YouRenV1.0FS/Core/Src/freertos.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 "CAT_LOG.h"
#include "bsp.h"
#include "pwm.h"
#include "iwdg.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint16_t Temp_Tim=0;
/* 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 defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityHigh,
};
/* Definitions for myTask02 */
osThreadId_t myTask02Handle;
const osThreadAttr_t myTask02_attributes = {
  .name = "myTask02",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal,
};
/* Definitions for myTask03 */
osThreadId_t myTask03Handle;
const osThreadAttr_t myTask03_attributes = {
  .name = "myTask03",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal,
};
/* Definitions for myTimer01 */
osTimerId_t myTimer01Handle;
const osTimerAttr_t myTimer01_attributes = {
  .name = "myTimer01"
};

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

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void Task02(void *argument);
void Task03(void *argument);
void Callback01(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 */

  /* Create the timer(s) */
  /* creation of myTimer01 */
  myTimer01Handle = osTimerNew(Callback01, osTimerPeriodic, NULL, &myTimer01_attributes);

  /* 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 defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of myTask02 */
  myTask02Handle = osThreadNew(Task02, NULL, &myTask02_attributes);

  /* creation of myTask03 */
  myTask03Handle = osThreadNew(Task03, NULL, &myTask03_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_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
     osTimerStart(myTimer01Handle,500);//500代表回调函数回调周期
  /* Infinite loop */
  while(1)
  {
      /* 喂狗 */
      HAL_GPIO_TogglePin(GPIOE,  LED0_Pin);
      
      HAL_IWDG_Refresh(&hiwdg); //约1s
      
      
    osDelay(800);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_Task02 */
/**
* @brief Function implementing the myTask02 thread.
* @param argument: Not used
* @retval None
*/

/* USER CODE END Header_Task02 */
void Task02(void *argument)
{
  /* USER CODE BEGIN Task02 */
    uint16_t Temp_time=0;
   // Tim_PWM(&htim9,0,NULL,75);

  /* Infinite loop */
  while(1)
  {
      Recive_Handle_Usart1 (); // SBUS
      

      UBaseType_t uxHighWaterMark = uxTaskGetStackHighWaterMark(NULL);// 获取当前任务的栈历史最小剩余空间（字节）
      Temp_time++;
      if(Temp_time%2000==0)
      {
       //  LOGM("Task02_Remaining space: %d \n",uxHighWaterMark);
         //Send_RTK_Fre(); // 每 10秒发送 1次 设置频率 if(gpsx.gpssta == 0)
      }
      if(Temp_time>=60000)Temp_time=0;
    osDelay(5);
  }
  /* USER CODE END Task02 */
}

/* USER CODE BEGIN Header_Task03 */
/**
* @brief Function implementing the myTask03 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task03 */
void Task03(void *argument)
{
  /* USER CODE BEGIN Task03 */
    uint16_t Temp_time=0;
  /* Infinite loop */
  while(1)
  {
      HAL_GPIO_TogglePin(GPIOE,  LED1_Pin);
      Time_Slicing(); // 请求错误状态
      Sbus_Can_Handle(); // 运动模式
      
      
      
      UBaseType_t uxHighWaterMark = uxTaskGetStackHighWaterMark(NULL);// 获取当前任务的栈历史最小剩余空间（字节）
      Temp_time++;
      if(Temp_time%20==0)
      {
       //   LOGM("Task03_Remaining space: %d \n",uxHighWaterMark);
      }
      if(Temp_time>=60000)Temp_time=0;
    osDelay(500);
  }
  /* USER CODE END Task03 */
}

/* Callback01 function */
void Callback01(void *argument)
{
  /* USER CODE BEGIN Callback01 */
    Temp_Tim++;
    HAL_GPIO_TogglePin(GPIOG,  LED2_Pin);
    size_t uxCurrentFreeHeapSize = xPortGetFreeHeapSize(); // 获取当前可用堆大小（字节）
    size_t uxMinimumEverFreeHeapSize = xPortGetMinimumEverFreeHeapSize(); // 获取系统运行过程中出现过的最小可用堆大小（用于检测内存是否紧张）
    if(Temp_Tim%20==0)
    {
       // LOGM("Global remaining space AND MIN_space: %d,%d\n",uxCurrentFreeHeapSize,uxMinimumEverFreeHeapSize);
    }
    if(Temp_Tim>=60000)Temp_Tim=0;
  /* USER CODE END Callback01 */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */