重构完代码结构了

assets/User_code/task/init.c.template

@@ -0,0 +1,42 @@
+/*
+    Init Task
+    任务初始化，创建各个线程任务和消息队列
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE BEGIN */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化
+ *
+ * \param argument 未使用
+ */
+void Task_Init(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+    /* USER CODE INIT BEGIN */
+
+    /* USER CODE INIT END */
+  osKernelLock(); /* 锁定内核，防止任务切换 */
+  
+  /* 创建任务线程 */
+{{thread_creation_code}}
+
+  // 创建消息队列
+  /* USER MESSAGE BEGIN */
+  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
+  /* USER MESSAGE END */
+
+  osKernelUnlock(); // 解锁内核
+  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
+}

assets/User_code/task/task.c.template

@@ -0,0 +1,56 @@
+/*
+    {{task_name}} Task
+    {{task_description}}
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN*/
+
+/* USER INCLUDE END*/
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN*/
+
+/* USER STRUCT END*/
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void {{task_function}}(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  {% if freq_control %}
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / {{task_frequency}};
+
+  osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN*/
+
+  /* USER CODE INIT END*/
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  {% else %}
+  osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN*/
+
+  /* USER CODE INIT END*/
+
+  while (1) {
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+  }
+  {% endif %}
+}

assets/User_code/task/user_task.c.template

@@ -0,0 +1,12 @@
+#include "task/user_task.h"
+
+Task_Runtime_t task_runtime;
+
+const osThreadAttr_t attr_init = {
+    .name = "Task_Init",
+    .priority = osPriorityRealtime,
+    .stack_size = 256 * 4,
+};
+
+/* User_task */
+{{task_attr_definitions}}

assets/User_code/task/user_task.h.template

@@ -0,0 +1,80 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+/* Exported constants ------------------------------------------------------- */
+/* 任务运行频率 */
+{{task_frequency_definitions}}
+
+/* 任务初始化延时ms */
+#define TASK_INIT_DELAY (100u)
+{{task_init_delay_definitions}}
+
+/* Exported defines --------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+/* 任务运行时结构体 */
+typedef struct {
+    /* 各任务，也可以叫做线程 */
+    struct {
+{{thread_definitions}}
+    } thread;
+
+    /* USER MESSAGE BEGIN */
+    struct {
+        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
+    } msgq;
+    /* USER MESSAGE END */
+
+    /* 机器人状态 */
+    struct {
+        float battery; /* 电池电量百分比 */
+        float vbat; /* 电池电压 */
+        float cpu_temp; /* CPU温度 */
+    } status;
+
+    /* USER CONFIG BEGIN */
+
+    /* USER CONFIG END */
+
+    /* 各任务的stack使用 */
+    struct {
+{{stack_definitions}}
+    } stack_water_mark;
+
+    /* 各任务运行频率 */
+    struct {
+{{freq_definitions}}
+    } freq;
+
+    /* 任务最近运行时间 */
+    struct {
+{{last_up_time_definitions}}
+    } last_up_time;
+
+} Task_Runtime_t;
+
+/* 任务运行时结构体 */
+extern Task_Runtime_t task_runtime;
+
+/* 初始化任务句柄 */
+extern const osThreadAttr_t attr_init;
+{{task_attr_declarations}}
+
+/* 任务函数声明 */
+void Task_Init(void *argument);
+{{task_function_declarations}}
+
+#ifdef __cplusplus
+}
+#endif