remote control init

2026-07-23 19:25:09 +08:00 · 2025-12-15 21:31:36 +08:00
parent 2d905efeb7
commit a78fe6ea11
10 changed files with 893 additions and 109 deletions
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -121,14 +121,14 @@ const osThreadAttr_t WS2812Task_attributes = {

 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-//Todo: 测试instask
+//@Todo:测试instask
 const osThreadAttr_t instask_attributes = {
-        .name = "instask",
-        .priority = osPriorityAboveNormal, // 较高优先级
-        .stack_size = 1024 * 4 // 栈大小，单位是字节（通常是字数的4倍）
+  .name = "instask",
+  .priority = osPriorityAboveNormal, // 较高优先级
+  .stack_size = 1024 * 4 // 栈大小，单位是字节（通常是字数的4倍）
 };

-//Todo:测试使用
+//@Todo:测试使用
 osThreadId insTaskHandle;

 void StartINSTASK(void const *argument);
@@ -136,28 +136,38 @@ void StartINSTASK(void const *argument);
 /* USER CODE END FunctionPrototypes */

 void StartDefaultTask(void *argument);
+
 void ShootTask(void *argument);
+
 void GimbalTask(void *argument);
+
 void ChassisTask(void *argument);
+
 void StartInitTask(void *argument);
+
 void VisionTask(void *argument);
+
 void CmdTask(void *argument);
+
 void RefereeTask(void *argument);
+
 extern void ws2812Task(void *argument);

 extern void MX_USB_DEVICE_Init(void);
+
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+
 void vApplicationMallocFailedHook(void);

 /* USER CODE BEGIN 4 */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 {
-    /* Run time stack overflow checking is performed if
-    configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
-    called if a stack overflow is detected. */
+  /* Run time stack overflow checking is performed if
+  configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+  called if a stack overflow is detected. */
 }

 /* USER CODE END 4 */
@@ -165,16 +175,16 @@ void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 /* USER CODE BEGIN 5 */
 void vApplicationMallocFailedHook(void)
 {
-    /* vApplicationMallocFailedHook() will only be called if
-    configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
-    function that will get called if a call to pvPortMalloc() fails.
-    pvPortMalloc() is called internally by the kernel whenever a task, queue,
-    timer or semaphore is created. It is also called by various parts of the
-    demo application. If heap_1.c or heap_2.c are used, then the size of the
-    heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
-    FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
-    to query the size of free heap space that remains (although it does not
-    provide information on how the remaining heap might be fragmented). */
+  /* vApplicationMallocFailedHook() will only be called if
+  configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
+  function that will get called if a call to pvPortMalloc() fails.
+  pvPortMalloc() is called internally by the kernel whenever a task, queue,
+  timer or semaphore is created. It is also called by various parts of the
+  demo application. If heap_1.c or heap_2.c are used, then the size of the
+  heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+  FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+  to query the size of free heap space that remains (although it does not
+  provide information on how the remaining heap might be fragmented). */
 }

 /* USER CODE END 5 */
@@ -184,25 +194,26 @@ void vApplicationMallocFailedHook(void)
  * @param  None
  * @retval None
  */
-void MX_FREERTOS_Init(void) {
+void MX_FREERTOS_Init(void)
+{
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
-    /* add mutexes, ... */
+  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
-    /* add semaphores, ... */
+  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
-    /* start timers, add new ones, ... */
+  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
-    /* add queues, ... */
+  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
@@ -234,16 +245,15 @@ void MX_FREERTOS_Init(void) {
  WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
-    /* add threads, ... */
-    //Todo：INS_Task是测试版本
-    // 创建线程
-    insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
+  /* add threads, ... */
+  //@Todo:INS_Task是测试版本
+  // 创建线程
+  insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
-    /* add events, ... */
+  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */
-
 }

 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -258,11 +268,11 @@ __weak void StartDefaultTask(void *argument)
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END StartDefaultTask */
 }

@@ -276,11 +286,11 @@ __weak void StartDefaultTask(void *argument)
 __weak void ShootTask(void *argument)
 {
  /* USER CODE BEGIN ShootTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END ShootTask */
 }

@@ -294,11 +304,11 @@ __weak void ShootTask(void *argument)
 __weak void GimbalTask(void *argument)
 {
  /* USER CODE BEGIN GimbalTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END GimbalTask */
 }

@@ -312,11 +322,11 @@ __weak void GimbalTask(void *argument)
 __weak void ChassisTask(void *argument)
 {
  /* USER CODE BEGIN ChassisTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END ChassisTask */
 }

@@ -330,11 +340,11 @@ __weak void ChassisTask(void *argument)
 __weak void StartInitTask(void *argument)
 {
  /* USER CODE BEGIN StartInitTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END StartInitTask */
 }

@@ -348,11 +358,11 @@ __weak void StartInitTask(void *argument)
 __weak void VisionTask(void *argument)
 {
  /* USER CODE BEGIN VisionTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END VisionTask */
 }

@@ -366,11 +376,11 @@ __weak void VisionTask(void *argument)
 __weak void CmdTask(void *argument)
 {
  /* USER CODE BEGIN CmdTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END CmdTask */
 }

@@ -384,36 +394,38 @@ __weak void CmdTask(void *argument)
 __weak void RefereeTask(void *argument)
 {
  /* USER CODE BEGIN RefereeTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END RefereeTask */
 }

 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */

-//Todo:INS_Task是测试阶段使用。
+//@Todo:INS_Task是测试阶段使用。
 __attribute__((noreturn)) void StartINSTASK(void const *argument)
 {
-    static float ins_start;
-    static float ins_dt;
-    INS_Init(); // 确保BMI088被正确初始化.
-    // LOGINFO("[freeRTOS] INS Task Start");
-    for (;;)
-    {
-        // 1kHz
-        // ins_start = DWT_GetTimeline_ms();
-        INS_Task();
-        // ins_dt = DWT_GetTimeline_ms() - ins_start;
-        // if (ins_dt > 1)
-        //     Todo: LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
-        // // VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
-        osDelay(1); // 1ms, 1kHz
-    }
+  static float ins_start;
+  static float ins_dt;
+  INS_Init(); // 确保BMI088被正确初始化.
+  // LOGINFO("[freeRTOS] INS Task Start");
+  for (;;)
+  {
+    // 1kHz
+    // ins_start = DWT_GetTimeline_ms();
+    INS_Task();
+    // ins_dt = DWT_GetTimeline_ms() - ins_start;
+    // if (ins_dt > 1)
+    // @Todo: LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
+    // // VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
+    osDelay(1); // 1ms, 1kHz
+  }
 }

+
+
 /* USER CODE END Application */