main.c

#include "stm32f4xx_ll_rcc.h"
#include "stm32f4xx_ll_system.h"
#include "stm32f4xx_ll_bus.h"
#include "stm32f4xx_ll_gpio.h"
#include "stm32f4xx_ll_usart.h"

#include <stdio.h>
#include "FreeRTOS.h"
#include "task.h"
#include "io_syscall.h"
#include "terminal.h"
#include "motor_kinematics.h"
#include "odometry.h"
#include "lib/manipulators.h"

/**
  *   System Clock Configuration
  *   The system Clock is configured as follow :
  *   System Clock source            = PLL (HSE)
  *   SYSCLK(Hz)                     = 168000000
  *   HCLK(Hz)                       = 168000000
  *   AHB Prescaler                  = 1
  *   APB1 Prescaler                 = 4
  *   APB2 Prescaler                 = 2
  *   HSE Frequency(Hz)              = 8000000
  *   PLL_M                          = 8
  *   PLL_N                          = 336
  *   PLL_P                          = 2
  *   VDD(V)                         = 3.3
  *   Main regulator output voltage  = Scale1 mode
  *   Flash Latency(WS)              = 5
  */
static void rcc_config()
{
        /* Enable HSE oscillator */
        LL_RCC_HSE_Enable();
        while(LL_RCC_HSE_IsReady() != 1);

        /* Set FLASH latency */
        LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);

        /* Main PLL configuration and activation */
        LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_8,
                                    336, LL_RCC_PLLP_DIV_2);
        LL_RCC_PLL_Enable();
        while(LL_RCC_PLL_IsReady() != 1);

        /* Sysclk activation on the main PLL */
        LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
        LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
        while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL);

        /* Set APB1 & APB2 prescaler */
        LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
        LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);

        /* Set systick to 1ms */
        SysTick_Config(168000000/1000);

        /* Update CMSIS variable (which can be updated also
         * through SystemCoreClockUpdate function) */
        SystemCoreClock = 168000000;
}

static void gpio_config(void)
{
        LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOD);
        LL_GPIO_SetPinMode(GPIOD, LL_GPIO_PIN_13, LL_GPIO_MODE_OUTPUT);
        return;
}

int main() {
        rcc_config();
        gpio_config();
        NVIC_SetPriorityGrouping(0);

        xTaskCreateStatic(terminal_manager, "TERM_MAN", TERM_MAN_STACK_DEPTH,
                          NULL, 3, terminal_manager_ts, &terminal_manager_tb);
        xTaskCreateStatic(motor_kinematics, "MOTOR_KIN", MOTOR_KIN_STACK_DEPTH,
                          NULL, 2, motor_kinematics_ts, &motor_kinematics_tb);
        xTaskCreateStatic(odometry, "ODOMETRY", ODOMETRY_STACK_DEPTH,
                          NULL, 2, odometry_ts, &odometry_tb);
        xTaskCreateStatic(manipulators_manager, "MANIPULATORS", STM_DRIVER_STACK_DEPTH,
                          NULL, 1, manipulators_ts, &manipulators_tb);

        vTaskStartScheduler();
        return 0;
}