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
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NeoZng
parent
e938075e11
commit
393923cc0b
1
Makefile
1
Makefile
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@ -117,6 +117,7 @@ bsp/usart/bsp_usart.c \
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bsp/usb/bsp_usb.c \
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bsp/log/bsp_log.c \
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bsp/flash/bsp_flash.c \
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bsp/bsp_tools.c \
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modules/algorithm/controller.c \
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modules/algorithm/kalman_filter.c \
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modules/algorithm/QuaternionEKF.c \
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@ -58,7 +58,7 @@ void StartINSTASK(void const *argument)
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static float ins_start, ins_dt;
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INS_Init(); // 确保BMI088被正确初始化.
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LOGINFO("[freeRTOS] INS Task Start");
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while (1)
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for (;;)
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{
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// 1kHz
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ins_start = DWT_GetTimeline_ms();
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@ -75,7 +75,7 @@ void StartMOTORTASK(void const *argument)
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{
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static float motor_dt, motor_start;
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LOGINFO("[freeRTOS] MOTOR Task Start");
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while (1)
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for (;;)
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{
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motor_start = DWT_GetTimeline_ms();
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MotorControlTask();
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@ -91,7 +91,7 @@ void StartDAEMONTASK(void const *argument)
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static float daemon_dt, daemon_start;
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BuzzerInit();
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LOGINFO("[freeRTOS] Daemon Task Start");
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while (1)
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for (;;)
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{
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// 100Hz
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daemon_start = DWT_GetTimeline_ms();
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@ -109,7 +109,7 @@ void StartROBOTTASK(void const *argument)
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static float robot_dt, robot_start;
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LOGINFO("[freeRTOS] ROBOT core Task Start");
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// 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz
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while (1)
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for (;;)
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{
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robot_start = DWT_GetTimeline_ms();
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RobotTask();
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@ -125,7 +125,7 @@ void StartUITASK(void const *argument)
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LOGINFO("[freeRTOS] UI Task Start");
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MyUIInit();
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LOGINFO("[freeRTOS] UI Init Done, communication with ref has established");
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while (1)
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for (;;)
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{
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// 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend()
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UITask();
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@ -0,0 +1,56 @@
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#include <stdarg.h>
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#include "cmsis_os.h"
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#include "bsp_log.h"
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#include "bsp_tools.h"
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#define MX_SIG_LIST_SIZE 32 // 不可修改,最大信号量数量
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typedef struct
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{
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void *callback;
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uint32_t sig;
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void *ins;
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} CallbackTask_t;
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// 递增记录全局信号量的数组,最大32个信号量
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static uint8_t sig_idx = 0;
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static uint32_t tmp_sig = 1; // tmp_sing << sig_idx从而生成对应信号量
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static osThreadId cbkid_list[MX_SIG_LIST_SIZE];
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static CallbackTask_t cbkinfo_list[MX_SIG_LIST_SIZE];
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// 死循环任务,执行cbk函数指针,每次执行完毕后等待sig信号
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static void CallbackTaskBase(const void *cbk)
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{
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void (*cbk_func)(void *) = (void (*)(void *))((CallbackTask_t *)cbk)->callback;
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void *ins = ((CallbackTask_t *)cbk)->ins;
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uint32_t sig = ((CallbackTask_t *)cbk)->sig;
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for (;;)
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{
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cbk_func(ins);
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osSignalWait(sig, osWaitForever);
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}
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}
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uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority)
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{
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if (sig_idx >= MX_SIG_LIST_SIZE)
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while (1)
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LOGERROR("[rtos:cbk_register] CreateCallbackTask: sig_idx >= MX_SIG_LIST_SIZE");
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cbkinfo_list[sig_idx].callback = cbk;
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cbkinfo_list[sig_idx].sig = tmp_sig << sig_idx;
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cbkinfo_list[sig_idx].ins = ins;
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osThreadDef_t threadDef;
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threadDef.name = name;
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threadDef.pthread = CallbackTaskBase;
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threadDef.tpriority = priority;
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threadDef.instances = 0;
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threadDef.stacksize = 128;
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cbkid_list[sig_idx] = osThreadCreate(&threadDef, (void *)&cbkinfo_list[sig_idx]);
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return cbkinfo_list[sig_idx++].sig; // 返回信号量,同时增加索引
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}
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@ -0,0 +1,13 @@
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#include "cmsis_os.h"
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#include "bsp_log.h"
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/**
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* @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
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*
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* @param name 任务名称,注意以'\0'结尾
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* @param cbk 回调函数指针
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* @param ins 回调函数的参数,bsp为实例指针
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* @param priority 任务优先级,决定了在中断结束后能否保证立刻执行
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* @return uint32_t 信号量,用于唤醒该任务
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*/
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uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority);
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@ -72,7 +72,7 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
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{
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LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
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uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
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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)
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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)
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LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
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}
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}
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@ -101,7 +101,7 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
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{
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LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
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uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
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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)
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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)
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LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
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}
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}
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