302 lines
8.3 KiB
C
302 lines
8.3 KiB
C
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "app_tasks.h"
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#include "snc_can_app.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* 导航控制任务 (动态创建，不经 CubeMX 管理) */
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static osThreadId_t navTaskHandle;
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static const osThreadAttr_t navTask_attributes = {
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.name = "navTask",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityAboveNormal,
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};
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/* USER CODE END Variables */
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for canTxTask */
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osThreadId_t canTxTaskHandle;
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const osThreadAttr_t canTxTask_attributes = {
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.name = "canTxTask",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityAboveNormal,
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};
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/* Definitions for monitorTask */
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osThreadId_t monitorTaskHandle;
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const osThreadAttr_t monitorTask_attributes = {
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.name = "monitorTask",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for laserTestTask */
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osThreadId_t laserTestTaskHandle;
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const osThreadAttr_t laserTestTask_attributes = {
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.name = "laserTestTask",
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.stack_size = 4096 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for vl53Task */
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osThreadId_t vl53TaskHandle;
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const osThreadAttr_t vl53Task_attributes = {
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.name = "vl53Task",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for imuTask */
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osThreadId_t imuTaskHandle;
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const osThreadAttr_t imuTask_attributes = {
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.name = "imuTask",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Definitions for logMutex */
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osMutexId_t logMutexHandle;
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const osMutexAttr_t logMutex_attributes = {
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.name = "logMutex"
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void StartCanTxTask(void *argument);
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void StartMonitorTask(void *argument);
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void AppTasks_RunLaserTestTask(void *argument);
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void StartVl53Task(void *argument);
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void StartImuTask(void *argument);
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extern void MX_USB_DEVICE_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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AppTasks_Init();
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/* USER CODE END Init */
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/* Create the mutex(es) */
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/* creation of logMutex */
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logMutexHandle = osMutexNew(&logMutex_attributes);
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
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/* creation of canTxTask */
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canTxTaskHandle = osThreadNew(StartCanTxTask, NULL, &canTxTask_attributes);
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/* creation of monitorTask */
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monitorTaskHandle = osThreadNew(StartMonitorTask, NULL, &monitorTask_attributes);
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/* creation of laserTestTask */
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laserTestTaskHandle = osThreadNew(AppTasks_RunLaserTestTask, NULL, &laserTestTask_attributes);
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/* creation of vl53Task */
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vl53TaskHandle = osThreadNew(StartVl53Task, NULL, &vl53Task_attributes);
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/* creation of imuTask */
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imuTaskHandle = osThreadNew(StartImuTask, NULL, &imuTask_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* 动态孵化导航控制任务，不需要在 CubeMX 中添加 */
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navTaskHandle = osThreadNew(AppTasks_RunNavTask_Impl, NULL, &navTask_attributes);
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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/**
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* @brief Function implementing the defaultTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartDefaultTask */
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void StartDefaultTask(void *argument)
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{
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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_StartCanTxTask */
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/**
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* @brief Function implementing the canTxTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartCanTxTask */
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void StartCanTxTask(void *argument)
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{
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/* USER CODE BEGIN StartCanTxTask */
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/*
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* 保持 CubeMX 生成的任务壳不变：
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* 20ms 发送节拍与具体业务逻辑统一放在 app_tasks.c 中维护，
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* 降低后续重新生成代码时的冲突风险。
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*/
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AppTasks_RunCanTxTask(argument);
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/* USER CODE END StartCanTxTask */
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}
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/* USER CODE BEGIN Header_StartMonitorTask */
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/**
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* @brief Function implementing the monitorTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartMonitorTask */
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void StartMonitorTask(void *argument)
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{
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/* USER CODE BEGIN StartMonitorTask */
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/*
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* 保持 CubeMX 生成的任务壳不变：
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* 100ms 监控任务逻辑下沉到 app_tasks.c，
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* 这里仅做入口转发，便于与自动生成框架解耦。
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*/
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AppTasks_RunMonitorTask(argument);
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// (void)argument;
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// for (;;)
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// {
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// osDelay(1000);
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// }
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/* USER CODE END StartMonitorTask */
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}
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/* USER CODE BEGIN Header_AppTasks_RunLaserTestTask */
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/**
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* @brief Function implementing the laserTestTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_AppTasks_RunLaserTestTask */
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void AppTasks_RunLaserTestTask(void *argument)
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{
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/* USER CODE BEGIN AppTasks_RunLaserTestTask */
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/* Infinite loop */
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// AppTasks_RunLaserTestTask_Impl(argument);
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AppTasks_RunLaserTestTask_Impl(argument);
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// (void)argument;
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// for (;;)
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// {
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// osDelay(1000);
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// }
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/* USER CODE END AppTasks_RunLaserTestTask */
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}
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/* USER CODE BEGIN Header_StartVl53Task */
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/**
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* @brief Function implementing the vl53Task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartVl53Task */
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void StartVl53Task(void *argument)
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{
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/* USER CODE BEGIN StartVl53Task */
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/* Infinite loop */
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AppTasks_RunVl53Task_Impl(argument);
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/* USER CODE END StartVl53Task */
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}
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/* USER CODE BEGIN Header_StartImuTask */
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/**
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* @brief Function implementing the imuTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartImuTask */
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void StartImuTask(void *argument)
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{
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/* USER CODE BEGIN StartImuTask */
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/* Infinite loop */
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AppTasks_RunImuTask_Impl(argument);
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/* USER CODE END StartImuTask */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/* USER CODE END Application */
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