Simba-OmniInfantry/云台/Core/Src/freertos.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "app_tasks.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId Start_CAN_TaskHandle;
uint32_t Start_CAN_TaskBuffer[ 512 ];
osStaticThreadDef_t Start_CAN_TaskControlBlock;
osThreadId Start_LED_TaskHandle;
uint32_t LEDBuffer[ 512 ];
osStaticThreadDef_t LEDControlBlock;
osThreadId Start_IMU_TaskHandle;
uint32_t Start_IMU_TaskBuffer[ 512 ];
osStaticThreadDef_t Start_IMU_TaskControlBlock;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

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) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of Start_CAN_Task */
  osThreadStaticDef(Start_CAN_Task, CAN_Task, osPriorityNormal, 0, 512, 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, 512, 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, 512, Start_IMU_TaskBuffer, &Start_IMU_TaskControlBlock);
  Start_IMU_TaskHandle = osThreadCreate(osThread(Start_IMU_Task), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* 机器人业务任务(动态创建,栈在 FreeRTOS 堆中分配) */
  osThreadDef(robot_cmd_task, robot_cmd_task, osPriorityNormal, 0, 384);
  osThreadCreate(osThread(robot_cmd_task), NULL);

  osThreadDef(c_comm_task, c_comm_task, osPriorityNormal, 0, 256);
  osThreadCreate(osThread(c_comm_task), NULL);

  osThreadDef(referee_task, referee_task, osPriorityLow, 0, 256);
  osThreadCreate(osThread(referee_task), NULL);

  osThreadDef(debug_task, debug_task, osPriorityLow, 0, 384);
  osThreadCreate(osThread(debug_task), NULL);

#if defined(ROBOT_TYPE_GIMBAL)
  osThreadDef(gimbal_task, gimbal_task, osPriorityAboveNormal, 0, 512);
  osThreadCreate(osThread(gimbal_task), NULL);

  osThreadDef(shoot_task, shoot_task, osPriorityNormal, 0, 384);
  osThreadCreate(osThread(shoot_task), NULL);
#endif

#if defined(ROBOT_TYPE_CHASSIS)
  osThreadDef(chassis_task, chassis_task, osPriorityAboveNormal, 0, 512);
  osThreadCreate(osThread(chassis_task), NULL);
#endif
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_CAN_Task */
/**
  * @brief  Function implementing the Start_CAN_Task thread.
  * @param  argument: Not used
  * @retval None
  */
/* 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 CAN_Task */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* 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 --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */