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;
+//	Application	m;
-
+//
-	m.Loop();
+//	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;

Src/main.c

@@ -29,6 +29,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "application.h"
 
 /* USER CODE END Includes */
 
@@ -100,6 +101,7 @@ int main(void)
   MX_SPI2_Init();
   /* USER CODE BEGIN 2 */
   /* USER CODE END 2 */
+  MainLoop();
 
   /* Init scheduler */
   osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */

components/f4ll_cpp/ili9341.h

@@ -1,13 +1,13 @@
 #ifndef __ili9341_H
 #define __ili9341_H
 
-#include <f4ll_cpp/singleton.h>
+#include <f4ll_cpp/strangeton.h>
 #include <f4ll_cpp/dmahelper.h>
 #include <inttypes.h>
 
 namespace f4ll_cpp {
 
-class Ili9341Fsmc : public Singleton<Ili9341Fsmc>, private DmaHelper
+class Ili9341Fsmc : public Strangeton<Ili9341Fsmc>, private DmaHelper
 {
 public:
 	struct PixelPair {

components/f4ll_cpp/singleton.h

@@ -14,13 +14,8 @@ namespace f4ll_cpp {
 
 template<typename T> class Singleton {
 public:
-    static T &Instance() { return *m_instance; }
+    static T &Instance() {
-    template<typename ... Args>
+        static T instance;
-    static T &Init(Args &&... args)
-    {
-        static T instance{ std::forward<Args>(args)... };
-        if(!m_instance)
-        	m_instance = &instance;
         return instance;
     }
 

components/f4ll_cpp/strangeton.h

@@ -0,0 +1,39 @@
+/*
+ * singleton.h
+ *
+ *  Created on: Sep 11, 2019
+ *      Author: compi
+ */
+
+#ifndef SINGLETON_H_
+#define SINGLETON_H_
+
+#include <utility>
+
+namespace f4ll_cpp {
+
+template<typename T> class Strangeton {
+public:
+    static T &Instance() {
+    	return *m_instance;
+    }
+    template<typename ... Args> static T &Init(Args &&... args) {
+        static T instance{ std::forward<Args>(args)... };
+        if(!m_instance)
+        	m_instance = &instance;
+        return instance;
+    }
+
+protected:
+    Strangeton() = default;
+    Strangeton(const Strangeton &) = delete;
+    Strangeton &operator=(const Strangeton &) = delete;
+    virtual ~Strangeton() = default;
+    static T *m_instance;
+};
+
+template<typename T> T* Strangeton<T>::m_instance = nullptr;
+
+}	//	f4ll_cpp
+
+#endif /* SINGLETON_H_ */

components/fsl/task.cpp

@@ -0,0 +1,10 @@
+/*
+ * task.cpp
+ *
+ *  Created on: Oct 29, 2021
+ *      Author: compi
+ */
+
+#include <fsl/task.h>
+
+

components/fsl/task.h

@@ -0,0 +1,36 @@
+/*
+ * task.h
+ *
+ *  Created on: Oct 29, 2021
+ *      Author: compi
+ */
+
+#ifndef FSL_TASK_H_
+#define FSL_TASK_H_
+
+#include <FreeRTOS.h>
+#include <task.h>	// FreeRTOS
+#include <semphr.h>	// FreeRTOS
+
+namespace fsl {
+
+template<typename T, uint32_t stackSize> class Task {
+public:
+	Task(UBaseType_t priority) : m_priority(priority) {}
+	void Start(SemaphoreHandle_t doneSem = nullptr, bool waitForInit = false) {
+		m_handle = xTaskCreateStatic(T::TaskFn, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
+				this, m_priority, m_stack, &m_tcb);
+	}
+	virtual ~Task() {};
+	virtual char const * getName() = 0;
+
+private:
+	TaskHandle_t m_handle;
+	UBaseType_t m_priority;
+	StaticTask_t m_tcb;
+	StackType_t m_stack[stackSize];
+};
+
+} /* namespace fsl */
+
+#endif /* FSL_TASK_H_ */