Dummy-Robot/2.Firmware/Core-STM32F4-fw/Core/Src/freertos.c
2022-02-09 11:52:03 +08:00

176 lines
5.4 KiB
C

/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* 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 "common_inc.h"
#include "communication.hpp"
/* 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 */
// List of semaphores
osSemaphoreId sem_usb_irq;
osSemaphoreId sem_uart4_dma;
osSemaphoreId sem_uart5_dma;
osSemaphoreId sem_usb_rx;
osSemaphoreId sem_usb_tx;
osSemaphoreId sem_can1_tx;
osSemaphoreId sem_can2_tx;
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 2000,
.priority = (osPriority_t) osPriorityNormal,
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument);
extern void MX_USB_DEVICE_Init(void);
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 */
/* USER CODE END Init */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
// Init usb irq binary semaphore, and start with no tokens by removing the starting one.
osSemaphoreDef(sem_usb_irq);
sem_usb_irq = osSemaphoreNew(1, 0, osSemaphore(sem_usb_irq));
// Create a semaphore for UART DMA and remove a token
osSemaphoreDef(sem_uart4_dma);
sem_uart4_dma = osSemaphoreNew(1, 1, osSemaphore(sem_uart4_dma));
osSemaphoreDef(sem_uart5_dma);
sem_uart5_dma = osSemaphoreNew(1, 1, osSemaphore(sem_uart5_dma));
// Create a semaphore for USB RX, and start with no tokens by removing the starting one.
osSemaphoreDef(sem_usb_rx);
sem_usb_rx = osSemaphoreNew(1, 0, osSemaphore(sem_usb_rx));
// Create a semaphore for USB TX
osSemaphoreDef(sem_usb_tx);
sem_usb_tx = osSemaphoreNew(1, 1, osSemaphore(sem_usb_tx));
// Create a semaphore for CAN TX
osSemaphoreDef(sem_can1_tx);
sem_can1_tx = osSemaphoreNew(1, 1, osSemaphore(sem_can1_tx));
osSemaphoreDef(sem_can2_tx);
sem_can2_tx = osSemaphoreNew(1, 1, osSemaphore(sem_can2_tx));
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */
// This Task must run before MX_USB_DEVICE_Init(), so have to put it here.
const osThreadAttr_t usbIrqTask_attributes = {
.name = "usbIrqTask",
.stack_size = 500,
.priority = (osPriority_t) osPriorityAboveNormal,
};
usbIrqTaskHandle = osThreadNew(UsbDeferredInterruptTask, NULL, &usbIrqTask_attributes);
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_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 defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
// Invoke cpp-version main().
Main();
vTaskDelete(defaultTaskHandle);
/* USER CODE END StartDefaultTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/