Merge pull request #51 from utra-robosoccer/Command_Task_Priority_Mod…

…ification Change CommandTask priority from osPriorityNormal to osPriorityBelowN…
utra-robosoccer · Aug 5, 2018 · d11a7e4 · d11a7e4
2 parents a35433a + 6b39ce6
commit d11a7e4
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/Robot/Robot.ioc b/Robot/Robot.ioc
@@ -138,7 +138,7 @@ FREERTOS.IPParameters=Tasks01,FootprintOK,MEMORY_ALLOCATION,INCLUDE_vTaskDelayUn
 FREERTOS.MEMORY_ALLOCATION=2
 FREERTOS.Mutexes01=PCUART,Static,PCUARTControlBlock
 FREERTOS.Queues01=UART1_req,16,UARTcmd_t,0,Static,UART1_reqBuffer,UART1_reqControlBlock;UART2_req,16,UARTcmd_t,0,Static,UART2_reqBuffer,UART2_reqControlBlock;UART3_req,16,UARTcmd_t,0,Static,UART3_reqBuffer,UART3_reqControlBlock;UART4_req,16,UARTcmd_t,0,Static,UART4_reqBuffer,UART4_reqControlBlock;UART6_req,16,UARTcmd_t,0,Static,UART6_reqBuffer,UART6_reqControlBlock;TXQueue,32,TXData_t,0,Static,TXQueueBuffer,TXQueueControlBlock
-FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,Default,NULL,Static,defaultTaskBuffer,defaultTaskControlBlock;UART1Task,0,128,StartUART1Task,As external,NULL,Static,UART1TaskBuffer,UART1TaskControlBlock;UART2Task,0,128,StartUART2Task,As external,NULL,Static,UART2TaskBuffer,UART2TaskControlBlock;UART3Task,0,128,StartUART3Task,As external,NULL,Static,UART3TaskBuffer,UART3TaskControlBlock;UART4Task,0,128,StartUART4Task,As external,NULL,Static,UART4TaskBuffer,UART4TaskControlBlock;UART6Task,0,128,StartUART6Task,As external,NULL,Static,UART6TaskBuffer,UART6TaskControlBlock;IMUTask,0,128,StartIMUTask,As external,NULL,Static,IMUTaskBuffer,IMUTaskControlBlock;CommandTask,0,512,StartCommandTask,As external,NULL,Static,CommandTaskBuffer,CommandTaskControlBlock;RxTask,3,512,StartRxTask,As external,NULL,Static,RxTaskBuffer,RxTaskControlBlock;TxTask,2,512,StartTxTask,As external,NULL,Static,TxTaskBuffer,TxTaskControlBlock
+FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,Default,NULL,Static,defaultTaskBuffer,defaultTaskControlBlock;UART1Task,0,128,StartUART1Task,As external,NULL,Static,UART1TaskBuffer,UART1TaskControlBlock;UART2Task,0,128,StartUART2Task,As external,NULL,Static,UART2TaskBuffer,UART2TaskControlBlock;UART3Task,0,128,StartUART3Task,As external,NULL,Static,UART3TaskBuffer,UART3TaskControlBlock;UART4Task,0,128,StartUART4Task,As external,NULL,Static,UART4TaskBuffer,UART4TaskControlBlock;UART6Task,0,128,StartUART6Task,As external,NULL,Static,UART6TaskBuffer,UART6TaskControlBlock;IMUTask,0,128,StartIMUTask,As external,NULL,Static,IMUTaskBuffer,IMUTaskControlBlock;CommandTask,-1,512,StartCommandTask,As external,NULL,Static,CommandTaskBuffer,CommandTaskControlBlock;RxTask,3,512,StartRxTask,As external,NULL,Static,RxTaskBuffer,RxTaskControlBlock;TxTask,2,512,StartTxTask,As external,NULL,Static,TxTaskBuffer,TxTaskControlBlock
 File.Version=6
 I2C1.I2C_Mode=I2C_Fast
 I2C1.IPParameters=I2C_Mode

diff --git a/Robot/Src/freertos.c b/Robot/Src/freertos.c
@@ -51,7 +51,7 @@
 #include "task.h"
 #include "cmsis_os.h"
 
-/* USER CODE BEGIN Includes */
+/* USER CODE BEGIN Includes */     
 /**
  * @file    freertos.c
  * @brief   Code for freertos application
@@ -238,7 +238,7 @@ void MX_FREERTOS_Init(void) {
   IMUTaskHandle = osThreadCreate(osThread(IMUTask), NULL);
 
   /* definition and creation of CommandTask */
-  osThreadStaticDef(CommandTask, StartCommandTask, osPriorityNormal, 0, 512, CommandTaskBuffer, &CommandTaskControlBlock);
+  osThreadStaticDef(CommandTask, StartCommandTask, osPriorityBelowNormal, 0, 512, CommandTaskBuffer, &CommandTaskControlBlock);
   CommandTaskHandle = osThreadCreate(osThread(CommandTask), NULL);
 
   /* definition and creation of RxTask */
@@ -417,7 +417,6 @@ void StartCommandTask(void const * argument)
             }
         }
 
-        // TODO: This didn't really have an effect. Need to figure out why
         if(numIterations % 100 == 0){
             // Every 100 iterations, assert torque enable
             for(uint8_t i = MOTOR1; i <= MOTOR18; i++){