wangbeihong
48a443c6c1
- Increased total heap size in FreeRTOSConfig.h from 10000 to 18000. - Modified stack sizes for various tasks in freertos.c to improve performance: - initTask: 128 to 256 - CarCtrlTask: 256 to 1024 - timerTask: 512 to 1024 - sr04Task: 128 to 512 - rc522Task: 128 to 512 - Added comprehensive upper computer AI guide for TCP client implementation, detailing protocol contracts, command sets, telemetry, architecture requirements, and error handling strategies. - Introduced a Python web upper computer AI guide with a recommended tech stack and project structure. - Created a Chinese version of the upper computer AI guide for local developers. - Updated STM32 project configuration to reflect new task stack sizes and heap settings. - Adjusted configuration files for various tools to ensure compatibility with the new project structure.
316 lines
8.5 KiB
C
316 lines
8.5 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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#include "bsp_track_ir.h" // 添加对 bsp_track_ir.h 的包含
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#include "bsp_sr04.h" // 添加超声波头文件
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#include "bsp_rc522.h" // 添加 RFID 头文件
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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 = 256 * 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 = 1024 * 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 = 1024 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Definitions for sr04Task */
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osThreadId_t sr04TaskHandle;
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const osThreadAttr_t sr04Task_attributes = {
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.name = "sr04Task",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityLow,
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};
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/* Definitions for rc522Task */
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osThreadId_t rc522TaskHandle;
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const osThreadAttr_t rc522Task_attributes = {
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.name = "rc522Task",
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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 sr04_task(void *argument);
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void rc522_task(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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track_ir_init(); // 初始化轨迹红外传感器
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sr04_init(); // 初始化超声波
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rc522_init(); // 初始化 RFID 模块
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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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/* creation of sr04Task */
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sr04TaskHandle = osThreadNew(sr04_task, NULL, &sr04Task_attributes);
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/* creation of rc522Task */
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rc522TaskHandle = osThreadNew(rc522_task, NULL, &rc522Task_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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uint32_t last_log_tick = 0;
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for (;;) {
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track_ir_state_t state = track_ir_basic_judge();
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uint32_t now_tick = HAL_GetTick();
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/* 降低串口打印频率，避免阻塞式输出影响电机节拍 */
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if ((now_tick - last_log_tick) >= 500U) {
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printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
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printf("当前距离: %.2f cm\r\n", sr04_get_distance());
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last_log_tick = now_tick;
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}
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osDelay(100);
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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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/* USER CODE BEGIN Header_sr04_task */
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/**
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* @brief Function implementing the sr04Task 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_sr04_task */
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void sr04_task(void *argument)
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{
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/* USER CODE BEGIN sr04_task */
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/* Infinite loop */
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for(;;)
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{
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/* 超声波单独运行，避免阻塞控制任务 */
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sr04_measure();
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osDelay(100);
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}
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/* USER CODE END sr04_task */
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}
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/* USER CODE BEGIN Header_rc522_task */
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/**
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* @brief Function implementing the rc522Task 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_rc522_task */
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void rc522_task(void *argument)
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{
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/* USER CODE BEGIN rc522_task */
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rc522_card_info_t card;
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char uid_str[3 * RC522_UID_MAX_LEN] = {0};
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station_id_t station = STATION_NONE;
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/* Infinite loop */
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for(;;)
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{
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rc522_status_t st = rc522_poll(&card);
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if (st == RC522_OK) {
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if (rc522_uid_to_string(&card, uid_str, sizeof(uid_str))) {
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printf("RFID UID: %s, SAK:0x%02X, ATQA:0x%04X\r\n",
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uid_str, card.sak, card.atqa);
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}
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// 站点匹配逻辑
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station = rc522_match_station(card.uid, card.uid_len);
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if (station == STATION_1) {
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printf("到达站点1！\r\n");
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// 可在此处添加到站动作，如停车、蜂鸣等
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} else if (station == STATION_2) {
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printf("到达站点2！\r\n");
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// 可在此处添加到站动作，如停车、蜂鸣等
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}
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}
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osDelay(100);
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}
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/* USER CODE END rc522_task */
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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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