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优化freertos堆

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Robofish 2025-09-28 16:10:40 +08:00
parent 21fd13e6c3
commit 5dd11c231d
7 changed files with 10 additions and 55 deletions
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3
Core/Inc/FreeRTOSConfig.h
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@ -73,7 +73,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)0x6000)
#define configTOTAL_HEAP_SIZE ((size_t)0x10000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1
@ -187,6 +187,7 @@ standard names. */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
// #define configAPPLICATION_ALLOCATED_HEAP 1
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */

2
Core/Src/freertos.c
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@ -47,7 +47,7 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
uint8_t ucHeap[configTOTAL_HEAP_SIZE] __attribute__((section(".ccmram")));
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;

5
DevC.ioc
View File

@ -141,14 +141,15 @@ FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
FREERTOS.INCLUDE_xTaskAbortDelay=1
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources
FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,configUSE_APPLICATION_TASK_TAG
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
FREERTOS.configENABLE_FPU=1
FREERTOS.configGENERATE_RUN_TIME_STATS=1
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
FREERTOS.configTOTAL_HEAP_SIZE=0x6000
FREERTOS.configTOTAL_HEAP_SIZE=0x10000
FREERTOS.configUSE_APPLICATION_TASK_TAG=0
FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
File.Version=6
GPIO.groupedBy=Group By Peripherals

1
User/bsp/can.c
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@ -680,7 +680,6 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
}
}
// 短暂延时，避免占用过多CPU
osDelay(1);
}
}

46
User/module/config.c
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@ -22,51 +22,7 @@ Config_RobotParam_t robot_config = {
.device_id = 0x42,
.master_id = 0x43,
},
.joint_motors[0] = { // 左膝关节
.can = BSP_CAN_1,
.motor_id = 124,
.host_id = 0XFF,
.module = MOTOR_LZ_RSO3,
.reverse = false,
.mode = MOTOR_LZ_MODE_MOTION,
},
.joint_motors[1] = { // 左髋关节
.can = BSP_CAN_1,
.motor_id = 125,
.host_id = 0XFF,
.module = MOTOR_LZ_RSO3,
.reverse = false,
.mode = MOTOR_LZ_MODE_MOTION,
},
.joint_motors[2] = { // 右髋关节
.can = BSP_CAN_1,
.motor_id = 126,
.host_id = 0XFF,
.module = MOTOR_LZ_RSO3,
.reverse = false,
.mode = MOTOR_LZ_MODE_MOTION,
},
.joint_motors[3] = { // 右膝关节
.can = BSP_CAN_1,
.motor_id = 127,
.host_id = 0XFF,
.module = MOTOR_LZ_RSO3,
.reverse = false,
.mode = MOTOR_LZ_MODE_MOTION,
},
.wheel_motors[0] = { // 左轮电机
.can = BSP_CAN_1,
.id = 1, // 电机ID为1，对应命令ID=0x141，反馈ID=0x181
.module = MOTOR_LK_MF9025,
.reverse = false,
},
.wheel_motors[1] = { // 右轮电机
.can = BSP_CAN_1,
.id = 2, // 电机ID为2，对应命令ID=0x142，反馈ID=0x182
.module = MOTOR_LK_MF9025,
.reverse = true,
},
.chassis_param = {
.yaw={
.k=1.0f,

4
User/task/ctrl_chassis.c
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@ -30,9 +30,7 @@ Chassis_CMD_t chassis_cmd = {
.height = 0.0f,
};
Chassis_IMU_t chassis_imu;
MOTOR_Feedback_t left_wheel_fb;
MOTOR_Feedback_t right_wheel_fb;
Chassis_t chassis1;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */

4
infantry.jdebug
View File

@ -22,12 +22,12 @@ void OnProjectLoad (void) {
//
// Dialog-generated settings
//
Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
Project.SetDevice ("STM32F407IG");
Project.SetHostIF ("USB", "207400620");
Project.SetTargetIF ("SWD");
Project.SetTIFSpeed ("4 MHz");
Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
//
// User settings