451 lines
17 KiB
C
451 lines
17 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <string.h>
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#include "net_task.h"
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#include "ch395f.h"
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#include "dbg_log.h"
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#include "net_socket.h"
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#include "usart.h"
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#include "ff.h"
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#include "gd5f2gq5ue.h"
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#include "nand_ftl.h"
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#include "lftpd.h"
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#include "../test/ch395f_test_task.h"
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#include "../test/ch395f_test.h" /* ENABLE_NET_LAYER_TESTS：netTask 条件创建 */
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#include "time_sync.h"
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#include "sys_events.h"
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#include "sys_log.h"
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#include "net_cfg.h"
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#include "cfg_file.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* 存储测试变量（g_storage_stats / s_perf_buf）已迁至 test/storage_test_task.c */
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osThreadId_t timeSyncTaskHandle;
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const osThreadAttr_t timeSyncTask_attributes = {
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.name = "timeSyncTask",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* USER CODE END Variables */
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for netTask */
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osThreadId_t netTaskHandle;
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const osThreadAttr_t netTask_attributes = {
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.name = "netTask",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for ftpTask */
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osThreadId_t ftpTaskHandle;
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const osThreadAttr_t ftpTask_attributes = {
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.name = "ftpTask",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for testTask */
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osThreadId_t testTaskHandle;
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const osThreadAttr_t testTask_attributes = {
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.name = "testTask",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Definitions for uiTask */
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osThreadId_t uiTaskHandle;
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const osThreadAttr_t uiTask_attributes = {
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.name = "uiTask",
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.stack_size = 4096 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Definitions for netMsgQueue */
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osMessageQueueId_t netMsgQueueHandle;
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const osMessageQueueAttr_t netMsgQueue_attributes = {
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.name = "netMsgQueue"
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};
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/* Definitions for sys_evt */
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osEventFlagsId_t sys_evtHandle;
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const osEventFlagsAttr_t sys_evt_attributes = {
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.name = "sys_evt"
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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void ui_task_func(void *argument);
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static void default_task_net_cfg_save_notify(void);
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void StartNetTask(void *argument);
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void StartFtpTask(void *argument);
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void start_test_task(void *argument);
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void StartUiTask(void *argument);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* Create the queue(s) */
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/* creation of netMsgQueue */
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netMsgQueueHandle = osMessageQueueNew (8, sizeof(net_msg_t), &netMsgQueue_attributes);
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
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/* creation of netTask */
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netTaskHandle = osThreadNew(StartNetTask, NULL, &netTask_attributes);
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/* creation of ftpTask */
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ftpTaskHandle = osThreadNew(StartFtpTask, NULL, &ftpTask_attributes);
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/* creation of testTask */
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testTaskHandle = osThreadNew(start_test_task, NULL, &testTask_attributes);
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/* creation of uiTask */
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uiTaskHandle = osThreadNew(StartUiTask, NULL, &uiTask_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* netTask = 基础线程：上方生成区的实例是全构建唯一实例（P1-6：旧
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* #ifdef ENABLE_NET_LAYER_TESTS 的重复创建已删除）。
