From bbc6c85192b8b77c6077de3cdfee1c957c867c2f Mon Sep 17 00:00:00 2001
From: dimercur <dimercur@insa-toulouse.fr>
Date: Fri, 12 Jan 2024 16:58:43 +0100
Subject: [PATCH] =?UTF-8?q?Suppression=20de=20la=20tache=20par=20defaut=20?=
 =?UTF-8?q?cr=C3=A9=C3=A9=20par=20Cube=20MX=20qui=20pose=20probleme=20quan?=
 =?UTF-8?q?d=20elle=20se=20termine,=20passage=20de=20la=20memoire=20dynami?=
 =?UTF-8?q?que=20de=201024=20octets=20=C3=A0=2010240=20octets,=20ajout=20d?=
 =?UTF-8?q?u=20support=20du=20temps=20d'execution=20des=20taches=20et=20de?=
 =?UTF-8?q?=20la=20visualisation=20des=20queues=20et=20semaphore,=20reduct?=
 =?UTF-8?q?ion=20du=20nombre=20de=20priorit=C3=A9=20=C3=A0=2012?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 software/dumber3/.cproject                    |  14 +--
 .../dumber3/.settings/language.settings.xml   |   6 +-
 software/dumber3/Application/application.c    |   8 +-
 software/dumber3/Application/application.h    |   2 +
 software/dumber3/Application/config.h         |   6 +-
 software/dumber3/Application/messages.c       |   6 +
 software/dumber3/Application/rtos_support.c   | 115 ++++++++++++++++++
 software/dumber3/Application/rtos_support.h   |  40 ++++++
 software/dumber3/Application/xbee.c           |   5 +-
 software/dumber3/Core/Inc/FreeRTOSConfig.h    |  17 ++-
 software/dumber3/Core/Src/main.c              |  29 +++--
 11 files changed, 210 insertions(+), 38 deletions(-)
 create mode 100644 software/dumber3/Application/rtos_support.c
 create mode 100644 software/dumber3/Application/rtos_support.h

diff --git a/software/dumber3/.cproject b/software/dumber3/.cproject
index dcb431f..e89024b 100644
--- a/software/dumber3/.cproject
+++ b/software/dumber3/.cproject
@@ -22,6 +22,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1508870668" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.475855176" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.802392362" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32L071CBTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32L0xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32L0xx/Include | ../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0 ||  ||  || USE_HAL_DRIVER | STM32L010x6 ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32L071CBTx_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.1064254422" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.value.nano_c" valueType="enumerated"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1582271634" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Dumber3}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1329460993" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.635805233" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -33,7 +34,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.620486962" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o2" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1441075970" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -74,17 +75,6 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1896077029" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
 						</toolChain>
 					</folderInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.16019415" name="application.c" rcbsApplicability="disable" resourcePath="Application/application.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.81377361">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.81377361" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
-							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.2042394482" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.381948089" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.2085933829" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency"/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1128986474" name="Resource Custom Build Step Output Type"/>
-						</tool>
-					</fileInfo>
 					<sourceEntries>
 						<entry excluding="Xbee-API|XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Application"/>
 						<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
diff --git a/software/dumber3/.settings/language.settings.xml b/software/dumber3/.settings/language.settings.xml
index 04bbd36..3deb75d 100644
--- a/software/dumber3/.settings/language.settings.xml
+++ b/software/dumber3/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="117839523036237333" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1052077282282430101" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="117839523036237333" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1052077282282430101" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -27,7 +27,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="117839523036237333" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1052077282282430101" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/software/dumber3/Application/application.c b/software/dumber3/Application/application.c
index 67b5b79..2833625 100644
--- a/software/dumber3/Application/application.c
+++ b/software/dumber3/Application/application.c
@@ -70,6 +70,7 @@
 #include "battery.h"
 
 #include "panic.h"
+#include "rtos_support.h"
 
