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加入大疆C板例程bsp

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2026-04-12 20:34:47 +08:00
parent 7475077b9e
commit b68ac54a34
51 changed files with 5950 additions and 1290 deletions
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76
Core/Src/freertos.c
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@@ -47,14 +47,24 @@
/* USER CODE BEGIN Variables */
/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId Start_CAN_TaskHandle;
uint32_t Start_CAN_TaskBuffer[ 128 ];
osStaticThreadDef_t Start_CAN_TaskControlBlock;
osThreadId Start_LED_TaskHandle;
uint32_t LEDBuffer[ 128 ];
osStaticThreadDef_t LEDControlBlock;
osThreadId Start_IMU_TaskHandle;
uint32_t Start_IMU_TaskBuffer[ 128 ];
osStaticThreadDef_t Start_IMU_TaskControlBlock;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void const * argument);
void CAN_Task(void const * argument);
void LED_Task(void const * argument);
void IMU_Task(void const * argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -102,9 +112,17 @@ void MX_FREERTOS_Init(void) {
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* definition and creation of Start_CAN_Task */
osThreadStaticDef(Start_CAN_Task, CAN_Task, osPriorityNormal, 0, 128, Start_CAN_TaskBuffer, &Start_CAN_TaskControlBlock);
Start_CAN_TaskHandle = osThreadCreate(osThread(Start_CAN_Task), NULL);
/* definition and creation of Start_LED_Task */
osThreadStaticDef(Start_LED_Task, LED_Task, osPriorityLow, 0, 128, LEDBuffer, &LEDControlBlock);
Start_LED_TaskHandle = osThreadCreate(osThread(Start_LED_Task), NULL);
/* definition and creation of Start_IMU_Task */
osThreadStaticDef(Start_IMU_Task, IMU_Task, osPriorityHigh, 0, 128, Start_IMU_TaskBuffer, &Start_IMU_TaskControlBlock);
Start_IMU_TaskHandle = osThreadCreate(osThread(Start_IMU_Task), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
@@ -112,24 +130,60 @@ void MX_FREERTOS_Init(void) {
}
/* USER CODE BEGIN Header_StartDefaultTask */
/* USER CODE BEGIN Header_CAN_Task */
/**
* @brief Function implementing the defaultTask thread.
* @brief Function implementing the Start_CAN_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
/* USER CODE END Header_CAN_Task */
__weak void CAN_Task(void const * argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* USER CODE BEGIN CAN_Task */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartDefaultTask */
/* USER CODE END CAN_Task */
}
/* USER CODE BEGIN Header_LED_Task */
/**
* @brief Function implementing the Start_LED_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_LED_Task */
__weak void LED_Task(void const * argument)
{
/* USER CODE BEGIN LED_Task */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END LED_Task */
}
/* USER CODE BEGIN Header_IMU_Task */
/**
* @brief Function implementing the Start_IMU_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_IMU_Task */
__weak void IMU_Task(void const * argument)
{
/* USER CODE BEGIN IMU_Task */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END IMU_Task */
}
/* Private application code --------------------------------------------------*/