添加music

CMakeLists.txt

@@ -77,7 +77,11 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
 
     # User/task sources
     User/task/atti_esit.c
+    User/task/blink.c
+    User/task/ctrl_chassis.c
+    User/task/ctrl_gimbal.c
     User/task/init.c
+    User/task/monitor.c
     User/task/rc.c
     User/task/user_task.c
 )

Core/Inc/main.h

@@ -67,6 +67,8 @@ void Error_Handler(void);
 #define ACCL_CS_GPIO_Port GPIOC
 #define GYRO_CS_Pin GPIO_PIN_3
 #define GYRO_CS_GPIO_Port GPIOC
+#define WS2812_Pin GPIO_PIN_7
+#define WS2812_GPIO_Port GPIOA
 #define DCMI_PWDN_Pin GPIO_PIN_5
 #define DCMI_PWDN_GPIO_Port GPIOC
 #define IMU_HEAT_Pin GPIO_PIN_1

Core/Src/tim.c

@@ -180,6 +180,10 @@ void MX_TIM3_Init(void)
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
   if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
   {
     Error_Handler();
@@ -336,10 +340,19 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
   /* USER CODE END TIM3_MspPostInit 0 */
 
+    __HAL_RCC_GPIOA_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**TIM3 GPIO Configuration
+    PA7     ------> TIM3_CH2
     PB1     ------> TIM3_CH4
     */
+    GPIO_InitStruct.Pin = WS2812_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
+    HAL_GPIO_Init(WS2812_GPIO_Port, &GPIO_InitStruct);
+
     GPIO_InitStruct.Pin = IMU_HEAT_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;

