sentry_chassis_hzz/Src/freertos.c

/* 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.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ins_task.h"
#include "motor_task.h"
#include "led_task.h"
#include "daemon.h"
#include "robot.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
void StartINSTASK(void const * argument);

void StartMOTORTASK(void const * argument);

void StartDAEMONTASK(void const* argument);

void StartROBOTTASK(void const* argument);
/* USER CODE END FunctionPrototypes */

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 );

/* 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 )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

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

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

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

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

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  osThreadDef(instask, StartINSTASK, osPriorityNormal, 0, 1024);
  defaultTaskHandle = osThreadCreate(osThread(instask), NULL);

  osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
  defaultTaskHandle = osThreadCreate(osThread(motortask), NULL);

  osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 512);
  defaultTaskHandle = osThreadCreate(osThread(daemontask), NULL);

  osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
  defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
void StartINSTASK(void const * argument)
{
  while (1)
  {
    //1kHz
    INS_Task();
    osDelay(1);
  }
}

void StartMOTORTASK(void const * argument)
{
  while (1)
  {
    //500Hz
    MotorControlTask();
    osDelay(2);
  }
}

void StartDAEMONTASK(void const * argument)
{
  while (1)
  {
    //100Hz
    DaemonTask();
    osDelay(10);
  }
}

void StartROBOTTASK(void const * argument)
{
  while (1)
  {
    // 200Hz
    RobotTask();
    osDelay(10);//syh此处暂时将时间改<E997B4><E694B9>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
  }
}
/* USER CODE END Application */