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* - 产品 / NET 层测试模式：正常运行 bring_up + net_poll
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* - CH395F 硬件层测试模式：net_task_func 入口自挂起（testTask 独占 CH395F） */
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/* 本地时间同步任务（PC 推送 TCP）：依赖 netTask 处理消息队列 */
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timeSyncTaskHandle = osThreadNew(time_sync_task, NULL, &timeSyncTask_attributes);
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/* USER CODE END RTOS_THREADS */
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/* Create the event(s) */
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/* creation of sys_evt */
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sys_evtHandle = osEventFlagsNew(&sys_evt_attributes);
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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/**
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* @brief Function implementing the defaultTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartDefaultTask */
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void StartDefaultTask(void *argument)
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{
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/* USER CODE BEGIN StartDefaultTask */
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(void)argument;
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/* 系统启动期挂载 NAND 上的 FatFS 卷，供 FTP 及其它模块访问。
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* f_mount(forced=1) 会触发 disk_initialize() → nand_ftl_init()
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* （dhara_map_resume）。此前默认构建从未挂载，导致 FTP 的
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* LIST/STOR/RETR 全部返回 550（f_opendir 失败）。
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* 若卷为空（FR_NO_FILESYSTEM，如恢复/坏块重建后清空），则首次自动
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* 格式化建卷（MKFS_PARM 与存储测试一致：FM_FAT32 / 无分区表）。
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*
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* 卷健康探针 + 自愈（2026-09-20，台架实测 /log 每次开机写失败 ×5 的
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* 根因处置）：真根因 = s_append 打开模式缺 FA_WRITE 位——本 FatFs 移植
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* FA_OPEN_APPEND(0x30) = FA_OPEN_ALWAYS|FA_SEEKEND，不含 FA_WRITE(0x02)，
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* 未带写位打开的文件 f_write 恒返回 FR_DENIED(7) → 打开模式已改
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* FA_WRITE|FA_OPEN_APPEND（见 sys_log_mcu.c）。残余风险 = f_mount 仅校验
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* 首扇区 BPB，FAT 区陈旧/擦除（旧镜像时代遗留、换芯片、格式化中途掉电）
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* 时挂载仍"成功"，文件操作才报 FR_DENIED/FR_DISK_ERR/FR_INT_ERR 等结构
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* 性错误（注意本移植 f_write 簇分配失败返回 FR_OK+短写，探针须校验写回
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* 字节数，短写按 FR_DENIED 归一化）。挂载后做一次小写探针（两次确认，
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* 防 FTL 瞬态抖动误触发）；结构性错误 → 自动重格式化自愈。代价：卷被清空
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* （/config.ini 丢失 → 配置引擎首启路径回落工厂默认并自动重建模板）——
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* 仅当卷已不可用时触发，可用设备 > 一份配置文件。 */
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static FATFS default_fatfs;
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nand_ftl_set_tree_probe(1); /* 诊断窗口：挂载+探针的读路径全记录 */
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FRESULT fr = f_mount(&default_fatfs, "", 1);
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if (fr == FR_NO_FILESYSTEM) {
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nand_ftl_set_tree_probe(0); /* mkfs 路径不追踪（I/O 洪泛） */
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DBG_INFO("[FS] no FAT volume, formatting NAND...");
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static uint8_t fs_work[FF_MAX_SS];
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MKFS_PARM opts = { FM_FAT32, 0, 0, 0, 0 };
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/* 格式化前清空 FTL map 树（2026-09-20 台架实证：不清则 mkfs 经旧树
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* 写新卷 → on-disk 树残留旧节点/旧绑定 → 复位后 resume 混用新旧 →
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* FAT 探针失败 → 无限重格式化） */
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(void)nand_ftl_format();
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fr = f_mkfs("", &opts, fs_work, sizeof(fs_work));
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if (fr == FR_OK) {
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fr = f_mount(&default_fatfs, "", 1);
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} else {
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DBG_ERROR("[FS] f_mkfs failed (fr=%d)", (int)fr);
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}
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}
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if (fr == FR_OK) {
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/* 探针：/.fschk（8.3 合规）小写一次，验证 FAT 链真实可用。本移植
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* f_write 簇分配失败返回 FR_OK+短写 → 必须校验写回字节数；短写按
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* FR_DENIED 归一化（落入下方结构性集合触发重格式化） */
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#define FS_VOL_PROBE(h) do { \
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FIL __chk; \
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static const uint8_t __chkbuf[8] = { 0 }; \
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UINT __bw = 0u; \
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FRESULT __wr; \
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(h) = f_open(&__chk, "/.fschk", FA_WRITE | FA_OPEN_ALWAYS); \