CtrBoard-H7_ALL.ioc

@@ -182,63 +182,64 @@ Mcu.Pin12=PA1
 Mcu.Pin13=PA2
 Mcu.Pin14=PA3
 Mcu.Pin15=PA5
-Mcu.Pin16=PC4
+Mcu.Pin16=PA7
-Mcu.Pin17=PC5
+Mcu.Pin17=PC4
-Mcu.Pin18=PB0
+Mcu.Pin18=PC5
-Mcu.Pin19=PB1
+Mcu.Pin19=PB0
 Mcu.Pin2=PC13
-Mcu.Pin20=PB2
+Mcu.Pin20=PB1
-Mcu.Pin21=PE7
+Mcu.Pin21=PB2
-Mcu.Pin22=PE8
+Mcu.Pin22=PE7
-Mcu.Pin23=PE9
+Mcu.Pin23=PE8
-Mcu.Pin24=PE10
+Mcu.Pin24=PE9
-Mcu.Pin25=PE11
+Mcu.Pin25=PE10
-Mcu.Pin26=PE12
+Mcu.Pin26=PE11
-Mcu.Pin27=PE13
+Mcu.Pin27=PE12
-Mcu.Pin28=PE15
+Mcu.Pin28=PE13
-Mcu.Pin29=PB10
+Mcu.Pin29=PE15
 Mcu.Pin3=PC14-OSC32_IN
-Mcu.Pin30=PB11
+Mcu.Pin30=PB10
-Mcu.Pin31=PB12
+Mcu.Pin31=PB11
-Mcu.Pin32=PB13
+Mcu.Pin32=PB12
-Mcu.Pin33=PB14
+Mcu.Pin33=PB13
-Mcu.Pin34=PB15
+Mcu.Pin34=PB14
-Mcu.Pin35=PD8
+Mcu.Pin35=PB15
-Mcu.Pin36=PD9
+Mcu.Pin36=PD8
-Mcu.Pin37=PD10
+Mcu.Pin37=PD9
-Mcu.Pin38=PD11
+Mcu.Pin38=PD10
-Mcu.Pin39=PD12
+Mcu.Pin39=PD11
 Mcu.Pin4=PC15-OSC32_OUT
-Mcu.Pin40=PD13
+Mcu.Pin40=PD12
-Mcu.Pin41=PA8
+Mcu.Pin41=PD13
-Mcu.Pin42=PA9
+Mcu.Pin42=PA8
-Mcu.Pin43=PA10
+Mcu.Pin43=PA9
-Mcu.Pin44=PA11
+Mcu.Pin44=PA10
-Mcu.Pin45=PA12
+Mcu.Pin45=PA11
-Mcu.Pin46=PA13(JTMS/SWDIO)
+Mcu.Pin46=PA12
-Mcu.Pin47=PA14(JTCK/SWCLK)
+Mcu.Pin47=PA13(JTMS/SWDIO)
-Mcu.Pin48=PA15(JTDI)
+Mcu.Pin48=PA14(JTCK/SWCLK)
-Mcu.Pin49=PC12
+Mcu.Pin49=PA15(JTDI)
 Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=PD0
+Mcu.Pin50=PC12
-Mcu.Pin51=PD1
+Mcu.Pin51=PD0
-Mcu.Pin52=PD2
+Mcu.Pin52=PD1
-Mcu.Pin53=PD4
+Mcu.Pin53=PD2
-Mcu.Pin54=PD5
+Mcu.Pin54=PD4
-Mcu.Pin55=PD6
+Mcu.Pin55=PD5
-Mcu.Pin56=PD7
+Mcu.Pin56=PD6
-Mcu.Pin57=PB3(JTDO/TRACESWO)
+Mcu.Pin57=PD7
-Mcu.Pin58=PB5
+Mcu.Pin58=PB3(JTDO/TRACESWO)
-Mcu.Pin59=PB6
+Mcu.Pin59=PB5
 Mcu.Pin6=PH1-OSC_OUT
-Mcu.Pin60=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin60=PB6
-Mcu.Pin61=VP_OCTOSPI1_VS_octo
+Mcu.Pin61=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin62=VP_SYS_VS_tim23
+Mcu.Pin62=VP_OCTOSPI1_VS_octo
-Mcu.Pin63=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin63=VP_SYS_VS_tim23
+Mcu.Pin64=VP_MEMORYMAP_VS_MEMORYMAP
 Mcu.Pin7=PC0
 Mcu.Pin8=PC1
 Mcu.Pin9=PC2_C
-Mcu.PinsNb=64
+Mcu.PinsNb=65
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H723VGTx
@@ -306,6 +307,10 @@ PA3.Mode=OCTOSPI1_IOL_Port1L
 PA3.Signal=OCTOSPIM_P1_IO2
 PA5.Locked=true
 PA5.Signal=ADCx_INP19
+PA7.GPIOParameters=GPIO_Label
+PA7.GPIO_Label=WS2812
+PA7.Locked=true
+PA7.Signal=S_TIM3_CH2
 PA8.Locked=true
 PA8.Mode=Clock-out-1
 PA8.Signal=RCC_MCO_1
@@ -609,6 +614,8 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
 SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
+SH.S_TIM3_CH2.ConfNb=1
 SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
 SH.S_TIM3_CH4.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
@@ -647,8 +654,9 @@ TIM2.Prescaler=24
 TIM2.Pulse-PWM\ Generation1\ CH1=5000
 TIM2.Pulse-PWM\ Generation3\ CH3=5000
 TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload
+TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload,Channel-PWM Generation2 CH2
 TIM3.Period=10000-1
 TIM3.Prescaler=24-1
 UART5.BaudRate=100000
@@ -683,3 +691,4 @@ VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo
 VP_SYS_VS_tim23.Mode=TIM23
 VP_SYS_VS_tim23.Signal=SYS_VS_tim23
 board=custom
+rtos.0.ip=FREERTOS

User/bsp/bsp_config.yaml

@@ -92,6 +92,10 @@ pwm:
     custom_name: TIM2_CH3
     label: TIM2_CH3
     timer: TIM2
+  - channel: TIM_CHANNEL_2
+    custom_name: WS2812
+    label: WS2812
+    timer: TIM3
   - channel: TIM_CHANNEL_4
     custom_name: IMU_HEAT
     label: IMU_HEAT

User/bsp/pwm.c

@@ -27,6 +27,7 @@ typedef struct {
 static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
   {&htim2, TIM_CHANNEL_1},
   {&htim2, TIM_CHANNEL_3},
+  {&htim3, TIM_CHANNEL_2},
   {&htim3, TIM_CHANNEL_4},
   {&htim12, TIM_CHANNEL_2},
   {&htim1, TIM_CHANNEL_3},

