From 8de4ee7e6d8351c6b34c504a2c54ed52c98c0fd9 Mon Sep 17 00:00:00 2001
From: Aditya Naik
Date: Thu, 9 Apr 2020 13:45:05 -0400
Subject: Builds with RTOS, now creating/testing tasks

---
 src/main-rtos.c | 80 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 80 insertions(+)

diff --git a/src/main-rtos.c b/src/main-rtos.c
index c8572f1..62a2a76 100644
--- a/src/main-rtos.c
+++ b/src/main-rtos.c
@@ -823,3 +823,83 @@ void assert_failed(uint8_t *file, uint32_t line)
     /* USER CODE END 6 */
 }
 #endif /* USE_FULL_ASSERT */
+
+// Macro to use CCM (Core Coupled Memory) in STM32F4
+#define CCM_RAM __attribute__((section(".ccmram")))
+
+#define FPU_TASK_STACK_SIZE 256
+
+StackType_t fpuTaskStack[FPU_TASK_STACK_SIZE] CCM_RAM;  // Put task stack in CCM
+StaticTask_t fpuTaskBuffer CCM_RAM;  // Put TCB in CCM
+
+void vApplicationTickHook(void) {
+}
+
+/* vApplicationMallocFailedHook() will only be called if
+   configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
+   function that will get called if a call to pvPortMalloc() fails.
+   pvPortMalloc() is called internally by the kernel whenever a task, queue,
+   timer or semaphore is created.  It is also called by various parts of the
+   demo application.  If heap_1.c or heap_2.c are used, then the size of the
+   heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+   FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+   to query the size of free heap space that remains (although it does not
+   provide information on how the remaining heap might be fragmented). */
+void vApplicationMallocFailedHook(void) {
+  taskDISABLE_INTERRUPTS();
+  for(;;);
+}
+
+/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
+   to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
+   task.  It is essential that code added to this hook function never attempts
+   to block in any way (for example, call xQueueReceive() with a block time
+   specified, or call vTaskDelay()).  If the application makes use of the
+   vTaskDelete() API function (as this demo application does) then it is also
+   important that vApplicationIdleHook() is permitted to return to its calling
+   function, because it is the responsibility of the idle task to clean up
+   memory allocated by the kernel to any task that has since been deleted. */
+void vApplicationIdleHook(void) {
+}
+
+void vApplicationStackOverflowHook(xTaskHandle pxTask, signed char *pcTaskName) {
+  (void) pcTaskName;
+  (void) pxTask;
+  /* Run time stack overflow checking is performed if
+     configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
+     function is called if a stack overflow is detected. */
+  taskDISABLE_INTERRUPTS();
+  for(;;);
+}
+
+StaticTask_t xIdleTaskTCB CCM_RAM;
+StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE] CCM_RAM;
+
+/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
+implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
+used by the Idle task. */
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
+  /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
+  state will be stored. */
+  *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
+
+  /* Pass out the array that will be used as the Idle task's stack. */
+  *ppxIdleTaskStackBuffer = uxIdleTaskStack;
+
+  /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
+  Note that, as the array is necessarily of type StackType_t,
+  configMINIMAL_STACK_SIZE is specified in words, not bytes. */
+  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+
+static StaticTask_t xTimerTaskTCB CCM_RAM;
+static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH] CCM_RAM;
+
+/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
+application must provide an implementation of vApplicationGetTimerTaskMemory()
+to provide the memory that is used by the Timer service task. */
+void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) {
+  *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
+  *ppxTimerTaskStackBuffer = uxTimerTaskStack;
+  *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}
-- 
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