freeRTOS_callback.cpp

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#include "FreeRTOS.h"
#include "task.h"
#include "drivers/module_slave_hal.hpp"
#include "STM32LowPower.h"
#include <IWatchdog.h>
 
// /*******************************************************************************************
// ********************************************************************************************
//                 Freertos Param Config and CallBack __Weak Function Redefinition
// ********************************************************************************************
// *******************************************************************************************/
 
#ifdef _USE_FREERTOS_LOW_POWER
 
extern "C" void xTaskSleepPrivate(TickType_t *xExpectedIdleTime) {
  #if (LOWPOWER_MODE==SLEEP_IDLE)
    LowPower.idle(*xExpectedIdleTime);
  #elif (LOWPOWER_MODE==SLEEP_LOWPOWER)
    LowPower.sleep(*xExpectedIdleTime - 10);
  #elif (LOWPOWER_MODE==SLEEP_STOP2)
    LowPower.deepSleep(*xExpectedIdleTime - 10);
  #else
  *xExpectedIdleTime = 0;
  #endif
}
 
extern "C" void xTaskWakeUpPrivate(TickType_t *xExpectedIdleTime) {
}
 
// Remove Arduino OSSysTick for LPTIM(x) IRQ lptimTick.c Driver (AutoInc OsTick)
// Is Need to redefined weak void __attribute__((weak)) osSystickHandler(void)
// Note FROM Freertos_Config.h 
/*
 * IMPORTANT:
 * SysTick_Handler() from stm32duino core is calling weak osSystickHandler().
 * Both CMSIS-RTOSv2 and CMSIS-RTOS override osSystickHandler() 
 * which is calling xPortSysTickHandler(), defined in respective CortexM-x port
*/
#if ( configUSE_TICKLESS_IDLE == 2 )
extern "C" void osSystickHandler()
{
  // osSystickHandler CallBack UNUSED for LPTIM1 IRQ Set Increment of OsTickHadler
  // Optional User Code about osSystickHandler Private Here
  // ...
}
#endif
 
#endif
 
#if(DEBUG_MODE)
//------------------------------------------------------------------------------
static void delayMS(uint32_t millis) {
  uint32_t iterations = millis * (F_CPU/7000);
  uint32_t i;
  for(i = 0; i < iterations; ++i) {
    __asm__("nop\n\t");
  }
}
 
static void faultStimaV4(int n) {
  #ifdef HFLT_PIN
  __disable_irq();
  pinMode(HFLT_PIN, OUTPUT);
  for (;;) {
    int i;
    #if (ENABLE_WDT)
    // Error signal WDT Refresh (For debugger only)
    IWatchdog.reload();
    #endif
    for (i = 0; i < n; i++) {
      digitalWrite(HFLT_PIN, 1);
      delayMS(300);
      digitalWrite(HFLT_PIN, 0);
      delayMS(300);
    }
    delayMS(2000);
  }
#else
  while(1);
#endif // HFLT_PIN
}
//------------------------------------------------------------------------------
#endif
 
#if ( configCHECK_FOR_STACK_OVERFLOW >= 1 )
extern "C" void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
  // Ned to use Serial.print direct for prevent Malloc from RTOS (ISR Malloc ASSERT Error)
  Serial.print("Error stack overflow form task: ");
  Serial.print(pcTaskName);
  Serial.flush();
  #if(DEBUG_MODE)
  faultStimaV4(3);
  #else
  NVIC_SystemReset();
  #endif
}
#endif /* configCHECK_FOR_STACK_OVERFLOW >= 1 */
 
//------------------------------------------------------------------------------
// catch exceptions
 
// Generic Error_Handler
#if(ERROR_HANDLER_CB)
extern "C" void _Error_Handler(const char *msg, int val)
{
  /* User can add his own implementation to report the HAL error return state */
  // Ned to use Serial.print direct for prevent Malloc from RTOS (ISR Malloc ASSERT Error)
  Serial.print("Error handler: ");
  Serial.print(msg);
  Serial.print(", ");
  Serial.print(val);
  Serial.flush();
  #if(DEBUG_MODE)
  faultStimaV4(3);
  #else
  NVIC_SystemReset();
  #endif
}
#endif
 
extern "C" void hard_fault_isr() {
  #if(DEBUG_MODE)
  faultStimaV4(4);
  #else
  NVIC_SystemReset();
  #endif
}
extern "C" void HardFault_Handler() {
  #if(DEBUG_MODE)
  faultStimaV4(4);
  #else
  NVIC_SystemReset();
  #endif
}
 
extern "C" void bus_fault_isr() {
  #if(DEBUG_MODE)
  faultStimaV4(5);
  #else
  NVIC_SystemReset();
  #endif
}
extern "C" void BusFault_Handler() {
  #if(DEBUG_MODE)
  faultStimaV4(5);
  #else
  NVIC_SystemReset();
  #endif
}
 
extern "C" void usage_fault_isr() {
  #if(DEBUG_MODE)
  faultStimaV4(6);
  #else
  NVIC_SystemReset();
  #endif
}
extern "C" void UsageFault_Handler() {
  #if(DEBUG_MODE)
  faultStimaV4(6);
  #else
  NVIC_SystemReset();
  #endif
}
 
extern "C" void MemManage_fault_isr() {
  #if(DEBUG_MODE)
  faultStimaV4(7);
  #else
  NVIC_SystemReset();
  #endif
}
extern "C" void MemManage_Handler() {
  #if(DEBUG_MODE)
  faultStimaV4(7);
  #else
  NVIC_SystemReset();
  #endif
}