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if ((h) == FR_OK) { \
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__wr = f_write(&__chk, __chkbuf, (UINT)sizeof(__chkbuf), &__bw); \
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(void)f_close(&__chk); \
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if (__wr == FR_OK && __bw == (UINT)sizeof(__chkbuf)) { \
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(h) = FR_OK; \
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(void)f_unlink("/.fschk"); \
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} else { \
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(h) = (__wr != FR_OK) ? __wr : FR_DENIED; \
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} \
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} \
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} while (0)
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FRESULT hfr;
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nand_ftl_set_tree_probe(1);
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FS_VOL_PROBE(hfr);
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if (hfr != FR_OK) {
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FS_VOL_PROBE(hfr); /* 两击确认 */
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}
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nand_ftl_set_tree_probe(0);
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if (hfr != FR_OK) {
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nand_ftl_scan_checks(); /* 诊断：环上 checkpoint 的 epoch 分布 */
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}
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if (hfr != FR_OK) {
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if (hfr == FR_DENIED || hfr == FR_INVALID_OBJECT ||
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hfr == FR_INT_ERR || hfr == FR_DISK_ERR ||
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hfr == FR_NO_FILE || hfr == FR_NO_PATH ||
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hfr == FR_INVALID_NAME || hfr == FR_NO_FILESYSTEM) {
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DBG_INFO("[FS] volume FAT invalid (fr=%d), reformatting...",
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(int)hfr);
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f_mount(NULL, "", 0);
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/* 格式化前清空 FTL map 树（同首启路径：防新旧树混合） */
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(void)nand_ftl_format();
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{
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static uint8_t fs_work2[FF_MAX_SS];
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MKFS_PARM opts2 = { FM_FAT32, 0, 0, 0, 0 };
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fr = f_mkfs("", &opts2, fs_work2, sizeof(fs_work2));
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if (fr == FR_OK) {
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fr = f_mount(&default_fatfs, "", 1);
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}
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}
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nand_ftl_log_state("[after-mkfs]");
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nand_ftl_log_state("[after-mkfs]");
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if (fr == FR_OK) {
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DBG_INFO("[FS] volume reformatted OK");
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} else {
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DBG_ERROR("[FS] volume repair failed (fr=%d)", (int)fr);
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syslog_post(SYSLOG_SELFTEST, "storage fault");
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}
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} else {
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/* 其余错误（写保护/卷锁/参数类）不重格式化——只上报，
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* 防对写锁卷整卷擦除（FTL 磨损最大操作） */
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DBG_ERROR("[FS] volume probe failed (fr=%d)", (int)hfr);
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syslog_post(SYSLOG_SELFTEST, "storage fault");
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fr = FR_INT_ERR;
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}
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}
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#undef FS_VOL_PROBE
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if (fr == FR_OK) {
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DBG_INFO("[FS] FATFS mounted");
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nand_ftl_log_state("[probe-ok]");
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/* 日志引擎挂载后处理：建 /log 目录 + 写"上电/重启"分类记录（唯一写者） */
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syslog_mcu_mounted();
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/* 加载网络配置进 RAM 副本（配置引擎属主 = 本任务；首启含旧档迁移；
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* 文件缺失/损坏 = 工厂默认，不阻塞组网）。须在置位 STORAGE_READY 前，
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* 使"存储就绪"屏障蕴含"配置已就绪"，netTask 组网时配置恒有效 */
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(void)net_cfg_load();
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/* 广播"存储就绪"（= 卷挂载 + 配置加载完成），唤醒依赖文件系统的任务 */
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if (sys_evtHandle != NULL) {
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osEventFlagsSet(sys_evtHandle, SYS_EVT_STORAGE_READY);
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}
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}
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} else {
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DBG_ERROR("[FS] f_mount failed (fr=%d)", (int)fr);
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/* 存储不可写：自检故障仅能滞留待发队列（串口已告警） */
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syslog_post(SYSLOG_SELFTEST, "filesystem fault");
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}
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/* 注册"保存网络配置"请求通知：UI（uiTask）投递 → 置事件 → 本任务立即执行写盘
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* （配置引擎属主 = 本任务；UI 保存不再直接触碰配置文件引擎，P1-3） */
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net_cfg_set_save_req_cb(default_task_net_cfg_save_notify);
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/* 配置 poll 周期计数（每 4 次循环 = 2s 轮询一次，与引擎文档/模拟器一致） */
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uint32_t cfg_poll_cnt = 0u;
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for (;;) {
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/* 等待"保存网络配置"请求：有请求立即唤醒；无请求 500ms 后返回
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* （取代原 osDelay(500)：循环节奏不变，保存响应零空转） */
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if (sys_evtHandle != NULL) {
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(void)osEventFlagsWait(sys_evtHandle, SYS_EVT_CFG_SAVE, osFlagsWaitAny, 500u);
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}
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/* 执行待处理保存（配置引擎属主：写盘 + 成功后立即应用）；无请求 = 空操作 */
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net_cfg_save_run();
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/* 配置文件变更轮询（2s 周期；沉降去抖在引擎内） */
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if ((cfg_poll_cnt++ & 3u) == 0u) {
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cfg_file_poll();
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}
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HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
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HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
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HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin);
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/* 排空运行期日志（上电/重启分类与自检故障落盘） */
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syslog_drain();
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}
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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_StartNetTask */
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/**
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* @brief Function implementing the netTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartNetTask */
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void StartNetTask(void *argument)
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{
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/* USER CODE BEGIN StartNetTask */
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net_task_func(argument);
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/* USER CODE END StartNetTask */
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}
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/* USER CODE BEGIN Header_StartFtpTask */
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/**
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* @brief Function implementing the ftpTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartFtpTask */
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__weak void StartFtpTask(void *argument)
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{
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/* USER CODE BEGIN StartFtpTask */
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/* 等网络 + 存储都真正就绪后再 listen，取代拍脑袋的 7s 魔法延时 */
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/*
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sys_evtHandle：等待哪个事件组
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SYS_EVT_NET_READY | SYS_EVT_STORAGE_READY：要等哪几位（1u<<0 网络、1u<<1 存储）
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osFlagsWaitAll：请求的位全部置位才唤醒（即"网络且存储都就绪"）
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osWaitForever：无限期等待，不设超时——任务会挂起（让出 CPU，零占用），直到生产者置位对应位才被唤醒
|
||
*/
|
||
if (sys_evtHandle != NULL) {
|
||
(void)osEventFlagsWait(sys_evtHandle,
|
||
SYS_EVT_NET_READY | SYS_EVT_STORAGE_READY,
|
||
osFlagsWaitAll, osWaitForever);
|
||
}
|
||
lftpd_t ftp;
|
||
lftpd_start("/", 21, &ftp);
|
||
/* 广播"FTP 服务就绪"（预留给依赖 FTP 的后续功能） */
|
||
if (sys_evtHandle != NULL) {
|
||
osEventFlagsSet(sys_evtHandle, SYS_EVT_FTP_READY);
|
||
}
|
||
/* USER CODE END StartFtpTask */
|
||
}
|
||
|
||
/* USER CODE BEGIN Header_start_test_task */
|
||
/**
|
||
* @brief Function implementing the testTask thread.
|
||
* @param argument: Not used
|
||
* @retval None
|
||
*/
|
||
/* USER CODE END Header_start_test_task */
|
||
__weak void start_test_task(void *argument)
|
||
{
|
||
/* USER CODE BEGIN start_test_task */
|
||
/* Infinite loop */
|
||
for(;;)
|
||
{
|
||
osDelay(1);
|
||
}
|
||
/* USER CODE END start_test_task */
|
||
}
|
||
|
||
/* USER CODE BEGIN Header_StartUiTask */
|
||
/**
|
||
* @brief Function implementing the uiTask thread.
|
||
* @param argument: Not used
|
||
* @retval None
|
||
*/
|
||
/* USER CODE END Header_StartUiTask */
|
||
void StartUiTask(void *argument)
|
||
{
|
||
/* USER CODE BEGIN StartUiTask */
|
||
ui_task_func(argument);
|
||
/* USER CODE END StartUiTask */
|
||
}
|
||
|
||
/* Private application code --------------------------------------------------*/
|
||
/* USER CODE BEGIN Application */
|
||
/*
|
||
* "保存网络配置"请求通知（注册给 net_cfg 的保存交接）：
|
||
* uiTask 投递保存请求 → 置 SYS_EVT_CFG_SAVE → defaultTask 循环立即唤醒执行写盘
|
||
*/
|
||
static void default_task_net_cfg_save_notify(void)
|
||
{
|
||
if (sys_evtHandle != NULL) {
|
||
(void)osEventFlagsSet(sys_evtHandle, SYS_EVT_CFG_SAVE);
|
||
}
|
||
}
|
||
/* USER CODE END Application */
|