifdef DEBUG
-    SEGGER_RTT_printf(0, "Crank pulse detected at: %lu\n\r",
-                      ringBufferRead(&state_g.crank_RB, 0));
-#endif /* ifdef DEBUG */
-    if (state_g.sync == SYNC_OK) {
-      // TODO complete algorithm for scheduling spark
-    }
-  }
-  /* USER CODE END crankHandler */
-}
 
-/* USER CODE BEGIN Header_camHandler */
+void MPU_Config(void)
-/**
+{
- * @brief Function implementing the camTask thread.
- * @param argument: Not used
- * @retval None
- */
-/* USER CODE END Header_camHandler */
-void camHandler(void *argument) {
-  /* USER CODE BEGIN camHandler */
-  /* Infinite loop */
-  for (;;) {
-    osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
-#ifdef DEBUG
-    SEGGER_RTT_printf(0, "Cam pulse detected at: %lu\n\r",
-                      ringBufferRead(&state_g.cam_RB, 0));
-#endif /* ifdef DEBUG */
-    if (state_g.sync == SYNC_OK) {
-      // TODO complete algorithm for scheduling spark
-    }
-  }
-  /* USER CODE END camHandler */
-}
-
-/* MPU Configuration */
-
-void MPU_Config(void) {
   MPU_Region_InitTypeDef MPU_InitStruct = {0};
 
   /* Disables the MPU */
@@ -487,13 +454,15 @@ void MPU_Config(void) {
   HAL_MPU_ConfigRegion(&MPU_InitStruct);
   /* Enables the MPU */
   HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
+
 }
 
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
   */
-void Error_Handler(void) {
+void Error_Handler(void)
+{
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
   __disable_irq();
@@ -509,7 +478,8 @@ void Error_Handler(void) {
   * @param  line: assert_param error line source number
   * @retval None
   */
-void assert_failed(uint8_t *file, uint32_t line) {
+void assert_failed(uint8_t *file, uint32_t line)
+{
   /* USER CODE BEGIN 6 */
   /* User can add his own implementation to report the file name and line
      number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,

STM32/CM7/Core/Src/tasks/cam.c

@@ -0,0 +1,25 @@
+// Copyright (C) 2026 Hector van der Aa <hector@h3cx.dev>
+// Copyright (C) 2026 Pierre Barbier <pierrebarbier741@gmail.com>
+// Copyright (C) 2026 Association Exergie <association.exergie@gmail.com>
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#include "cmsis_os2.h"
+#include "main.h"
+#include "ring_buffer.h"
+#include "tasks.h"
+#ifdef DEBUG
+#include "SEGGER_RTT.h"
+#endif
+
+void camHandler(void *argument) {
+  for (;;) {
+    osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
+#ifdef DEBUG
+    SEGGER_RTT_printf(0, "Cam pulse detected at: %lu\n\r",
+                      ringBufferRead(&state_g.cam_RB, 0));
+#endif /* ifdef DEBUG */
+    if (state_g.sync == SYNC_OK) {
+      // TODO complete algorithm for scheduling spark
+    }
+  }
+}

STM32/CM7/Core/Src/tasks/crank.c

@@ -0,0 +1,25 @@
+// Copyright (C) 2026 Hector van der Aa <hector@h3cx.dev>
+// Copyright (C) 2026 Pierre Barbier <pierrebarbier741@gmail.com>
+// Copyright (C) 2026 Association Exergie <association.exergie@gmail.com>
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#include "cmsis_os2.h"
+#include "main.h"
+#include "ring_buffer.h"
+#include "tasks.h"
+#ifdef DEBUG
+#include "SEGGER_RTT.h"
+#endif
+
+void crankHandler(void *argument) {
+  for (;;) {
+    osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
+#ifdef DEBUG
+    SEGGER_RTT_printf(0, "Crank pulse detected at: %lu\n\r",
+                      ringBufferRead(&state_g.crank_RB, 0));
+#endif /* ifdef DEBUG */
+    if (state_g.sync == SYNC_OK) {
+      // TODO complete algorithm for scheduling spark
+    }
+  }
+}

STM32/STM32.ioc

@@ -9,7 +9,7 @@ CortexM7.IPs=CORTEX_M7\:I,FATFS_M7\:I,FREERTOS_M7\:I,IWDG1\:I,OPENAMP_M7\:I,PDM2
 CortexM7.Pins=PI12
 FREERTOS_M7.FootprintOK=true
 FREERTOS_M7.IPParameters=Tasks01,configENABLE_FPU,FootprintOK
-FREERTOS_M7.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;crankTask,55,128,crankHandler,Default,NULL,Static,crankTaskBuffer,crankTaskControlBlock;camTask,55,128,camHandler,Default,NULL,Static,camTaskBuffer,camTaskControlBlock
+FREERTOS_M7.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;crankTask,55,128,crankHandler,As external,NULL,Static,crankTaskBuffer,crankTaskControlBlock;camTask,55,128,camHandler,As external,NULL,Static,camTaskBuffer,camTaskControlBlock
 FREERTOS_M7.configENABLE_FPU=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals