加vofa

CMakeLists.txt

@@ -97,6 +97,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/monitor.c
     User/task/rc.c
     User/task/user_task.c
+    User/task/vofa.c
 )
 
 # Add include paths

User/bsp/bsp_config.yaml

@@ -124,4 +124,6 @@ uart:
   devices:
   - instance: UART5
     name: DR16
+  - instance: USART1
+    name: VOFA
   enabled: true

User/bsp/uart.c

@@ -25,6 +25,8 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
 static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
   if (huart->Instance == UART5)
     return BSP_UART_DR16;
+  else if (huart->Instance == USART1)
+    return BSP_UART_VOFA;
   else
     return BSP_UART_ERR;
 }
@@ -115,6 +117,8 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
   switch (uart) {
     case BSP_UART_DR16:
       return &huart5;
+    case BSP_UART_VOFA:
+      return &huart1;
     default:
       return NULL;
   }

User/bsp/uart.h

@@ -28,6 +28,7 @@ extern "C" {
 /* UART实体枚举，与设备对应 */
 typedef enum {
   BSP_UART_DR16,
+  BSP_UART_VOFA,
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;

User/task/ai.c

@@ -4,7 +4,6 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "bsp/fdcan.h"

User/task/config.yaml

@@ -53,3 +53,10 @@
   function: Task_ai
   name: ai
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_vofa
+  name: vofa
+  stack: 256

User/task/init.c

@@ -40,6 +40,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
+  task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/user_task.c

@@ -49,3 +49,8 @@ const osThreadAttr_t attr_ai = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
+const osThreadAttr_t attr_vofa = {
+    .name = "vofa",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};

User/task/user_task.h

@@ -20,6 +20,7 @@ extern "C" {
 #define BLINK_FREQ (500.0)
 #define CTRL_SHOOT_FREQ (500.0)
 #define AI_FREQ (500.0)
+#define VOFA_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -31,6 +32,7 @@ extern "C" {
 #define BLINK_INIT_DELAY (0)
 #define CTRL_SHOOT_INIT_DELAY (0)
 #define AI_INIT_DELAY (0)
+#define VOFA_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -48,6 +50,7 @@ typedef struct {
         osThreadId_t blink;
         osThreadId_t ctrl_shoot;
         osThreadId_t ai;
+        osThreadId_t vofa;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -101,6 +104,7 @@ typedef struct {
         UBaseType_t blink;
         UBaseType_t ctrl_shoot;
         UBaseType_t ai;
+        UBaseType_t vofa;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -112,6 +116,7 @@ typedef struct {
         float blink;
         float ctrl_shoot;
         float ai;
+        float vofa;
     } freq;
 
     /* 任务最近运行时间 */
@@ -123,6 +128,7 @@ typedef struct {
         float blink;
         float ctrl_shoot;
         float ai;
+        float vofa;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -140,6 +146,7 @@ extern const osThreadAttr_t attr_monitor;
 extern const osThreadAttr_t attr_blink;
 extern const osThreadAttr_t attr_ctrl_shoot;
 extern const osThreadAttr_t attr_ai;
+extern const osThreadAttr_t attr_vofa;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -151,6 +158,7 @@ void Task_monitor(void *argument);
 void Task_blink(void *argument);
 void Task_ctrl_shoot(void *argument);
 void Task_ai(void *argument);
+void Task_vofa(void *argument);
 
 #ifdef __cplusplus
 }

User/task/vofa.c

@@ -0,0 +1,44 @@
+/*
+    vofa Task
+    
+*/
+
+/* 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_vofa(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / VOFA_FREQ;
+
+  osDelay(VOFA_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+  
+  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 */
+  }
+  
+}