Hmmm, I still can’t get it to work. I tried your suggestion Hein.
So you can try and understand more, here is more of what’s going on
main.c
#include "netduinoplus2.h"
#include "debug_printf.h"
#include "nrf24l01plus.h"
#include "netconf.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "tuioclient.h"
#include "usbd_cdc_vcp.h"
#include "FreeRTOS_CLI.h"
#include "tcpip.h"
#include "lwip/opt.h"
#include "lwip/api.h"
#include "lwip/sys.h"
#include "lwip/sockets.h"
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include "hardware.h"
#include "utility.h"
#include "convolutional.h"
#include "hamming.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define TCP_SOCKET_PORT 3000
#define UDP_SOCKET_PORT 3333
#define START_BASE_ADDRESS 0x12345678
#define DEBUG 1
#define EXPECT_NOTHING 0
#define EXPECT_PASSKEY 1
#define EXPECT_SENSOR 2
/* Task Priorities -----------------------------------------------------------*/
#define SERVOTASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define UDPTASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainCLI_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainRADIO_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* Task Stack Allocations -----------------------------------------------------*/
#define SERVOTASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2)
#define UDPTASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
#define mainCLI_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 10 )
#define mainRADIO_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
xQueueHandle ServoQueue1; /* Queue used */
int radioExpecting = EXPECT_NOTHING;
extern uint8_t SequenceNumber;
extern uint8_t Passkey;
/* Private function prototypes -----------------------------------------------*/
static void Hardware_init();
// Servo Contol Tasks
void UDPTask(void * pvParameters);
void ServoTask(void * pvParameters);
void RadioReceiveTask(void * pvParameters);
// CLI functions and task
void CLI_Task(void);
static portBASE_TYPE prvEchoCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvLaserCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvStateCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvConvCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvDecodeCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvGetPasskeyCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvGetSensorCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvRFChanSetCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
static portBASE_TYPE prvGetTimeCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
#ifdef DEBUG
static portBASE_TYPE prvDEBUGCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
#endif
void vApplicationIdleHook( void ); /* The idle hook is just used to stream data to the USB port.*/
xCommandLineInput xGetTime= { /* Structure that defines the "getpasskey" command line command. */
"gettime",
"gettime: Get the system uptimern",
prvGetTimeCommand,
0
};
int main(void) {
NP2_boardinit();
debug_printf("Hardware .nr");
Hardware_init();
debug_printf("LWIP tasks.nr");
/* Initilaize the LwIP stack */
LwIP_Init();
debug_printf("Create tasks.nr");
xTaskCreate( (void *) &ServoTask, (const signed char *) "Servo", SERVOTASK_STACK_SIZE, NULL, SERVOTASK_PRIORITY, NULL);
xTaskCreate( (void *) &UDPTask, (const signed char *) "UDP", UDPTASK_STACK_SIZE, NULL,UDPTASK_PRIORITY, NULL);
xTaskCreate( (void *) &CLI_Task, (const signed char *) "CLI", mainCLI_TASK_STACK_SIZE, NULL, mainCLI_PRIORITY, NULL );
xTaskCreate( (void *) &RadioReceiveTask, (const signed char *) "RADIO", mainRADIO_TASK_STACK_SIZE, NULL, mainRADIO_PRIORITY, NULL );
debug_printf("Start CLInr");
// Register CLI Commands //
FreeRTOS_CLIRegisterCommand(&xGetTime);
debug_printf("Start scheduler.nr");
/* Start scheduler */
vTaskStartScheduler();
return 0;
}
static portBASE_TYPE prvGetTimeCommand(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ) {
/* Get tasks */
signed char * buffer =(signed char *) pcWriteBuffer;
vTaskGetRunTimeStats(buffer);
/* print out tasks */
debug_printf("nr----------------------------------------------nr%snr----------------------------------------------nr", buffer);
/* Return pdFALSE, as there are no more strings to return */
/* Only return pdTRUE, if more strings need to be printed */
xWriteBufferLen = sprintf((char *) pcWriteBuffer, "nr%snr",buffer);
return pdFALSE;
}
unsigned getRunTimeCounterValue(void){
return ulHighFrequencyTimerTicks;
}
void configureTimerForRunTimeStats(void)
{
ulHighFrequencyTimerTicks = 0UL;
}
and FreeRTOSConfig.h
/*
FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to distribute
>>! a combined work that includes FreeRTOS without being obliged to provide
>>! the source code for proprietary components outside of the FreeRTOS
>>! kernel.
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configCOMMAND_INT_MAX_OUTPUT_SIZE 1024 //1024
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( ( unsigned long ) 25000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 120 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 18 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 )
// I modified
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
/* ulHighFrequencyTimerTicks is already being incremented at 20KHz. Just set
its value back to 0. */
volatile unsigned long ulHighFrequencyTimerTicks;
extern unsigned getRunTimeCounterValue(void);
extern void configureTimerForRunTimeStats(void);
/* ulHighFrequencyTimerTicks is already being incremented at 20KHz. Just set
its value back to 0. */
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
#define configUSE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_ALTERNATIVE_API 0
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 0
#define configGENERATE_RUN_TIME_STATS 1
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 0 //1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4 /* 15 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */