159 lines
4.3 KiB
C
159 lines
4.3 KiB
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 "bsp_can.h"
|
|
#include "CAN_receive.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 */
|
|
/* 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(;;)
|
|
{
|
|
CAN_cmd_chassis(1000,0,0,0);
|
|
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 */ |