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https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
math lib ok(?) but not linked to lib
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TuxMonkey
@@ -58,65 +58,65 @@
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/* Definitions for BeginTask */
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osThreadId_t BeginTaskHandle;
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const osThreadAttr_t BeginTask_attributes = {
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.name = "BeginTask",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "BeginTask",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for shoot */
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osThreadId_t shootHandle;
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const osThreadAttr_t shoot_attributes = {
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.name = "shoot",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "shoot",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for gimbal */
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osThreadId_t gimbalHandle;
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const osThreadAttr_t gimbal_attributes = {
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.name = "gimbal",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "gimbal",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for chassis */
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osThreadId_t chassisHandle;
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const osThreadAttr_t chassis_attributes = {
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.name = "chassis",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "chassis",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for init */
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osThreadId_t initHandle;
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const osThreadAttr_t init_attributes = {
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.name = "init",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityHigh,
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.name = "init",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityHigh,
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};
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/* Definitions for vision */
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osThreadId_t visionHandle;
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const osThreadAttr_t vision_attributes = {
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.name = "vision",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "vision",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for cmd */
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osThreadId_t cmdHandle;
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const osThreadAttr_t cmd_attributes = {
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.name = "cmd",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "cmd",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for reference */
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osThreadId_t referenceHandle;
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const osThreadAttr_t reference_attributes = {
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.name = "reference",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "reference",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for WS2812Task */
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osThreadId_t WS2812TaskHandle;
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const osThreadAttr_t WS2812Task_attributes = {
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.name = "WS2812Task",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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.name = "WS2812Task",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Private function prototypes -----------------------------------------------*/
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@@ -136,28 +136,20 @@ void StartINSTASK(void const *argument);
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void ShootTask(void *argument);
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void GimbalTask(void *argument);
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void ChassisTask(void *argument);
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void StartInitTask(void *argument);
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void VisionTask(void *argument);
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void CmdTask(void *argument);
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void RefereeTask(void *argument);
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extern void ws2812Task(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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/* Hook prototypes */
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void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
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void vApplicationMallocFailedHook(void);
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/* USER CODE BEGIN 4 */
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@@ -192,66 +184,65 @@ void vApplicationMallocFailedHook(void)
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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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{
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/* USER CODE BEGIN Init */
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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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 END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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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 END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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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 END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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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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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of BeginTask */
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BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
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/* Create the thread(s) */
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/* creation of BeginTask */
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BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
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/* creation of shoot */
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shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
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/* creation of shoot */
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shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
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/* creation of gimbal */
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gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
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/* creation of gimbal */
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gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
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/* creation of chassis */
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chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
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/* creation of chassis */
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chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
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/* creation of init */
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initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
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/* creation of init */
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initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
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/* creation of vision */
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visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
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/* creation of vision */
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visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
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/* creation of cmd */
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cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
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/* creation of cmd */
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cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
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/* creation of reference */
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referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
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/* creation of reference */
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referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
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/* creation of WS2812Task */
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WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
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/* creation of WS2812Task */
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WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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//Todo：INS_Task是测试版本
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// 创建线程
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insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
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/* USER CODE END RTOS_THREADS */
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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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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/* USER CODE END RTOS_EVENTS */
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}
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@@ -264,15 +255,15 @@ void MX_FREERTOS_Init(void)
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/* USER CODE END Header_StartDefaultTask */
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__weak 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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/* 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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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_ShootTask */
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@@ -284,13 +275,13 @@ __weak void StartDefaultTask(void *argument)
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/* USER CODE END Header_ShootTask */
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__weak void ShootTask(void *argument)
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{
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/* USER CODE BEGIN ShootTask */
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/* USER CODE BEGIN ShootTask */
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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 ShootTask */
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/* USER CODE END ShootTask */
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}
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/* USER CODE BEGIN Header_GimbalTask */
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@@ -302,13 +293,13 @@ __weak void ShootTask(void *argument)
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/* USER CODE END Header_GimbalTask */
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__weak void GimbalTask(void *argument)
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{
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/* USER CODE BEGIN GimbalTask */
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/* USER CODE BEGIN GimbalTask */
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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 GimbalTask */
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/* USER CODE END GimbalTask */
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}
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/* USER CODE BEGIN Header_ChassisTask */
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@@ -320,13 +311,13 @@ __weak void GimbalTask(void *argument)
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/* USER CODE END Header_ChassisTask */
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__weak void ChassisTask(void *argument)
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{
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/* USER CODE BEGIN ChassisTask */
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/* USER CODE BEGIN ChassisTask */
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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 ChassisTask */
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/* USER CODE END ChassisTask */
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}
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/* USER CODE BEGIN Header_StartInitTask */
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@@ -338,13 +329,13 @@ __weak void ChassisTask(void *argument)
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/* USER CODE END Header_StartInitTask */
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__weak void StartInitTask(void *argument)
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{
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/* USER CODE BEGIN StartInitTask */
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/* USER CODE BEGIN StartInitTask */
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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 StartInitTask */
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/* USER CODE END StartInitTask */
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}
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/* USER CODE BEGIN Header_VisionTask */
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@@ -356,13 +347,13 @@ __weak void StartInitTask(void *argument)
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/* USER CODE END Header_VisionTask */
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__weak void VisionTask(void *argument)
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{
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/* USER CODE BEGIN VisionTask */
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/* USER CODE BEGIN VisionTask */
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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 VisionTask */
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/* USER CODE END VisionTask */
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}
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/* USER CODE BEGIN Header_CmdTask */
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@@ -374,13 +365,13 @@ __weak void VisionTask(void *argument)
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/* USER CODE END Header_CmdTask */
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__weak void CmdTask(void *argument)
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{
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/* USER CODE BEGIN CmdTask */
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/* USER CODE BEGIN CmdTask */
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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 CmdTask */
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/* USER CODE END CmdTask */
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}
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/* USER CODE BEGIN Header_RefereeTask */
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@@ -392,13 +383,13 @@ __weak void CmdTask(void *argument)
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/* USER CODE END Header_RefereeTask */
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__weak void RefereeTask(void *argument)
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{
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/* USER CODE BEGIN RefereeTask */
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/* USER CODE BEGIN RefereeTask */
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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 RefereeTask */
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/* USER CODE END RefereeTask */
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}
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/* Private application code --------------------------------------------------*/
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