446 lines
16 KiB
C
446 lines
16 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 "test_config.h" /* 套件选择：STORAGE 套件下 defaultTask 让出存储所有权 */
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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 "lftpd.h"
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#include "task_watchdog.h"
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#include "../test/board/ch395f_test_task.h"
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#include "../test/board/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 "default_task.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/board/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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/* 512→1024: 该任务扛 mount+mkfs+FAT探针+cfg加载+syslog写+配置引擎
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* (全深层 FatFS I/O)，2KB 实测峰值溢出——开启
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* configCHECK_FOR_STACK_OVERFLOW=2 后被钩子抓到(2026-09-21)。
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* ⚠ 注释位于 .ioc 生成区之外，CubeMX 重生成会丢（值本身在 FREERTOS.Tasks01 里，不丢）。 */
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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 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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/* 1024→2048: 存储套件 deep call chain + 局部缓冲，4KB 实测溢出（2026-09-20）。
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* ⚠ 注释位于 .ioc 生成区之外，CubeMX 重生成会丢（值本身在 FREERTOS.Tasks01 里，不丢）。 */
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.stack_size = 2048 * 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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/* 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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/* 任务体已迁出至 App/task/default_task.c（2026-09-25）：
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* 本文件只保留 CubeMX 接线（任务创建）与崩溃钩子 */
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default_task_func(argument);
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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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task_wd_bind(TASK_WD_FTP); /* FTL 心跳路由：登记本任务句柄（入口一次） */
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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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100u：单次等待分片时长——2026-10-02 台架修复由 osWaitForever 改为 100ms
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分片循环：IWDG 必需掩码含 FTP 位，屏障等待态必须能喂心跳（见下方注释）
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*/
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if (sys_evtHandle != NULL) {
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/* osFlagsNoClear 必须带：就绪位是**状态**不是命令，消费型等待会把位清掉，
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* 导致后面 WaitAll(两位) 的等待者永远等不到（2026-09-21 实测：netTask 先
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* 消费 STORAGE_READY、uiTask/timeSync 再消费 NET_READY → 本任务永不唤醒、
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* FTP 21 端口从未监听）。
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* 2026-10-02 台架修复：等待改 100ms 分片 + 每片喂心跳（与 timeSync/uiTask/
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* netTask 入口同模式）——IWDG 必需掩码含 FTP 位，原 osWaitForever 无心跳，
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* IWDG 启动（存储就绪）时网络未必就绪 → 掩码 800ms 不可达 → 停喂 → 复位循环 */
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for (;;) {
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uint32_t r = osEventFlagsWait(sys_evtHandle,
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SYS_EVT_NET_READY | SYS_EVT_STORAGE_READY,
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osFlagsWaitAll | osFlagsNoClear, 100u);
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if ((r & osFlagsError) == 0u) {
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break; /* 两位均就绪（状态位，未被消费） */
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}
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lftpd_task_wd_beat(); /* 看门狗：分片喂心跳（屏障等待态） */
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}
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}
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lftpd_t ftp;
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lftpd_start("/", 21, &ftp);
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/* 广播"FTP 服务就绪"（预留给依赖 FTP 的后续功能） */
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if (sys_evtHandle != NULL) {
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osEventFlagsSet(sys_evtHandle, SYS_EVT_FTP_READY);
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}
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/* USER CODE END StartFtpTask */
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}
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/* USER CODE BEGIN Header_start_test_task */
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/**
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* @brief Function implementing the testTask 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_start_test_task */
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__weak void start_test_task(void *argument)
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{
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/* USER CODE BEGIN start_test_task */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END start_test_task */
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}
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/* USER CODE BEGIN Header_StartUiTask */
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/**
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* @brief Function implementing the uiTask 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_StartUiTask */
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void StartUiTask(void *argument)
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{
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/* USER CODE BEGIN StartUiTask */
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ui_task_func(argument);
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/* USER CODE END StartUiTask */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/*
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* 名称指针合法性校验（栈溢出/越界可能已破坏 TCB，指针不可信）：
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* 只接受落在 Flash / 主 SRAM / CCM 映射范围内的指针；不校验就直接交给 UART，
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* 钩子自身也会以同样方式崩（2026-09-24 实测 HardFault：BFAR=0x10010000 恰为
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* CCM 末尾+1，PC 落在 HAL_UART_Transmit 的缓冲读取处）。
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*/
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static int hook_ptr_ok(const void *p)
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{
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uint32_t a = (uint32_t)p;
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uint32_t win = 32u; /* 将要读取的最大字节数（任务名 ≤ 32） */
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if ((a >= 0x08000000u) && (a <= (0x08100000u - win))) {
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return 1; /* Flash（RO 区） */
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}
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if ((a >= 0x20000000u) && (a <= (0x20020000u - win))) {
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return 1; /* SRAM1 + SRAM2 */