 /** @addtogroup Application_Software
   * @{
@@ -127,7 +128,7 @@ StaticTask_t xTaskApplicationMain;
 /* Buffer that the task being created will use as its stack.  Note this is
     an array of StackType_t variables.  The size of StackType_t is dependent on
     the RTOS port. */
-StackType_t xStackApplicationMain[ STACK_SIZE ];
+StackType_t xStackApplicationMain[ STACK_SIZE*2 ];
 TaskHandle_t xHandleApplicationMain = NULL;
 
 StaticTimer_t xBufferTimerTimeout;
@@ -148,6 +149,9 @@ APPLICATION_Timeout systemTimeout = {0};
   * @return None
   */
 void APPLICATION_Init(void) {
+	/* Init du support RTOS (notamment le timer de run time) */
+	//RTOS_SUPPORT_Init(); /* <- used for freertos run time usage */
+
 	/* Init des messages box */
 	MESSAGE_Init();
 
@@ -163,7 +167,7 @@ void APPLICATION_Init(void) {
 	xHandleApplicationMain = xTaskCreateStatic(
 			APPLICATION_Thread,       /* Function that implements the task. */
 			"APPLICATION Thread",          /* Text name for the task. */
-			STACK_SIZE,      /* Number of indexes in the xStack array. */
+			STACK_SIZE*2,      /* Number of indexes in the xStack array. */
 			NULL,    /* Parameter passed into the task. */
 			PriorityApplicationHandler,/* Priority at which the task is created. */
 			xStackApplicationMain,          /* Array to use as the task's stack. */
diff --git a/software/dumber3/Application/application.h b/software/dumber3/Application/application.h
index 971d2d4..bc6303e 100644
--- a/software/dumber3/Application/application.h
+++ b/software/dumber3/Application/application.h
@@ -41,6 +41,8 @@
 #include "xbee.h"
 #include "commands.h"
 
+#include "rtos_support.h"
+
 #include "main.h"
 
 /** @addtogroup Application_Software
diff --git a/software/dumber3/Application/config.h b/software/dumber3/Application/config.h
index 31936ea..9889528 100644
--- a/software/dumber3/Application/config.h
+++ b/software/dumber3/Application/config.h
@@ -44,11 +44,11 @@
  *  Version in plain text and as a numeric value
  */
 ///@{
-#define SYSTEM_VERSION_STR			"2.2"
-#define SYSTEM_VERSION				0x0202	// Upper byte: major version, lower byte: minor version
+#define SYSTEM_VERSION_STR			"2.3"
+#define SYSTEM_VERSION				0x0203	// Upper byte: major version, lower byte: minor version
 ///@}
 
-#define STACK_SIZE 					0x100
+#define STACK_SIZE 					64
 
 /** @name Tasks priority constants
  *  Priority is based on configMAX_PRIORITIES which represent highest task priority.
diff --git a/software/dumber3/Application/messages.c b/software/dumber3/Application/messages.c
index 541b953..e1ee24b 100644
--- a/software/dumber3/Application/messages.c
+++ b/software/dumber3/Application/messages.c
@@ -62,6 +62,12 @@ void  MESSAGE_Init(void) {
 	MOTORS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	APPLICATION_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
+
+	/* Add queues to registry in order to view them in stm32cube ide */
+	vQueueAddToRegistry(LEDS_Mailbox,"LEDS Mailbox");
+	vQueueAddToRegistry(MOTORS_Mailbox,"MOTORS Mailbox");
+	vQueueAddToRegistry(APPLICATION_Mailbox,"APPLICATION Mailbox");
+	vQueueAddToRegistry(XBEE_Mailbox,"XBEE Mailbox");
 }
 
 /**
diff --git a/software/dumber3/Application/rtos_support.c b/software/dumber3/Application/rtos_support.c
new file mode 100644
index 0000000..8dddfa9
--- /dev/null
+++ b/software/dumber3/Application/rtos_support.c
@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ * @file motors.c
+ * @brief motors driver body
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
+ *
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
+ */
+
+#include "rtos_support.h"
+
+#include "stm32l0xx_ll_tim.h"
+
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup RTOS_SUPPORT
+ * RTOS support module provide several functions for task run time measurement.
+ * @{
+ */
+
+/** @addtogroup RTOS_SUPPORT_Private Private
+ * @{
+ */
+
+uint16_t RTOS_SUPPORT_counter16bitUpper=0;
+
+/**
+ * @brief TIM7 Initialization Function
+ */
+void RTOS_SUPPORT_Init(void) {
+	TIM_ClockConfigTypeDef sClockSourceConfig = { 0 };
+	TIM_HandleTypeDef htim7;
+
+	__HAL_RCC_TIM7_CLK_ENABLE();
+
+	htim7.Instance = TIM7;
+	htim7.Init.Prescaler = 0;
+	htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
+	htim7.Init.Period = 65535;
+	htim7.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+	htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+	if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+	if (HAL_TIM_ConfigClockSource(&htim7, &sClockSourceConfig) != HAL_OK) {
+		Error_Handler();
+	}
+
+	/* TIM7 interrupt Init */
+	LL_TIM_EnableIT_UPDATE(TIM7);
+	HAL_NVIC_SetPriority(TIM7_IRQn, 1, 0);
+	HAL_NVIC_EnableIRQ(TIM7_IRQn);
+
+	RTOS_SUPPORT_counter16bitUpper=0;
+	LL_TIM_EnableCounter(TIM7);
+}
+
+/**
+ * @brief Get 32bit emulated timer based on TIM7
+ *
+ * @return 32bit timer
+ */
+uint32_t RTOS_SUPPORT_GetTimer(void) {
+
+	uint16_t currentVal=LL_TIM_GetCounter(TIM7);
+
+	return (uint32_t)((((uint32_t)RTOS_SUPPORT_counter16bitUpper)<<16) + (uint32_t)currentVal);
+}
+
+/**
+  * @brief This function handles TIM7 update interrupt for 32bit
+  */
+void TIM7_IRQHandler(void) {
+  LL_TIM_ClearFlag_UPDATE(TIM7);
+
+  RTOS_SUPPORT_counter16bitUpper++;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
diff --git a/software/dumber3/Application/rtos_support.h b/software/dumber3/Application/rtos_support.h
new file mode 100644
index 0000000..30e8cf4
--- /dev/null
+++ b/software/dumber3/Application/rtos_support.h
@@ -0,0 +1,40 @@
+/*
+ * rtos_support.h
+ *
+ *  Created on: Jan 12, 2024
+ *      Author: dimercur
+ */
+
+#ifndef RTOS_SUPPORT_H_
+#define RTOS_SUPPORT_H_
+
+#include "application.h"
+
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup RTOS_SUPPORT
+ * @{
+ */
+
+/** @addtogroup RTOS_SUPPORT_Public Public
+ * @{
+ */
+
+void RTOS_SUPPORT_Init(void);
+uint32_t RTOS_SUPPORT_GetTimer(void);
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#endif /* RTOS_SUPPORT_H_ */
diff --git a/software/dumber3/Application/xbee.c b/software/dumber3/Application/xbee.c
index 816c654..e663efa 100644
--- a/software/dumber3/Application/xbee.c
+++ b/software/dumber3/Application/xbee.c
@@ -103,7 +103,6 @@ StackType_t xStackXbeeRX[ STACK_SIZE ];
 TaskHandle_t xHandleXbeeRX = NULL;
 
 uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
-//uint8_t rxWaitForACK =0;
 uint8_t rxPhase;
 uint16_t rxCmdLength;
 uint16_t rxDataToReceive;
@@ -129,6 +128,10 @@ void XBEE_Init(void) {
 
 	xHandleSemaphoreRX = xSemaphoreCreateBinaryStatic( &xSemaphoreRx );
 