User/bsp/pwm.h

@@ -25,6 +25,7 @@ extern "C" {
 typedef enum {
   BSP_PWM_TIM2_CH1,
   BSP_PWM_TIM2_CH3,
+  BSP_PWM_WS2812,
   BSP_PWM_IMU_HEAT,
   BSP_PWM_BUZZER,
   BSP_PWM_TIM1_CH3,

User/device/device_config.yaml

@@ -8,7 +8,7 @@ bmi088:
   enabled: true
 buzzer:
   bsp_config:
-    BSP_PWM_BUZZER: BSP_PWM_TIM2_CH1
+    BSP_PWM_BUZZER: BSP_PWM_BUZZER
   enabled: true
 dr16:
   bsp_config:

User/device/motor_dm.c

@@ -111,21 +111,11 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
 	uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
 	uint16_t id = motor->param.can_id;
 
-    /* 根据 reverse 参数调整控制值 */
+	pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16);
-    float angle = output->angle;
+	vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12);
-    float velocity = output->velocity;
-    float torque = output->torque;
-    if (motor->param.reverse) {
-        angle = -angle;
-        velocity = -velocity;
-        torque = -torque;
-    }
-
-	pos_tmp = float_to_uint(angle, DM_P_MIN , DM_P_MAX, 16);
-	vel_tmp = float_to_uint(velocity, DM_V_MIN , DM_V_MAX, 12);
 	kp_tmp  = float_to_uint(output->kp,   DM_KP_MIN, DM_KP_MAX, 12);
 	kd_tmp  = float_to_uint(output->kd,   DM_KD_MIN, DM_KD_MAX, 12);
-	tor_tmp = float_to_uint(torque, DM_T_MIN , DM_T_MAX, 12);
+	tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12);
 
     /* 打包数据 */
 	data[0] = (pos_tmp >> 8);
@@ -161,11 +151,6 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
     
     uint8_t data[8] = {0};
 
-    /* 根据 reverse 参数调整控制值 */
-    if (motor->param.reverse) {
-        pos = -pos;
-        vel = -vel;
-    }
     
     /* 直接发送浮点数数据 */
     memcpy(&data[0], &pos, 4);  // 位置，低位在前
@@ -194,11 +179,6 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
     
     uint8_t data[4] = {0};
     
-    /* 根据 reverse 参数调整控制值 */
-    if (motor->param.reverse) {
-        vel = -vel;
-    }
-    
     /* 直接发送浮点数数据 */
     memcpy(&data[0], &vel, 4);  // 速度，低位在前
     

User/task/atti_esit.c

@@ -49,6 +49,7 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
 void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
+  
   osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */
 
   /* USER CODE INIT BEGIN */
@@ -86,4 +87,5 @@ void Task_atti_esit(void *argument) {
 
     /* USER CODE END */
   }
+  
 }

User/task/blink.c

@@ -0,0 +1,57 @@
+/*
+    blink Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/buzzer.h"
+#include <stdint.h>
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+BUZZER_t buzzer;
+static uint16_t count;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_blink(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() / BLINK_FREQ;
+
+  osDelay(BLINK_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 */
+  /* 播放启动音乐 */
+  BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
+  BUZZER_PlayMusic(&buzzer, MUSIC_RM);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    count++;
+    uint16_t phase = count % 1000;
+    if (phase == 0) {
+      /* 每秒开始播放C4音符 */
+      BUZZER_Set(&buzzer, 261.63f, 0.5f); // C4音符频率约261.63Hz
+      BUZZER_Start(&buzzer);
+    } else if (phase == 50) {
+      /* 播放100ms后停止 (50/500Hz = 0.1s) */
+      BUZZER_Stop(&buzzer);
+    }
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/config.yaml

@@ -11,3 +11,31 @@
   function: Task_atti_esit
   name: atti_esit
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_chassis
+  name: ctrl_chassis
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_gimbal
+  name: ctrl_gimbal
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_monitor
+  name: monitor
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_blink
+  name: blink
+  stack: 256

User/task/ctrl_chassis.c

@@ -0,0 +1,53 @@
+/*
+    ctrl_chassis Task
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_lk.h"
+#include "device/motor_lz.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+MOTOR_LK_Param_t chassis_motor_params[4] = {
+    {BSP_CAN_1, 0x201, MOTOR_LK_MF9025, false},
+    {BSP_CAN_1, 0x202, MOTOR_LK_MF9025, false},
+    {BSP_CAN_1, 0x203, MOTOR_LK_MF9025, false},
+    {BSP_CAN_1, 0x204, MOTOR_LK_MF9025, false}
+};
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ctrl_chassis(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() / CTRL_CHASSIS_FREQ;
+
+  osDelay(CTRL_CHASSIS_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 */
+  BSP_CAN_Init();
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    MOTOR_LK_SetOutput(&chassis_motor_params[0], 0.5f);
+    MOTOR_LK_Ctrl(&chassis_motor_params[0]);
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/ctrl_gimbal.c

@@ -0,0 +1,44 @@
+/*
+    ctrl_gimbal 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_ctrl_gimbal(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() / CTRL_GIMBAL_FREQ;
+
+  osDelay(CTRL_GIMBAL_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 */
+  }
+  
+}

User/task/init.c

@@ -32,6 +32,10 @@ void Task_Init(void *argument) {
   /* 创建任务线程 */
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.atti_esit = osThreadNew(Task_atti_esit, NULL, &attr_atti_esit);
+  task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
+  task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
+  task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
+  task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/monitor.c

@@ -0,0 +1,44 @@
+/*
+    monitor 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_monitor(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() / MONITOR_FREQ;
+
+  osDelay(MONITOR_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 */
+  }
+  
+}

User/task/rc.c

@@ -4,7 +4,6 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "device/dr16.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/dr16.h"

User/task/user_task.c

@@ -19,3 +19,23 @@ const osThreadAttr_t attr_atti_esit = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
+const osThreadAttr_t attr_ctrl_chassis = {
+    .name = "ctrl_chassis",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_ctrl_gimbal = {
+    .name = "ctrl_gimbal",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_monitor = {
+    .name = "monitor",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_blink = {
+    .name = "blink",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};

User/task/user_task.h

@@ -14,11 +14,19 @@ extern "C" {
 /* Exported constants ------------------------------------------------------- */
 /* 任务运行频率 */
 #define RC_FREQ (500.0)
+#define CTRL_CHASSIS_FREQ (500.0)
+#define CTRL_GIMBAL_FREQ (500.0)
+#define MONITOR_FREQ (500.0)
+#define BLINK_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define RC_INIT_DELAY (0)
 #define ATTI_ESIT_INIT_DELAY (0)
+#define CTRL_CHASSIS_INIT_DELAY (0)
+#define CTRL_GIMBAL_INIT_DELAY (0)
+#define MONITOR_INIT_DELAY (0)
+#define BLINK_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -30,6 +38,10 @@ typedef struct {
     struct {
         osThreadId_t rc;
         osThreadId_t atti_esit;
+        osThreadId_t ctrl_chassis;
+        osThreadId_t ctrl_gimbal;
+        osThreadId_t monitor;
+        osThreadId_t blink;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -53,16 +65,28 @@ typedef struct {
     struct {
         UBaseType_t rc;
         UBaseType_t atti_esit;
+        UBaseType_t ctrl_chassis;
+        UBaseType_t ctrl_gimbal;
+        UBaseType_t monitor;
+        UBaseType_t blink;
     } stack_water_mark;
 
     /* 各任务运行频率 */
     struct {
         float rc;
+        float ctrl_chassis;
+        float ctrl_gimbal;
+        float monitor;
+        float blink;
     } freq;
 
     /* 任务最近运行时间 */
     struct {
         float rc;
+        float ctrl_chassis;
+        float ctrl_gimbal;
+        float monitor;
+        float blink;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -74,11 +98,19 @@ extern Task_Runtime_t task_runtime;
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_rc;
 extern const osThreadAttr_t attr_atti_esit;
+extern const osThreadAttr_t attr_ctrl_chassis;
+extern const osThreadAttr_t attr_ctrl_gimbal;
+extern const osThreadAttr_t attr_monitor;
+extern const osThreadAttr_t attr_blink;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_rc(void *argument);
 void Task_atti_esit(void *argument);
+void Task_ctrl_chassis(void *argument);
+void Task_ctrl_gimbal(void *argument);
+void Task_monitor(void *argument);
+void Task_blink(void *argument);
 
 #ifdef __cplusplus
 }