Modified fwk initialisation and FreeRTOS' Scheduler starting point

> rkh_fwk_enter() now starts the FreeRTOS' Scheluder.
> The RKH Timer Tick is generated through a FreeRTOS' Software Timer.
> Removed rkh_startupTask().

Author: cmancon

demo/cross/shared/build/arm-cortex/freertos/ciaa-nxp/mcuxpresso/FreeRTOSConfig.h

@@ -82,7 +82,7 @@ extern int DbgConsole_Printf( const char *fmt_s, ... );
 #define configMAX_CO_ROUTINE_PRIORITIES              ( 2 )
 
 /* Software timer definitions. */
-#define configUSE_TIMERS                             0
+#define configUSE_TIMERS                             1
 #define configTIMER_TASK_PRIORITY                    ( configMAX_PRIORITIES - 3 )
 #define configTIMER_QUEUE_LENGTH                     10
 #define configTIMER_TASK_STACK_DEPTH                 ( configMINIMAL_STACK_SIZE * 4 )
@@ -132,7 +132,6 @@ extern int DbgConsole_Printf( const char *fmt_s, ... );
         configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY + 1)
 
 /* RKH definitions for FreeRTOS integration */
-#define RKH_STARTUP_STACK_SIZE				512
 #define RKH_TASK_PRIORITY					(configMAX_PRIORITIES - 1)
 
 /* Normal assert() semantics without relying on the provision of an assert.h

demo/cross/shared/build/arm-cortex/freertos/ciaa-nxp/mcuxpresso/FreeRTOSHooks.c

@@ -82,6 +82,32 @@ static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
     *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
 }
 
+/* configSUPPORT_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 )
+{
+/* If the buffers to be provided to the Timer task are declared inside this
+function then they must be declared static – otherwise they will be allocated on
+the stack and so not exists after this function exits. */
+static StaticTask_t xTimerTaskTCB;
+static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
+
+    /* Pass out a pointer to the StaticTask_t structure in which the Timer
+    task’s state will be stored. */
+    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
+
+    /* Pass out the array that will be used as the Timer task’s stack. */
+    *ppxTimerTaskStackBuffer = uxTimerTaskStack;
+
+    /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
+    Note that, as the array is necessarily of type StackType_t,
+    configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
+    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}
+
 /* Delay for the specified number of milliSeconds */
 void
 FreeRTOSDelay(uint32_t ms)

demo/cross/shared/main.c

@@ -67,12 +67,10 @@ main(int argc, char *argv[])
         RKH_SMA_ACTIVATE(CLI(cn), cli_qsto[cn], QSTO_SIZE, cli_stk[cn],
                          CLI_STK_SIZE);
     }
-#ifdef __FREERTOS_V10_03_00__
-    vTaskStartScheduler();
-#else
+
     rkh_fwk_enter();
     RKH_TRC_CLOSE();
-#endif
+
     return 0;
 }
 

demo/libbsp/platform/arm-cortex/arm_cm4f/ciaa-nxp/bsp_shared.c

@@ -150,7 +150,6 @@ bsp_init(int argc, char *argv[])
 	RKH_FILTER_OFF_SIGNAL( REQ );
 	RKH_FILTER_OFF_SIGNAL( START );
 
-	RKH_TRC_OPEN();
 }
 
 void
@@ -383,16 +382,5 @@ rkh_hook_exit( void )
 	RKH_TRC_FLUSH();
 }
 
-void
-rkh_startupTask(void *pvParameter)
-{
-	/* Trace already open on bsp_init */
-    /* RKH_TRC_OPEN(); */
-
-    rkh_fwk_enter();
-
-    vTaskDelete(NULL);
-}
-
 /* ------------------------------ File footer ------------------------------ */
 /*  Use file_footer.txt file                                                 */

source/portable/freertos/v10.3.0/rkhport.c

@@ -54,6 +54,7 @@
 #include "rkhfwk_dynevt.h"
 #include "FreeRTOSConfig.h"
 #include "FreeRTOS.h"
+#include "timers.h"
 
 /* ----------------------------- Local macros ------------------------------ */
 /* ------------------------------- Constants ------------------------------- */
@@ -69,10 +70,9 @@ static rui8_t l_isr_tick;
 #endif
 static rui8_t running;
 
-static StaticQueue_t QueueBuff[RKH_CFG_FWK_MAX_SMA];
+StaticTimer_t xTimerBuffers[ 1 ];
 
-static StaticTask_t startupTask;
-static StackType_t startupTaskStack[RKH_STARTUP_STACK_SIZE];
+static StaticQueue_t QueueBuff[RKH_CFG_FWK_MAX_SMA];
 
 /* ----------------------- Local function prototypes ----------------------- */
 static void thread_function(void *arg);
@@ -101,6 +101,13 @@ thread_function(void *arg)
     vTaskDelete(NULL);
 }
 
+void
+tick_timerCallback(TimerHandle_t xTimer)
+{
+	(void) xTimer;
+	RKH_TIM_TICK(&l_isr_tick);
+}
+
 /* ---------------------------- Global functions --------------------------- */
 const
 char *
@@ -129,36 +136,39 @@ rkh_startupTask(void *pvParameter)
 void
 rkh_fwk_init(void)
 {
-    TaskHandle_t TaskHandle = NULL;
+	RKH_TRC_OPEN();
+
+#if defined(RKH_USE_TRC_SENDER)
+	RKH_TR_FWK_OBJ(&l_isr_tick);
+#endif
+
+	TimerHandle_t tick_TimerHandle = NULL;
+
+	tick_TimerHandle = xTimerCreateStatic( "isr_Timer",
+			configTICK_RATE_HZ   /* wait for the tick interval */
+			/ RKH_CFG_FWK_TICK_RATE_HZ,
+			pdTRUE,
+			( void * ) 0,
+			tick_timerCallback,
+			&( xTimerBuffers[0] )
+	);
+
+    RKH_ASSERT(tick_TimerHandle);
+
+    xTimerStart( tick_TimerHandle, (TickType_t) NULL );
 
-    TaskHandle = xTaskCreateStatic(rkh_startupTask,
-                                   "rkh_startupTask",
-                                   RKH_STARTUP_STACK_SIZE,
-                                   NULL,
-                                   RKH_TASK_PRIORITY,
-                                   startupTaskStack,
-                                   &startupTask);
-    RKH_ASSERT(TaskHandle);
 }
 
 void
 rkh_fwk_enter(void)
 {
     RKH_SR_ALLOC();
 
-    running = (rui8_t)1;
-
     RKH_HOOK_START();                   /* start-up callback */
     RKH_TR_FWK_EN();
 
-    RKH_TR_FWK_OBJ(&l_isr_tick);
+    vTaskStartScheduler();
 
-    while (running)
-    {
-        vTaskDelay(configTICK_RATE_HZ   /* wait for the tick interval */
-                   / RKH_CFG_FWK_TICK_RATE_HZ);
-        RKH_TIM_TICK(&l_isr_tick);      /* tick handler */
-    }
     RKH_HOOK_EXIT();                    /* cleanup callback */
     RKH_TRC_CLOSE();                    /* cleanup the trace session */