- added a routine called in the main routine to initialise peripherals.

Author: abtom87

src/main_dist_freertos.c

@@ -21,8 +21,8 @@
 #define TASK1_STACK_SIZE 128
 #define TASK2_STACK_SIZE 256
 #define TASK3_STACK_SIZE 256
-#define TASK4_STACK_SIZE 1024
-#define TASK5_STACK_SIZE 1024
+#define TASK4_STACK_SIZE 512
+#define TASK5_STACK_SIZE 512
 
 #define TASK1_PRIO 1
 #define TASK2_PRIO 3
@@ -156,9 +156,7 @@ void vTask_DisplayDistance(void *p)
 vTaskDelay(150);
 xSemaphoreGive(xBinarySem_LCD);
 }
-
 }
-
 }
 
 /* TASK 4
@@ -226,40 +224,48 @@ void vTask_DispTimeandDist(void *p)
 
 }
 
-int main(void)
-{
-SystemInit();
 
+static void init_HW_peripherals(void)
+{
 /*Initialize USART2 peripheral */
-init_USART2();
-init_led_gpios();
-//init_debug_pin(); /* Initialize Debug pin LogicAnalyzer*/
+init_USART2();
+init_led_gpios();
+//init_debug_pin(); /* Initialize Debug pin LogicAnalyzer*/
 
-/* Initialize I2C1 peripheral*/
-init_i2c_bus_config();
-init_i2c_gpio();
+/* Initialize I2C1 peripheral*/
+init_i2c_bus_config();
+init_i2c_gpio();
 
-/* Initialize the LCD using initialization commands */
-LCD_Init();
-LCD_Clear();
+/* Initialize the LCD using initialization commands */
+LCD_Init();
+LCD_Clear();
 
-/* Initialize Timer2 to trigger the Ultrasound HC04 module*/
-init_timer2();
-enable_alt_func_gpio();
+/* Initialize Timer2 to trigger the Ultrasound HC04 module*/
+init_timer2();
+enable_alt_func_gpio();
 
-/* Initialize Timer1 to initialize the input capture to receive echo from
- * the Ultrasound HC04 module*/
-init_capture_gpio();
-init_inp_capture_module();
-enable_inp_capture_irq();
+/* Initialize Timer1 to initialize the input capture to receive echo from
+ * the Ultrasound HC04 module*/
+init_capture_gpio();
+init_inp_capture_module();
+enable_inp_capture_irq();
 
-/* initialize DMA module for receiving GPS data */
-init_dma2();
-enable_dma2_irq();
+/* initialize DMA module for receiving GPS data */
+init_dma2();
+enable_dma2_irq();
+
+/* Initialize USART module to receive GPS data*/
+init_usart6_comm_module();
+init_usart6_gpio();
+
+}
+
+int main(void)
+{
+SystemInit();
 
-/* Initialize USART module to receive GPS data*/
-init_usart6_comm_module();
-init_usart6_gpio();
+/* Initialise all the relevant peripherals*/
+init_HW_peripherals();
 
 /*Create a semaphore for synchronizing Input capture interrupt and Distance calculation*/
 xBinarySemaphore_InpCap = xSemaphoreCreateBinary();
@@ -286,16 +292,12 @@ int main(void)
 if (xQueueDispDistBuff == NULL)
 USART_TX_string("Queue Creation xQueueDispDistBuff Failed!\r\n");
 
-
 if (xQueueTimeBuff == NULL)
 USART_TX_string("Queue Creation xQueueTimeBuff Failed!\r\n");
 
 if (xQueueTimeDispBuff == NULL)
 USART_TX_string("Queue Creation xQueueTimeDispBuff Failed!\r\n");
 
-
-
-
 /*Make sure Semaphore creation was successful*/
 if ((xBinarySemaphore_InpCap != NULL) && (xBinarySemaphore_DMA != NULL)
 && (xBinarySemaphore_InpCapDone != NULL)
@@ -310,7 +312,6 @@ int main(void)
 NULL,
 TASK1_PRIO, Task1_Stack, &Task1Buff);
 
-
 xTaskCreateStatic(vTask_HandlerInpCapture, "tsk_IC_Hndlr",
 TASK2_STACK_SIZE,
 NULL,
@@ -378,6 +379,8 @@ void TIM1_CC_IRQHandler(void)
 {
 static timestamp_t pulse;
 
+
+
 static BaseType_t xHigherPriorityTaskWoken;
 xHigherPriorityTaskWoken = pdFALSE;
 
@@ -432,6 +435,8 @@ void TIM1_CC_IRQHandler(void)
 //portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 
 }
+
+
 }
 
 void vApplicationTickHook(void)