car_stm32f103vet6/Core/Src/freertos.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2026 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_beep.h"
#include "bsp_motor.h"
#include "bsp_uart.h"
#include "elog.h"
#include "protocol.h"
#include "usart.h"
#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
#include "bsp_track_ir.h" // 添加对 bsp_track_ir.h 的包含
#include "bsp_sr04.h"    // 添加超声波头文件
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for initTask */
osThreadId_t initTaskHandle;
const osThreadAttr_t initTask_attributes = {
  .name = "initTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for CarCtrlTask */
osThreadId_t CarCtrlTaskHandle;
const osThreadAttr_t CarCtrlTask_attributes = {
  .name = "CarCtrlTask",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for timerTask */
osThreadId_t timerTaskHandle;
const osThreadAttr_t timerTask_attributes = {
  .name = "timerTask",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal,
};
/* Definitions for sr04Task */
osThreadId_t sr04TaskHandle;
const osThreadAttr_t sr04Task_attributes = {
  .name = "sr04Task",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for CmdQueue */
osMessageQueueId_t CmdQueueHandle;
const osMessageQueueAttr_t CmdQueue_attributes = {
  .name = "CmdQueue"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif

PUTCHAR_PROTOTYPE {
  HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
  return ch;
}
/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void CarCtrl_Task(void *argument);
void speed_get(void *argument);
void sr04_task(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
  easylogger_init();
  BEEP_Init();
  BSP_UART1_Init();
  elog_raw("FreeRTOS Initialized\r\n");

  motor_init(); // 初始化电机相关外设
  hall_init(); // 初始化霍尔传感器
  track_ir_init(); // 初始化轨迹红外传感器
  sr04_init(); // 初始化超声波

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* Create the queue(s) */
  /* creation of CmdQueue */
  CmdQueueHandle = osMessageQueueNew (16, 16, &CmdQueue_attributes);

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of initTask */
  initTaskHandle = osThreadNew(StartDefaultTask, NULL, &initTask_attributes);

  /* creation of CarCtrlTask */
  CarCtrlTaskHandle = osThreadNew(CarCtrl_Task, NULL, &CarCtrlTask_attributes);

  /* creation of timerTask */
  timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes);

  /* creation of sr04Task */
  sr04TaskHandle = osThreadNew(sr04_task, NULL, &sr04Task_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the initTask thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  uint32_t last_log_tick = 0;
  for (;;) {
    track_ir_state_t state = track_ir_basic_judge();
    uint32_t now_tick = HAL_GetTick();

    /* 降低串口打印频率，避免阻塞式输出影响电机节拍 */
    if ((now_tick - last_log_tick) >= 500U) {
      printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
      printf("当前距离: %.2f cm\r\n", sr04_get_distance());
      last_log_tick = now_tick;
    }
    osDelay(100);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_CarCtrl_Task */
/**
 * @brief Function implementing the CarCtrlTask thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_CarCtrl_Task */
__weak void CarCtrl_Task(void *argument)
{
  /* USER CODE BEGIN CarCtrl_Task */

  /* Infinite loop */
  for (;;) {

    osDelay(1); // osMessageQueueGet 已经是阻塞的，不需要额外的 osDelay
  }
  /* USER CODE END CarCtrl_Task */
}

/* USER CODE BEGIN Header_speed_get */
/**
* @brief Function implementing the timerTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_speed_get */
__weak void speed_get(void *argument)
{
  /* USER CODE BEGIN speed_get */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END speed_get */
}

/* USER CODE BEGIN Header_sr04_task */
/**
* @brief Function implementing the sr04Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_sr04_task */
void sr04_task(void *argument)
{
  /* USER CODE BEGIN sr04_task */
  /* Infinite loop */
  for(;;)
  {
    /* 超声波单独运行，避免阻塞控制任务 */
    sr04_measure();
    osDelay(100);
  }
  /* USER CODE END sr04_task */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */