wangbeihong
1cc8327f13
新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。 实现霍尔传感器功能：用于速度测量和脉冲计数。 更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。 修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。 更改定时器配置：将时基生成从 TIM8 改为 TIM4。 增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。 更新项目配置：以反映外设使用情况和优先级的变更。
225 lines
5.7 KiB
C
225 lines
5.7 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "bsp_beep.h"
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#include "bsp_motor.h"
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#include "bsp_uart.h"
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#include "elog.h"
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#include "protocol.h"
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#include "usart.h"
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#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* USER CODE END Variables */
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/* Definitions for initTask */
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osThreadId_t initTaskHandle;
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const osThreadAttr_t initTask_attributes = {
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.name = "initTask",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for CarCtrlTask */
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osThreadId_t CarCtrlTaskHandle;
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const osThreadAttr_t CarCtrlTask_attributes = {
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.name = "CarCtrlTask",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for timerTask */
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osThreadId_t timerTaskHandle;
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const osThreadAttr_t timerTask_attributes = {
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.name = "timerTask",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Definitions for CmdQueue */
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osMessageQueueId_t CmdQueueHandle;
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const osMessageQueueAttr_t CmdQueue_attributes = {
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.name = "CmdQueue"
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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#ifdef __GNUC__
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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#else
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#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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#endif
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PUTCHAR_PROTOTYPE {
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HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
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return ch;
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}
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void CarCtrl_Task(void *argument);
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void speed_get(void *argument);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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easylogger_init();
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BEEP_Init();
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BSP_UART1_Init();
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elog_raw("FreeRTOS Initialized\r\n");
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motor_init(); // 初始化电机相关外设
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hall_init(); // 初始化霍尔传感器
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* Create the queue(s) */
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/* creation of CmdQueue */
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CmdQueueHandle = osMessageQueueNew (16, 16, &CmdQueue_attributes);
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of initTask */
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initTaskHandle = osThreadNew(StartDefaultTask, NULL, &initTask_attributes);
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/* creation of CarCtrlTask */
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CarCtrlTaskHandle = osThreadNew(CarCtrl_Task, NULL, &CarCtrlTask_attributes);
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/* creation of timerTask */
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timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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/**
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* @brief Function implementing the initTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartDefaultTask */
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void StartDefaultTask(void *argument)
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{
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/* USER CODE BEGIN StartDefaultTask */
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/* Infinite loop */
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for (;;) {
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HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);
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osDelay(1000);
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}
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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_CarCtrl_Task */
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/**
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* @brief Function implementing the CarCtrlTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_CarCtrl_Task */
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__weak void CarCtrl_Task(void *argument)
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{
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/* USER CODE BEGIN CarCtrl_Task */
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/* Infinite loop */
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for (;;) {
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osDelay(1); // osMessageQueueGet 已经是阻塞的，不需要额外的 osDelay
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}
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/* USER CODE END CarCtrl_Task */
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}
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/* USER CODE BEGIN Header_speed_get */
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/**
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* @brief Function implementing the timerTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_speed_get */
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__weak void speed_get(void *argument)
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{
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/* USER CODE BEGIN speed_get */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END speed_get */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/* USER CODE END Application */
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