第一次提交

Core/Src/freertos.c

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+/* 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 */
+
+/* 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 */
+/* Definitions for CAN_Receive_Tas */
+osThreadId_t CAN_Receive_TasHandle;
+const osThreadAttr_t CAN_Receive_Tas_attributes = {
+  .name = "CAN_Receive_Tas",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityHigh,
+};
+/* Definitions for Chassis_Control */
+osThreadId_t Chassis_ControlHandle;
+const osThreadAttr_t Chassis_Control_attributes = {
+  .name = "Chassis_Control",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
+};
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN FunctionPrototypes */
+
+/* USER CODE END FunctionPrototypes */
+
+void StartCAN_Receive_Task(void *argument);
+void StartChassis_Control_Task(void *argument);
+
+void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
+
+/**
+  * @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) */
+  /* creation of CAN_Receive_Tas */
+  CAN_Receive_TasHandle = osThreadNew(StartCAN_Receive_Task, NULL, &CAN_Receive_Tas_attributes);
+
+  /* creation of Chassis_Control */
+  Chassis_ControlHandle = osThreadNew(StartChassis_Control_Task, NULL, &Chassis_Control_attributes);
+
+  /* USER CODE BEGIN RTOS_THREADS */
+  /* add threads, ... */
+  /* USER CODE END RTOS_THREADS */
+
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
+}
+
+/* USER CODE BEGIN Header_StartCAN_Receive_Task */
+/**
+  * @brief  Function implementing the CAN_Receive_Tas thread.
+  * @param  argument: Not used
+  * @retval None
+  */
+/* USER CODE END Header_StartCAN_Receive_Task */
+void StartCAN_Receive_Task(void *argument)
+{
+  /* USER CODE BEGIN StartCAN_Receive_Task */
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END StartCAN_Receive_Task */
+}
+
+/* USER CODE BEGIN Header_StartChassis_Control_Task */
+/**
+* @brief Function implementing the Chassis_Control thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_StartChassis_Control_Task */
+void StartChassis_Control_Task(void *argument)
+{
+  /* USER CODE BEGIN StartChassis_Control_Task */
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END StartChassis_Control_Task */
+}
+
+/* Private application code --------------------------------------------------*/
+/* USER CODE BEGIN Application */
+
+/* USER CODE END Application */
+