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Refactor handler to external

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Moved task handler functions to external functions, signatures are in
tasks.h, each function has its own .c file in Src/tasks
This commit is contained in:
Hector van der Aa
2026-06-02 20:11:07 +02:00
parent 8d1debd69a
commit 22c732be02
7 changed files with 173 additions and 142 deletions
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2
STM32/CM7/CMakeLists.txt
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@@ -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

2
STM32/CM7/Core/Inc/main.h
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@@ -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 */

7
STM32/CM7/Core/Inc/tasks.h Normal file
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@@ -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);

138
STM32/CM7/Core/Src/main.c
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@@ -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);
void camHandler(void *argument);
extern void crankHandler(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 =
osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
defaultTaskHandle = 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_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 |
RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
|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 */
/**
* @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 */
}
/* MPU Configuration */
/* USER CODE BEGIN Header_camHandler */
/**
* @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) {
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,

25
STM32/CM7/Core/Src/tasks/cam.c Normal file
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@@ -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
}
}
}

25
STM32/CM7/Core/Src/tasks/crank.c Normal file
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@@ -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
}
}
}

2
STM32/STM32.ioc
View File

@@ -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