From cb6f2d514329a7d09079364477e6c0cf732b9954 Mon Sep 17 00:00:00 2001
From: Samuel Sadok <samuel.sadok@bluewin.ch>
Date: Thu, 26 Apr 2018 13:34:38 -0700
Subject: [PATCH] use idle hook

---
 Firmware/Board/v3/Odrive.ioc     |  8 ++------
 Firmware/Board/v3/Src/freertos.c | 16 ++++++++++++++++
 2 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/Firmware/Board/v3/Odrive.ioc b/Firmware/Board/v3/Odrive.ioc
index de9fdc2c..7da71a60 100644
--- a/Firmware/Board/v3/Odrive.ioc
+++ b/Firmware/Board/v3/Odrive.ioc
@@ -126,13 +126,12 @@ Dma.UART4_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataA
 FREERTOS.FootprintOK=true
 FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
 FREERTOS.INCLUDE_vTaskDelayUntil=1
-FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,FootprintOK,configCHECK_FOR_STACK_OVERFLOW,INCLUDE_uxTaskGetStackHighWaterMark
+FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,FootprintOK,configCHECK_FOR_STACK_OVERFLOW,INCLUDE_uxTaskGetStackHighWaterMark,configUSE_IDLE_HOOK
 FREERTOS.Tasks01=defaultTask,0,256,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 FREERTOS.configTOTAL_HEAP_SIZE=65536
+FREERTOS.configUSE_IDLE_HOOK=1
 File.Version=6
-I2C1.IPParameters=OwnAddress
-I2C1.OwnAddress=12
 KeepUserPlacement=true
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
@@ -145,7 +144,6 @@ Mcu.IP14=TIM8
 Mcu.IP15=UART4
 Mcu.IP16=USB_DEVICE
 Mcu.IP17=USB_OTG_FS
-Mcu.IP18=I2C1
 Mcu.IP2=ADC3
 Mcu.IP3=CAN1
 Mcu.IP4=DMA
@@ -227,8 +225,6 @@ NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false
 NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.I2C1_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true
-NVIC.I2C1_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:true
diff --git a/Firmware/Board/v3/Src/freertos.c b/Firmware/Board/v3/Src/freertos.c
index f1d46642..524cd6cb 100644
--- a/Firmware/Board/v3/Src/freertos.c
+++ b/Firmware/Board/v3/Src/freertos.c
@@ -86,8 +86,24 @@ void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 /* USER CODE END FunctionPrototypes */
 
 /* Hook prototypes */
+void vApplicationIdleHook(void);
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
 
+/* USER CODE BEGIN 2 */
+__weak void vApplicationIdleHook( void )
+{
+   /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
+   to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
+   task. It is essential that code added to this hook function never attempts
+   to block in any way (for example, call xQueueReceive() with a block time
+   specified, or call vTaskDelay()). If the application makes use of the
+   vTaskDelete() API function (as this demo application does) then it is also
+   important that vApplicationIdleHook() is permitted to return to its calling
+   function, because it is the responsibility of the idle task to clean up
+   memory allocated by the kernel to any task that has since been deleted. */
+}
+/* USER CODE END 2 */
+
 /* USER CODE BEGIN 4 */
 __weak void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 {