From 1c384d51939066ad67fc21cd2dab1458f8664db4 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Mon, 24 Apr 2023 07:11:19 +0800 Subject: [PATCH] =?UTF-8?q?=E3=80=90=E5=8A=A1=E5=BF=85=E6=8B=89=E5=8F=96?= =?UTF-8?q?=E3=80=91=E4=BF=AE=E5=A4=8Dui=E5=8F=91=E9=80=81=E4=BD=BF?= =?UTF-8?q?=E7=94=A8=E4=B8=B4=E6=97=B6=E5=8F=98=E9=87=8Fbuffer=E7=9A=84?= =?UTF-8?q?=E9=97=AE=E9=A2=98=EF=BC=8C=E5=A2=9E=E5=8A=A0=E4=BA=86DMAbuffer?= =?UTF-8?q?=E9=98=B2=E6=AD=A2=E8=A3=81=E5=88=A4=E7=B3=BB=E7=BB=9F=E6=8E=A5?= =?UTF-8?q?=E6=94=B6=E6=BA=A2=E5=87=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Src/freertos.c | 33 ++++++++++++++------------------- Src/usart.c | 10 ++++++++-- basic_framework.ioc | 14 ++++++++++---- modules/referee/referee_UI.c | 6 +++--- 4 files changed, 35 insertions(+), 28 deletions(-) diff --git a/Src/freertos.c b/Src/freertos.c index fea4736..18bb45c 100644 --- a/Src/freertos.c +++ b/Src/freertos.c @@ -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); } } diff --git a/Src/usart.c b/Src/usart.c index 5d513a2..7cc1d9c 100644 --- a/Src/usart.c +++ b/Src/usart.c @@ -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(); diff --git a/basic_framework.ioc b/basic_framework.ioc index 45bd186..4938c9f 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -148,25 +148,31 @@ Dma.USART3_RX.7.PeriphInc=DMA_PINC_DISABLE Dma.USART3_RX.7.Priority=DMA_PRIORITY_LOW Dma.USART3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.USART6_RX.0.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL Dma.USART6_RX.0.Instance=DMA2_Stream2 +Dma.USART6_RX.0.MemBurst=DMA_MBURST_SINGLE Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE Dma.USART6_RX.0.Mode=DMA_NORMAL +Dma.USART6_RX.0.PeriphBurst=DMA_PBURST_SINGLE Dma.USART6_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART6_RX.0.PeriphInc=DMA_PINC_DISABLE Dma.USART6_RX.0.Priority=DMA_PRIORITY_HIGH -Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.USART6_TX.1.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL Dma.USART6_TX.1.Instance=DMA2_Stream6 +Dma.USART6_TX.1.MemBurst=DMA_MBURST_SINGLE Dma.USART6_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.USART6_TX.1.MemInc=DMA_MINC_ENABLE Dma.USART6_TX.1.Mode=DMA_NORMAL +Dma.USART6_TX.1.PeriphBurst=DMA_PBURST_SINGLE Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH -Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst FREERTOS.INCLUDE_vTaskDelayUntil=1 FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c index cd83ced..b6d6649 100644 --- a/modules/referee/referee_UI.c +++ b/modules/referee/referee_UI.c @@ -22,7 +22,7 @@ *****************************************************************************************/ void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer) { - UI_delete_t UI_delete_data; + static UI_delete_t UI_delete_data; uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度 UI_delete_data.FrameHeader.SOF = REFEREE_SOF; @@ -352,7 +352,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...) uint8_t temp_datalength = LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * cnt + LEN_TAIL; // 计算交互数据长度 - uint8_t buffer[temp_datalength]; // 交互数据缓存 + static uint8_t buffer[512]; // 交互数据缓存 va_list ap; // 创建一个 va_list 类型变量 va_start(ap, cnt); // 初始化 va_list 变量为一个参数列表 @@ -398,7 +398,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...) /************************************************UI推送字符（使更改生效）*********************************/ void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data) { - UI_CharReFresh_t UI_CharReFresh_data; + static UI_CharReFresh_t UI_CharReFresh_data; uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; // 计算交互数据长度