添加了回调任务的支持，允许bsp将回调函数设置为在中断中唤醒任务而不是直接执行，有助于提高实时性

Makefile

@@ -117,6 +117,7 @@ bsp/usart/bsp_usart.c \
 bsp/usb/bsp_usb.c \
 bsp/log/bsp_log.c \
 bsp/flash/bsp_flash.c \
+bsp/bsp_tools.c \
 modules/algorithm/controller.c \
 modules/algorithm/kalman_filter.c \
 modules/algorithm/QuaternionEKF.c \

application/robot_task.h

@@ -58,7 +58,7 @@ void StartINSTASK(void const *argument)
     static float ins_start, ins_dt;
     INS_Init(); // 确保BMI088被正确初始化.
     LOGINFO("[freeRTOS] INS Task Start");
-    while (1)
+    for (;;)
     {
         // 1kHz
         ins_start = DWT_GetTimeline_ms();
@@ -75,7 +75,7 @@ void StartMOTORTASK(void const *argument)
 {
     static float motor_dt, motor_start;
     LOGINFO("[freeRTOS] MOTOR Task Start");
-    while (1)
+    for (;;)
     {
         motor_start = DWT_GetTimeline_ms();
         MotorControlTask();
@@ -91,7 +91,7 @@ void StartDAEMONTASK(void const *argument)
     static float daemon_dt, daemon_start;
     BuzzerInit();
     LOGINFO("[freeRTOS] Daemon Task Start");
-    while (1)
+    for (;;)
     {
         // 100Hz
         daemon_start = DWT_GetTimeline_ms();
@@ -109,7 +109,7 @@ void StartROBOTTASK(void const *argument)
     static float robot_dt, robot_start;
     LOGINFO("[freeRTOS] ROBOT core Task Start");
     // 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz
-    while (1)
+    for (;;)
     {
         robot_start = DWT_GetTimeline_ms();
         RobotTask();
@@ -125,7 +125,7 @@ void StartUITASK(void const *argument)
     LOGINFO("[freeRTOS] UI Task Start");
     MyUIInit();
     LOGINFO("[freeRTOS] UI Init Done, communication with ref has established");
-    while (1)
+    for (;;)
     {
         // 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend()
         UITask();

bsp/bsp_init.h

@@ -11,7 +11,7 @@
  *        需在实时系统启动前调用,目前由RobotoInit()调用
  * 
  * @note 其他实例型的外设如CAN和串口会在注册实例的时候自动初始化,不注册不初始化
- */
+  */
 // 
 void BSPInit()
 {

bsp/bsp_tools.c

@@ -0,0 +1,56 @@
+#include <stdarg.h>
+
+#include "cmsis_os.h"
+#include "bsp_log.h"
+#include "bsp_tools.h"
+
+#define MX_SIG_LIST_SIZE 32 // 不可修改,最大信号量数量
+
+typedef struct
+{
+    void *callback;
+    uint32_t sig;
+    void *ins;
+} CallbackTask_t;
+
+// 递增记录全局信号量的数组,最大32个信号量
+static uint8_t sig_idx = 0;
+static uint32_t tmp_sig = 1; // tmp_sing << sig_idx从而生成对应信号量
+
+static osThreadId cbkid_list[MX_SIG_LIST_SIZE];
+static CallbackTask_t cbkinfo_list[MX_SIG_LIST_SIZE];
+
+// 死循环任务,执行cbk函数指针,每次执行完毕后等待sig信号
+static void CallbackTaskBase(const void *cbk)
+{
+    void (*cbk_func)(void *) = (void (*)(void *))((CallbackTask_t *)cbk)->callback;
+    void *ins = ((CallbackTask_t *)cbk)->ins;
+    uint32_t sig = ((CallbackTask_t *)cbk)->sig;
+
+    for (;;)
+    {
+        cbk_func(ins);
+        osSignalWait(sig, osWaitForever);
+    }
+}
+
+uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority)
+{
+    if (sig_idx >= MX_SIG_LIST_SIZE)
+        while (1)
+            LOGERROR("[rtos:cbk_register] CreateCallbackTask: sig_idx >= MX_SIG_LIST_SIZE");
+
+    cbkinfo_list[sig_idx].callback = cbk;
+    cbkinfo_list[sig_idx].sig = tmp_sig << sig_idx;
+    cbkinfo_list[sig_idx].ins = ins;
+
+    osThreadDef_t threadDef;
+    threadDef.name = name;
+    threadDef.pthread = CallbackTaskBase;
+    threadDef.tpriority = priority;
+    threadDef.instances = 0;
+    threadDef.stacksize = 128;
+    cbkid_list[sig_idx] = osThreadCreate(&threadDef, (void *)&cbkinfo_list[sig_idx]);
+
+    return cbkinfo_list[sig_idx++].sig; // 返回信号量,同时增加索引
+}

bsp/bsp_tools.h

@@ -0,0 +1,13 @@
+#include "cmsis_os.h"
+#include "bsp_log.h"
+
+/**
+ * @brief 创建一个新的任务,该任务收到osSignalSet信号时会被唤醒,否则保持挂起状态
+ *
+ * @param name 任务名称,注意以'\0'结尾
+ * @param cbk 回调函数指针
+ * @param ins 回调函数的参数,bsp为实例指针
+ * @param priority 任务优先级,决定了在中断结束后能否保证立刻执行
+ * @return uint32_t 信号量,用于唤醒该任务
+ */
+uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority);

modules/motor/DJImotor/dji_motor.c

@@ -72,7 +72,7 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
             {
                 LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
                 uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
-                while (1) // 后续可以把id和CAN打印出来 // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
+                while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
                     LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
             }
         }
@@ -101,7 +101,7 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
             {
                 LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
                 uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
-                while (1) // 后续可以把id和CAN打印出来 // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
+                while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
                     LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
             }
         }