dr16好了
This commit is contained in:
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21c0f7a4cd
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31147537b5
@ -57,20 +57,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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# User/component sources
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User/component/ahrs.c
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# User/component/ahrs sources
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User/component/ahrs/ahrs.c
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# User/component sources
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User/component/crc16.c
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User/component/crc8.c
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User/component/error_detect.c
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User/component/filter.c
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# User/component/filter sources
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User/component/filter/filter.c
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# User/component sources
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User/component/freertos_cli.c
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User/component/limiter.c
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User/component/pid.c
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@ -92,6 +82,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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# User/task sources
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User/task/ai.c
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User/task/init.c
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User/task/rc.c
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User/task/user_task.c
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)
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@ -1,127 +1,127 @@
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/* 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 "task/user_task.h"
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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 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 = 128 * 4,
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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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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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/* 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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/* 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 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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osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
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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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/* USER CODE BEGIN StartDefaultTask */
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osThreadTerminate(osThreadGetId());
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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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/* 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 "task/user_task.h"
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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 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 = 128 * 4,
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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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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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/* 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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/* 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 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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osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
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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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/* USER CODE BEGIN StartDefaultTask */
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osThreadTerminate(osThreadGetId());
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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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@ -80,14 +80,6 @@ int main(void)
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/* USER CODE END 1 */
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/* Enable the CPU Cache */
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/* Enable I-Cache---------------------------------------------------------*/
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SCB_EnableICache();
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/* Enable D-Cache---------------------------------------------------------*/
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SCB_EnableDCache();
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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@ -229,6 +229,17 @@ SECTIONS
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PROVIDE( __bss_start = __tbss_start );
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PROVIDE( __bss_size = __bss_end - __bss_start );
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/* DMA buffer section in RAM_D2 (SRAM1/2) for STM32H7 DMA access */
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.dma_buffer (NOLOAD) : ALIGN(32)
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{
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. = ALIGN(32);
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_sdma_buffer = .;
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*(.dma_buffer)
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*(.dma_buffer*)
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. = ALIGN(32);
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_edma_buffer = .;
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} >RAM_D2
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/* User_heap_stack section, used to check that there is enough RAM left */
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._user_heap_stack (NOLOAD) :
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{
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@ -5,3 +5,10 @@
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function: Task_ai
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name: ai
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_rc
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name: rc
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stack: 256
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@ -31,6 +31,7 @@ void Task_Init(void *argument) {
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/* 创建任务线程 */
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task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
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task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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56
User/task/rc.c
Normal file
56
User/task/rc.c
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@ -0,0 +1,56 @@
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/*
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rc Task
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遥控器接收任务 - 处理DR16遥控器数据接收
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/dr16.h"
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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/* STM32H7: 整个DR16结构体放在DMA可访问的SRAM区域 */
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static DR16_t dr16 __attribute__((section(".dma_buffer"))) __attribute__((aligned(32)));
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_rc(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ;
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osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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/* 初始化DR16遥控器 */
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DR16_Init(&dr16);
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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/* 启动DMA接收 */
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DR16_StartDmaRecv(&dr16);
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/* 等待DMA接收完成，超时时间20ms */
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if (DR16_WaitDmaCplt(20)) {
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/* DMA接收成功，解析数据 */
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DR16_ParseData(&dr16);
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} else {
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/* DMA接收超时，标记离线 */
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DR16_Offline(&dr16);
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}
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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}
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@ -13,4 +13,9 @@ const osThreadAttr_t attr_ai = {
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.name = "ai",
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.priority = osPriorityNormal,
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.stack_size = 256 * 4,
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};
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const osThreadAttr_t attr_rc = {
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.name = "rc",
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.priority = osPriorityNormal,
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.stack_size = 256 * 4,
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};
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@ -14,10 +14,12 @@ extern "C" {
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/* Exported constants ------------------------------------------------------- */
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/* 任务运行频率 */
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#define AI_FREQ (500.0)
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#define RC_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define AI_INIT_DELAY (0)
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#define RC_INIT_DELAY (0)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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@ -28,6 +30,7 @@ typedef struct {
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/* 各任务，也可以叫做线程 */
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struct {
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osThreadId_t ai;
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osThreadId_t rc;
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} thread;
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/* USER MESSAGE BEGIN */
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@ -50,16 +53,19 @@ typedef struct {
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/* 各任务的stack使用 */
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struct {
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UBaseType_t ai;
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UBaseType_t rc;
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} stack_water_mark;
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/* 各任务运行频率 */
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struct {
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float ai;
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float rc;
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} freq;
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/* 任务最近运行时间 */
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struct {
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float ai;
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float rc;
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} last_up_time;
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} Task_Runtime_t;
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@ -70,10 +76,12 @@ extern Task_Runtime_t task_runtime;
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/* 初始化任务句柄 */
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_ai;
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extern const osThreadAttr_t attr_rc;
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/* 任务函数声明 */
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void Task_Init(void *argument);
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void Task_ai(void *argument);
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void Task_rc(void *argument);
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#ifdef __cplusplus
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}
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@ -38,8 +38,8 @@ Bdma.SPI6_TX.0.SyncSignalID=NONE
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CAD.formats=
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CAD.pinconfig=
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CAD.provider=
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CORTEX_M7.CPU_DCache=Enabled
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CORTEX_M7.CPU_ICache=Enabled
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CORTEX_M7.CPU_DCache=Disabled
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CORTEX_M7.CPU_ICache=Disabled
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CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE
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CORTEX_M7.IPParameters=CPU_DCache,CPU_ICache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,default_mode_Activation
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CORTEX_M7.MPU_Control=__NULL
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@ -900,3 +900,4 @@ VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
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VP_SYS_VS_tim4.Mode=TIM4
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VP_SYS_VS_tim4.Signal=SYS_VS_tim4
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board=custom
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rtos.0.ip=FREERTOS
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