too static, does not work

CMakeLists.txt

@@ -60,7 +60,7 @@ target_include_directories(lwip PUBLIC ${LWIP_INCLUDE_DIRS})
 
 # Add freeRTOS
 set(FREERTOS_PORT GCC_ARM_CA9 CACHE STRING "")
-set(FREERTOS_HEAP 2 CACHE STRING "")
+set(FREERTOS_HEAP 1 CACHE STRING "")
 add_library(freertos_config INTERFACE)
 target_include_directories(freertos_config SYSTEM
     INTERFACE ${FreeRTOS_CONFIG_PATH}) # The config file directory

bsp_z7/freeRTOS/FreeRTOSConfig.h

@@ -77,9 +77,9 @@
 #define configUSE_TICK_HOOK						1
 #define configMAX_PRIORITIES					( 7 )
 #define configMINIMAL_STACK_SIZE				( ( unsigned short ) 250 ) /* Large in case configUSE_TASK_FPU_SUPPORT is 2 in which case all tasks have an FPU context. */
-#define configTOTAL_HEAP_SIZE					( 0 )
+#define configTOTAL_HEAP_SIZE					( 204800 )
 #define configMAX_TASK_NAME_LEN					( 10 )
-#define configUSE_TRACE_FACILITY				1
+#define configUSE_TRACE_FACILITY				0
 #define configUSE_16_BIT_TICKS					0
 #define configIDLE_SHOULD_YIELD					1
 #define configUSE_MUTEXES						1
@@ -89,8 +89,8 @@
 #define configUSE_APPLICATION_TASK_TAG			0
 #define configUSE_COUNTING_SEMAPHORES			1
 #define configUSE_QUEUE_SETS					1
-#define configSUPPORT_STATIC_ALLOCATION			1
-#define configSUPPORT_DYNAMIC_ALLOCATION        0
+#define configSUPPORT_STATIC_ALLOCATION			0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
 
 /* Include the query-heap CLI command to query the free heap space. */
 #define configINCLUDE_QUERY_HEAP_COMMAND		0

mission/freeRTOS_rust_helper.c

@@ -2,7 +2,7 @@
 #include "semphr.h"
 #include "task.h"
 
-//TODO namespace the names
+// TODO namespace the names
 
 /**
  * Task descriptors

mission/main.c

@@ -137,7 +137,7 @@ int main(void) {
 
   int taskParameters = 0;
 
-  static const uint16_t stackSizeWords = 512;
+  static const size_t stackSizeWords = 102400;
   StaticTask_t xTaskBuffer;
   StackType_t xStack[stackSizeWords];
 

mission_rust/src/lib.rs

@@ -116,10 +116,11 @@ impl<'a> PeriodicTaskRunner<'a> {
     fn execute(&mut self) {
         sifln!("Task Runner {}", self.period);
         loop {
-            self.task_object.perform();
-            unsafe {
-                task_delay(self.period);
-            }
+            // self.task_object.perform();
+            // unsafe {
+            //     task_delay(self.period);
+            // }
+            unsafe { task_delay(200) };
         }
     }
 }
@@ -136,7 +137,12 @@ impl<'a, const STACKSIZE: usize> PeriodicTask<'a, STACKSIZE> {
         };
         let runner_pointer: *mut cty::c_void = &mut instance.runner as *mut _ as *mut cty::c_void;
         let stack_pointer: *mut cty::c_void = &mut instance.stack as *mut _ as *mut cty::c_void;
-        sifln!("giving pointer {:p} {:p}", runner_pointer, &mut instance.runner as *mut PeriodicTaskRunner);
+        sifln!(
+            "giving pointer {:p} {:p}, instance {:p}",
+            runner_pointer,
+            &mut instance.runner as *mut PeriodicTaskRunner,
+            &instance as *const Self
+        );
         unsafe {
             instance.task = create_task(task_entry, runner_pointer, stack_pointer, STACKSIZE);
         }
@@ -208,7 +214,7 @@ struct MessageQueue<T, const LENGTH: usize> {
 
 struct MessageQueueSender<T> {
     queue_id: Option<*const cty::c_void>,
-    _unused: Option<T> //need to constrain the sender to one message type for safety, but compiler needs that to be used
+    _unused: Option<T>, //need to constrain the sender to one message type for safety, but compiler needs that to be used
 }
 
 impl<T: Copy, const LENGTH: usize> MessageQueue<T, LENGTH> {
@@ -233,7 +239,7 @@ impl<T: Copy, const LENGTH: usize> MessageQueue<T, LENGTH> {
     fn get_sender(&self) -> MessageQueueSender<T> {
         let instance: MessageQueueSender<T> = MessageQueueSender::<T> {
             queue_id: Some(self.queue_id),
-            _unused: None
+            _unused: None,
         };
         instance
     }
@@ -258,7 +264,7 @@ impl<T> MessageQueueSender<T> {
     fn new() -> Self {
         Self {
             queue_id: None,
-            _unused: None
+            _unused: None,
         }
     }
 
@@ -305,7 +311,6 @@ impl Write for Outbytes {
     }
 }
 
-
 fn mission() {
     sifln!("Mission enter");
 
@@ -323,7 +328,13 @@ fn mission() {
 
     let mut _t1: PeriodicTask<'_, 512> = PeriodicTask::new(&mut h1);
 
-    sifln!("mission pointer {:p}", &mut _t1.runner as *mut PeriodicTaskRunner);
+    sifln!(
+        "mission pointer {:p} {:p} {} {:p}",
+        &_t1 as *const PeriodicTask<512>,
+        &mut _t1.runner as *mut PeriodicTaskRunner,
+        core::mem::size_of::<PeriodicTaskRunner>(),
+        &_t1.stack as *const _
+    );
 
     //let _t2: PeriodicTask<'_, 512> = PeriodicTask::new(&mut h2);