+	/* Add semaphores to registry in order to view them in stm32cube ide */
+	vQueueAddToRegistry(xHandleSemaphoreTX,"XBEE TX sem");
+	vQueueAddToRegistry(xHandleSemaphoreRX,"XBEE RX sem");
+
 	/* Create the task without using any dynamic memory allocation. */
 	xHandleXbeeRX = xTaskCreateStatic(
 			XBEE_RxThread,       /* Function that implements the task. */
diff --git a/software/dumber3/Core/Inc/FreeRTOSConfig.h b/software/dumber3/Core/Inc/FreeRTOSConfig.h
index 8237fe0..ddd7ff7 100644
--- a/software/dumber3/Core/Inc/FreeRTOSConfig.h
+++ b/software/dumber3/Core/Inc/FreeRTOSConfig.h
@@ -31,6 +31,9 @@
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H
 
+extern void RTOS_SUPPORT_Init(void);
+extern uint32_t RTOS_SUPPORT_GetTimer(void);
+
 /*-----------------------------------------------------------
  * Application specific definitions.
  *
@@ -62,9 +65,9 @@
 #define configUSE_TICK_HOOK                      0
 #define configCPU_CLOCK_HZ                       ( SystemCoreClock )
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
-#define configMAX_PRIORITIES                     ( 56 )
+#define configMAX_PRIORITIES                     ( 12 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)1024)
+#define configTOTAL_HEAP_SIZE                    ((size_t)10240)
 #define configMAX_TASK_NAME_LEN                  ( 25 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
@@ -82,13 +85,13 @@
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES                    0
-#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 1 )
 
 /* Software timer definitions. */
 #define configUSE_TIMERS                         1
-#define configTIMER_TASK_PRIORITY                ( 3 )
+#define configTIMER_TASK_PRIORITY                ( 1 )
 #define configTIMER_QUEUE_LENGTH                 10
-#define configTIMER_TASK_STACK_DEPTH             256
+#define configTIMER_TASK_STACK_DEPTH             64
 
 /* The following flag must be enabled only when using newlib */
 #define configUSE_NEWLIB_REENTRANT          1
@@ -152,4 +155,8 @@ placed into the low power state respectively. */
 #define configPOST_SLEEP_PROCESSING                       PostSleepProcessing
 #endif /* configUSE_TICKLESS_IDLE == 1 */
 
+#define configGENERATE_RUN_TIME_STATS       		1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() RTOS_SUPPORT_Init()
+#define portGET_RUN_TIME_COUNTER_VALUE() RTOS_SUPPORT_GetTimer()
+
 #endif /* FREERTOS_CONFIG_H */
diff --git a/software/dumber3/Core/Src/main.c b/software/dumber3/Core/Src/main.c
index 7ae6d29..7035d57 100644
--- a/software/dumber3/Core/Src/main.c
+++ b/software/dumber3/Core/Src/main.c
@@ -55,12 +55,12 @@ TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim21;
 
 /* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
-};
+//osThreadId_t defaultTaskHandle;
+//const osThreadAttr_t defaultTask_attributes = {
+//  .name = "defaultTask",
+//  .stack_size = 128 * 4,
+//  .priority = (osPriority_t) osPriorityNormal,
+//};
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -146,7 +146,7 @@ int main(void)
 
   /* Create the thread(s) */
   /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+//defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
 	/* add threads, ... */
@@ -644,9 +644,9 @@ TickType_t msToTicks(TickType_t ms) {
  * @retval None
  */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
-{
-  /* USER CODE BEGIN 5 */
+//void StartDefaultTask(void *argument)
+//{
+//  /* USER CODE BEGIN 5 */
 //	LEDS_State state = leds_off;
 //
 //	/* Infinite loop */
@@ -660,8 +660,13 @@ void StartDefaultTask(void *argument)
 //
 //		vTaskDelay(pdMS_TO_TICKS(5000));
 //	}
-  /* USER CODE END 5 */
-}
+//  /* USER CODE END 5 */
+//
+//	while (1)
+//	{
+//		//vTaskDelay(pdMS_TO_TICKS(50));
+//	}
+//}
 
 /**
   * @brief  Period elapsed callback in non blocking mode