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freeRTOS支持

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wandering1
2026-07-19 13:09:06 +08:00
parent 4eb728583b
commit 9ed4c22022
63 changed files with 45898 additions and 507 deletions
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8
Src/dma.c
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@@ -45,16 +45,16 @@ void MX_DMA_Init(void)
/* DMA interrupt init */
/* DMA1_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 1, 0);
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
/* DMA1_Stream4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 1, 0);
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
/* DMA2_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 3, 0);
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
/* DMA2_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 3, 0);
HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
}

193
Src/freertos.c Normal file
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@@ -0,0 +1,193 @@
/* 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 "net_socket.h"
#include "net_select.h"
#include "ch395f.h"
#include "ch395f_test.h"
#include "dbg_log.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 */
#ifdef ENABLE_PHASE4_TESTS
static uint8_t s_net_buf[1500];
#endif
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for netTask */
osThreadId_t netTaskHandle;
const osThreadAttr_t netTask_attributes = {
.name = "netTask",
.stack_size = 1024 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument);
void StartNetTask(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 defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* creation of netTask */
netTaskHandle = osThreadNew(StartNetTask, NULL, &netTask_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 */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartDefaultTask */
}
/* USER CODE BEGIN Header_StartNetTask */
/**
* @brief Function implementing the netTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartNetTask */
void StartNetTask(void *argument)
{
/* USER CODE BEGIN StartNetTask */
osDelay(2000);
DBG_INFO("netTask: started");
for(;;)
{
net_poll();
#ifdef ENABLE_PHASE4_TESTS
for (int i = 1; i < 8; i++)
{
net_sock_t *sk = net_get_sock(i);
if (sk == NULL || !sk->in_use || sk->state != NET_SOCK_STATE_ESTABLISHED)
{
continue;
}
int n = net_recv(i, s_net_buf, sizeof(s_net_buf), NET_MSG_DONTWAIT);
if (n > 0)
{
net_send(i, s_net_buf, n, 0);
}
}
#endif
#ifdef ENABLE_PHASE5_TESTS
ch395f_phase5_tests();
#endif
#ifdef ENABLE_PHASE7_TESTS
ch395f_phase7_tests();
#endif
osDelay(10);
}
/* USER CODE END StartNetTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */

2
Src/gpio.c
View File

@@ -169,7 +169,7 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 2, 0);
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
}

67
Src/main.c
View File

@@ -18,6 +18,7 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
@@ -67,6 +68,7 @@ static int s_listen_sock = -1;
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -238,6 +240,15 @@ int main(void)
#endif
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
@@ -245,38 +256,10 @@ int main(void)
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* 网络轮询（必须在主循环中调用） */
net_poll();
#ifdef ENABLE_PHASE4_TESTS
/* Phase 4: NET 层 TCP Echo */
ch395f_phase4_tests();
#endif
/* Phase 5: NET 层 UDP Echo */
#ifdef ENABLE_PHASE5_TESTS
ch395f_phase5_tests();
#endif
#ifdef ENABLE_PHASE7_TESTS
ch395f_phase7_tests();
#endif
// /* TPAFE5160 中断模式读取 */
// if (tpafe5160_data_ready()) {
// const int16_t *buf = tpafe5160_get_buf();
// printf("[TPAFE5160] CH:");
// for (int i = 0; i < 8; i++) {
// printf(" %d", buf[i]);
// }
// printf("\r\n");
// tpafe5160_clear_ready();
// /* 启动下一次转换 */
// tpafe5160_start_conv_irq();
// }
/* 其他任务 */
// HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
// HAL_Delay(10);
}
/* 网络轮询已移到 FreeRTOS netTask 中 */
;
/* USER CODE END 3 */
}
}
/**
@@ -360,6 +343,28 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
}
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM7 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM7)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None

2
Src/spi.c
View File

@@ -189,7 +189,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
__HAL_LINKDMA(spiHandle,hdmatx,hdma_spi2_tx);
/* SPI2 interrupt Init */
HAL_NVIC_SetPriority(SPI2_IRQn, 1, 0);
HAL_NVIC_SetPriority(SPI2_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(SPI2_IRQn);
/* USER CODE BEGIN SPI2_MspInit 1 */

2
Src/stm32f4xx_hal_msp.c
View File

@@ -70,6 +70,8 @@ void HAL_MspInit(void)
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
/* USER CODE BEGIN MspInit 1 */

138
Src/stm32f4xx_hal_timebase_tim.c Normal file
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@@ -0,0 +1,138 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_tim.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @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 "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim7;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM7 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock, uwAPB1Prescaler = 0U;
uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/* Enable TIM7 clock */
__HAL_RCC_TIM7_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM7 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM7 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM7 */
htim7.Instance = TIM7;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM7CLK/1000) - 1]. to have a (1/1000) s time base.
* Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
* ClockDivision = 0
* Counter direction = Up
*/
htim7.Init.Period = (1000000U / 1000U) - 1U;
htim7.Init.Prescaler = uwPrescalerValue;
htim7.Init.ClockDivision = 0;
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
status = HAL_TIM_Base_Init(&htim7);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim7);
if (status == HAL_OK)
{
/* Enable the TIM7 global Interrupt */
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* Configure the SysTick IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Configure the TIM IRQ priority */
HAL_NVIC_SetPriority(TIM7_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
}
/* Return function status */
return status;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM7 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM7 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim7, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM7 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM7 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim7, TIM_IT_UPDATE);
}

56
Src/stm32f4xx_it.c
View File

@@ -65,6 +65,8 @@ extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim7;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -147,19 +149,6 @@ void UsageFault_Handler(void)
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
@@ -173,33 +162,6 @@ void DebugMon_Handler(void)
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
@@ -333,6 +295,20 @@ void UART5_IRQHandler(void)
/* USER CODE END UART5_IRQn 1 */
}
/**
* @brief This function handles TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream2 global interrupt.
*/