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合并“referee”分支

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NeoZng
2023-04-20 10:50:46 +08:00
parent 0f55fed9d6 345dcfa588
commit f3d47258cd
18 changed files with 1017 additions and 965 deletions
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106
Src/freertos.c
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@@ -1,20 +1,20 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
@@ -28,6 +28,7 @@
#include "ins_task.h"
#include "motor_task.h"
#include "led_task.h"
#include "referee_task.h"
#include "daemon.h"
#include "robot.h"
/* USER CODE END Includes */
@@ -61,28 +62,32 @@ osThreadId uiTaskHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
void StartINSTASK(void const * argument);
void StartINSTASK(void const *argument);
void StartMOTORTASK(void const * argument);
void StartMOTORTASK(void const *argument);
void StartDAEMONTASK(void const* argument);
void StartDAEMONTASK(void const *argument);
void StartROBOTTASK(void const* argument);
void StartROBOTTASK(void const *argument);
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;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
*ppxIdleTaskStackBuffer = &xIdleStack[0];
@@ -92,11 +97,12 @@ void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackTy
/* 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 */
@@ -134,25 +140,28 @@ void MX_FREERTOS_Init(void) {
daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
/* USER CODE END RTOS_THREADS */
defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @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(;;)
for (;;)
{
osDelay(1);
}
@@ -161,43 +170,52 @@ void StartDefaultTask(void const * argument)
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
void StartINSTASK(void const * argument)
void StartINSTASK(void const *argument)
{
while (1)
{
//1kHz
INS_Task();
// 1kHz
// INS_Task();
osDelay(1);
}
}
void StartMOTORTASK(void const * argument)
void StartMOTORTASK(void const *argument)
{
while (1)
{
//500Hz
// 500Hz
MotorControlTask();
osDelay(2);
}
}
void StartDAEMONTASK(void const * argument)
void StartDAEMONTASK(void const *argument)
{
while (1)
{
//100Hz
// 100Hz
DaemonTask();
osDelay(10);
}
}
void StartROBOTTASK(void const * argument)
void StartROBOTTASK(void const *argument)
{
while (1)
{
// 200Hz
RobotTask();
osDelay(5);//syh此处暂时将时间改<E997B4>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
osDelay(5); // syh此处暂时将时间改<EFBFBD>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
}
}
void StartUITASK(void const *argument)
{
My_UI_init();
while (1)
{
Referee_Interactive_task();
}
}
/* USER CODE END Application */