TuxMonkey/bf_original_balance_chassis
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【务必拉取】修复ui发送使用临时变量buffer的问题，增加了DMAbuffer防止裁判系统接收溢出

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This commit is contained in:
NeoZng
2023-04-24 07:11:19 +08:00
parent 7a95d3c451
commit 1c384d5193
4 changed files with 35 additions and 28 deletions
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33
Src/freertos.c
View File

@@ -50,15 +50,14 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId insTaskHandle;
osThreadId ledTaskHandle;
osThreadId robotTaskHandle;
osThreadId motorTaskHandle;
osThreadId daemonTaskHandle;
osThreadId uiTaskHandle;
/* USER CODE END Variables */
osThreadId defaultTaskHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
@@ -73,13 +72,13 @@ void StartROBOTTASK(void const *argument);
void StartUITASK(void const *argument);
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void const *argument);
void StartDefaultTask(void const * argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
@@ -95,12 +94,11 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
/* USER CODE END GET_IDLE_TASK_MEMORY */
/**
* @brief FreeRTOS initialization
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void)
{
* @brief FreeRTOS initialization
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */
/* USER CODE END Init */
@@ -144,6 +142,7 @@ void MX_FREERTOS_Init(void)
defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartDefaultTask */
@@ -153,16 +152,12 @@ void MX_FREERTOS_Init(void)
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const *argument)
void StartDefaultTask(void const * argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
// for (;;)
// {
// osDelay(1);
// }
vTaskDelete( NULL );
/* USER CODE END StartDefaultTask */
}
@@ -173,7 +168,7 @@ void StartINSTASK(void const *argument)
while (1)
{
// 1kHz
INS_Task();
INS_Task();
osDelay(1);
}
}
@@ -204,7 +199,7 @@ void StartROBOTTASK(void const *argument)
{
// 200Hz
RobotTask();
osDelay(5);
osDelay(5);
}
}

10
Src/usart.c
View File

@@ -274,7 +274,10 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart6_rx.Init.Mode = DMA_NORMAL;
hdma_usart6_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_usart6_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_usart6_rx.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_usart6_rx.Init.PeriphBurst = DMA_PBURST_SINGLE;
if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
{
Error_Handler();
@@ -292,7 +295,10 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart6_tx.Init.Mode = DMA_NORMAL;
hdma_usart6_tx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_usart6_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_usart6_tx.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_usart6_tx.Init.PeriphBurst = DMA_PBURST_SINGLE;
if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
{
Error_Handler();