mirror of
https://gitee.com/peng_zhihui/Dummy-Robot
synced 2025-09-27 02:09:12 +08:00
176 lines
5.4 KiB
C
176 lines
5.4 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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* <h2><center>© Copyright (c) 2021 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under Ultimate Liberty license
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* SLA0044, the "License"; You may not use this file except in compliance with
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* the License. You may obtain a copy of the License at:
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* www.st.com/SLA0044
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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 "common_inc.h"
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#include "communication.hpp"
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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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// List of semaphores
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osSemaphoreId sem_usb_irq;
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osSemaphoreId sem_uart4_dma;
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osSemaphoreId sem_uart5_dma;
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osSemaphoreId sem_usb_rx;
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osSemaphoreId sem_usb_tx;
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osSemaphoreId sem_can1_tx;
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osSemaphoreId sem_can2_tx;
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/* USER CODE END Variables */
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 2000,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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extern void MX_USB_DEVICE_Init(void);
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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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/* 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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// Init usb irq binary semaphore, and start with no tokens by removing the starting one.
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osSemaphoreDef(sem_usb_irq);
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sem_usb_irq = osSemaphoreNew(1, 0, osSemaphore(sem_usb_irq));
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// Create a semaphore for UART DMA and remove a token
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osSemaphoreDef(sem_uart4_dma);
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sem_uart4_dma = osSemaphoreNew(1, 1, osSemaphore(sem_uart4_dma));
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osSemaphoreDef(sem_uart5_dma);
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sem_uart5_dma = osSemaphoreNew(1, 1, osSemaphore(sem_uart5_dma));
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// Create a semaphore for USB RX, and start with no tokens by removing the starting one.
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osSemaphoreDef(sem_usb_rx);
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sem_usb_rx = osSemaphoreNew(1, 0, osSemaphore(sem_usb_rx));
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// Create a semaphore for USB TX
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osSemaphoreDef(sem_usb_tx);
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sem_usb_tx = osSemaphoreNew(1, 1, osSemaphore(sem_usb_tx));
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// Create a semaphore for CAN TX
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osSemaphoreDef(sem_can1_tx);
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sem_can1_tx = osSemaphoreNew(1, 1, osSemaphore(sem_can1_tx));
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osSemaphoreDef(sem_can2_tx);
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sem_can2_tx = osSemaphoreNew(1, 1, osSemaphore(sem_can2_tx));
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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// This Task must run before MX_USB_DEVICE_Init(), so have to put it here.
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const osThreadAttr_t usbIrqTask_attributes = {
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.name = "usbIrqTask",
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.stack_size = 500,
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.priority = (osPriority_t) osPriorityAboveNormal,
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};
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usbIrqTaskHandle = osThreadNew(UsbDeferredInterruptTask, NULL, &usbIrqTask_attributes);
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_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 defaultTask 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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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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// Invoke cpp-version main().
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Main();
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vTaskDelete(defaultTaskHandle);
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/* USER CODE END StartDefaultTask */
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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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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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