From 2d304cdf0c3d9c53fc034f76f64c49add3faee42 Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Fri, 14 Oct 2022 13:33:35 +0200
Subject: [PATCH] enabled RTOS

---
 .../source/IncludeMcuLibConfig.h              |  2 +-
 ADIS_tinyK22_SplitFlap/source/application.c   | 28 +++++++++++++++++--
 ADIS_tinyK22_SplitFlap/source/platform.c      |  4 +--
 3 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/ADIS_tinyK22_SplitFlap/source/IncludeMcuLibConfig.h b/ADIS_tinyK22_SplitFlap/source/IncludeMcuLibConfig.h
index d890057..d9a47fb 100644
--- a/ADIS_tinyK22_SplitFlap/source/IncludeMcuLibConfig.h
+++ b/ADIS_tinyK22_SplitFlap/source/IncludeMcuLibConfig.h
@@ -96,7 +96,7 @@ add_compile_options(-include "../config/IncludeMcuLibConfig.h")
 #endif
 #define McuULN2003_CONFIG_USE_ACCELERATION            (1)
 /* ------------------- RTOS ---------------------------*/
-#define McuLib_CONFIG_SDK_USE_FREERTOS       (0)
+#define McuLib_CONFIG_SDK_USE_FREERTOS       (1)
 /* #define configUSE_SEGGER_SYSTEM_VIEWER_HOOKS (1) */
 /* #define configTOTAL_HEAP_SIZE                (24*1024) */
 /* #define configUSE_HEAP_SECTION_NAME          (1) */
diff --git a/ADIS_tinyK22_SplitFlap/source/application.c b/ADIS_tinyK22_SplitFlap/source/application.c
index f54748e..8824902 100644
--- a/ADIS_tinyK22_SplitFlap/source/application.c
+++ b/ADIS_tinyK22_SplitFlap/source/application.c
@@ -25,6 +25,8 @@
 /* vars */
 static McuLED_Handle_t LED_blue;
 static SF_Handle_t splitflap0, splitflap1;
+static uint32_t taskParameter1 = 5;
+static TaskHandle_t appTaskHandle = NULL;
 
 /* function declaration */
 void configureSplitflaps(void);
@@ -47,9 +49,9 @@ void App_Init(void){
 	MultiSplitFlap_AddFlap(splitflap1);
 }
 
-/* Application run */
-void App_Run(void){
-	PRINTF("Initializing split flap motors.\n");
+/* App Task */
+static void App_Task(void* pv){
+PRINTF("Initializing split flap motors.\n");
 	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 12);
 	PRINTF("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
 
@@ -95,6 +97,26 @@ void App_Run(void){
 	}
 }
 
+/* Application run */
+void App_Run(void){
+	BaseType_t res;
+
+	res = xTaskCreate(		App_Task,
+							"appTask",
+							900/sizeof(StackType_t),
+							&taskParameter1,
+							tskIDLE_PRIORITY,
+							&appTaskHandle);
+
+	if(res != pdPASS) // task creation not successful?
+	{	// TODO error handling
+		PRINTF("Task creation of app task failed");
+		for(;;) {} // Endless loop
+	}
+
+    vTaskStartScheduler();
+}
+
 
 /* Application de-initialization */
 void App_Deinit(void){
diff --git a/ADIS_tinyK22_SplitFlap/source/platform.c b/ADIS_tinyK22_SplitFlap/source/platform.c
index ebd95b5..60e074c 100644
--- a/ADIS_tinyK22_SplitFlap/source/platform.c
+++ b/ADIS_tinyK22_SplitFlap/source/platform.c
@@ -27,12 +27,12 @@ void PL_Init(void){
 	McuLED_Init();
 	McuULN2003_Init();
 	SF_InitConfig();
-	//McuRTOS_Init();
+	McuRTOS_Init();
 }
 
 
 void PL_Deinit(void){
-	//McuRTOS_Deinit();
+	McuRTOS_Deinit();
 	SF_DeInitConfig();
 	McuULN2003_Deinit();
 	McuLED_Deinit();