FreeRTOS f*ckery

App/application.cpp

@@ -17,11 +17,24 @@
 
 using namespace f4ll_cpp;
 
+TaskHandle_t g_handle;
+StaticTask_t g_tcb;
+StackType_t g_stack[200];
+
+void TaskFn(void * param)
+{
+	for(;;) {
+		vTaskDelay(100);
+	}
+}
+
 void MainLoop()
 {
-	Application	m;
-
-	m.Loop();
+//	Application	m;
+//
+//	m.Start();
+	g_handle = xTaskCreateStatic(TaskFn, "lofasz", sizeof(g_stack)/sizeof(g_stack[0]),
+					nullptr, 5, g_stack, &g_tcb);
 }
 
 #define CMD_X_READ  0b10010000
@@ -51,10 +64,16 @@ uint16_t ReadTouch(SPI_TypeDef *spi, bool x)
 
 Application::Application()
 : GlobalsInitializer(&m_console)
+, Task(3)
 , m_console(USART1, DMA2, LL_DMA_STREAM_2, LL_DMA_STREAM_7, this, nullptr)
 {
 }
 
+void Application::TaskFn(void *taskObj)
+{
+	static_cast<Application*>(reinterpret_cast<fsl::Task<Application, 1024>*>(taskObj))->Loop();
+}
+
 void Application::Loop()
 {
 	Ili9341Fsmc &lcd(Ili9341Fsmc::Init(nullptr, nullptr, DMA2, LL_DMA_STREAM_4, false));

App/application.h

@@ -20,6 +20,7 @@ void MainLoop();
 
 #if defined(__cplusplus)
 #include <f4ll_cpp/serialconsole.h>
+#include <fsl/task.h>
 #include "globals.h"
 
 struct GlobalsInitializer {
@@ -28,14 +29,21 @@ struct GlobalsInitializer {
 	}
 };
 
-class Application : public GlobalsInitializer, public f4ll_cpp::SerialConsole<257>::ISerialConsoleCallback {
+class Application 	: public GlobalsInitializer
+					, public f4ll_cpp::SerialConsole<257>::ISerialConsoleCallback
+					, public fsl::Task<Application, 1024>
+{
 public:
 	Application();
 	void Loop();
 
+	friend class fsl::Task<Application, 1024>;
 private:
+	static void TaskFn(void *taskObj);
+
 	virtual void LineReceived(void *userParam, f4ll_cpp::SerialConsole<257>::Buffer *buffer);
 	virtual void TransmissionComplete(void *userParam, f4ll_cpp::SerialConsole<257>::Buffer *buffer);
+	virtual char const * getName() { return "Application"; }
 
 	f4ll_cpp::SerialConsole<257>	m_console;
 	volatile bool m_lineReceived = false;