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}
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if ((a >= 0x10000000u) && (a <= (0x10010000u - win))) {
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return 1; /* CCM（FreeRTOS 堆：TCB/栈所在） */
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}
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return 0;
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}
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/*
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* 栈溢出钩子（configCHECK_FOR_STACK_OVERFLOW=2，2026-09-20 存储套件死机事故后加）：
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* 溢出 = 内核状态已不可信，禁止走 printf/内核对象/控制台锁，裸发固定文本后复位。
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* 2026-09-24 加固：任务名先经范围校验并拷入本地缓冲（不再把 TCB 指针交给 UART），
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* 指针不可信时打印占位文本——避免"上报崩溃的代码自己再崩一次"。
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*/
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void vApplicationStackOverflowHook(void *xTask, signed char *pcTaskName)
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{
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static const char msg_head[] = "\r\n[ERR] STACK OVERFLOW task=";
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static const char msg_bad[] = "(name unavailable)";
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uint16_t len = 0u;
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(void)xTask;
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dbg_console_write_raw(msg_head, (unsigned)(sizeof(msg_head) - 1u));
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if ((pcTaskName != NULL) && (hook_ptr_ok(pcTaskName) != 0)) {
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while ((len < 32u) && (pcTaskName[len] != '\0')) {
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len++;
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}
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}
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if (len == 0u) {
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dbg_console_write_raw(msg_bad, (unsigned)(sizeof(msg_bad) - 1u));
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} else {
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char name[33]; /* 拷入本地缓冲：UART 永不接触 TCB 指针 */
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memcpy(name, pcTaskName, (size_t)len);
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name[len] = '\0';
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dbg_console_write_raw(name, (unsigned)len);
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}
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dbg_console_write_raw("\r\n", 2u);
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HAL_Delay(200);
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NVIC_SystemReset();
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}
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/*
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* 堆分配失败钩子：只告警不复位（NULL 由各调用点自行处理并上报自检）。
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* 同样走裸 UART 有界发送——钩子可能在临界区内被调，printf/信号量不可用。
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*/
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void vApplicationMallocFailedHook(void)
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{
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static const char msg[] = "\r\n[ERR] MALLOC FAILED (heap exhausted)\r\n";
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dbg_console_write_raw(msg, (unsigned)(sizeof(msg) - 1u));
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}
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/*
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* 断言失败钩子（2026-09-29，配合 IWDG；见 Inc/FreeRTOSConfig.h 的 configASSERT）。
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* 与栈溢出钩子同为"内核状态已不可信"路径：裸 UART 有界输出 + 主动复位，
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* 不走 printf / 内核对象 / 控制台锁。
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* 设计取舍（docs/子系统设计/看门狗设计说明.md §4.6）：
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* - 上报 file/line 是断言唯一有价值的现场信息，故必须打印（早于 TCB 名之类）；
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* - 打印后**主动 NVIC_SystemReset()** 而非空转：断言点未必能让 IWDG 抓到
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* （若恰在启动段，IWDG 尚未启动），主动复位保证任何断言都能自恢复；
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* 代价是 RCC_CSR 记 SFTRSTF 而非 IWDGRSTF——故上报串里写死 ASSERT 字样，
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* 使"重启原因"可由日志区分（软件复位 + 上一条是 ASSERT = 断言导致）。
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*/
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void vApplicationAssertFailed(const char *file, long line)
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{
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static const char msg_head[] = "\r\n[ERR] ASSERT FAILED ";
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const char *p = file;
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char num[16];
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int i;
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/* 文件名只取末段（全路径太长且无信息量） */
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if (p != NULL) {
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const char *q = p;
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while (*q != '\0') {
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if ((*q == '/') || (*q == '\\')) {
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p = q + 1;
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}
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q++;
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}
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/* 有界拷贝：上限 48 字符 */
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{
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uint16_t len = 0u;
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char name[49];
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while ((len < 48u) && (p[len] != '\0')) {
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name[len] = p[len];
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len++;
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}
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name[len] = '\0';
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dbg_console_write_raw(msg_head, (unsigned)(sizeof(msg_head) - 1u));
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dbg_console_write_raw(name, (unsigned)len);
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}
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} else {
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dbg_console_write_raw(msg_head, (unsigned)(sizeof(msg_head) - 1u));
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dbg_console_write_raw("(no file)", 9u);
|
||
}
|
||
|
||
dbg_console_write_raw(":", 1u);
|
||
|
||
/* 行号转十进制（不用 snprintf：钩子可能在临界区，且避免库依赖） */
|
||
i = 0;
|
||
if (line <= 0) {
|
||
num[i++] = '0';
|
||
} else {
|
||
char rev[16];
|
||
int n = 0;
|
||
while ((line > 0) && (n < 15)) {
|
||
rev[n++] = (char)('0' + (line % 10));
|
||
line /= 10;
|
||
}
|
||
while (n > 0) {
|
||
num[i++] = rev[--n];
|
||
}
|
||
}
|
||
dbg_console_write_raw(num, (unsigned)i);
|
||
|
||
dbg_console_write_raw(" (resetting)\r\n", 15u);
|
||
|
||
HAL_Delay(200); /* 等 UART 移位寄存器排空 */
|
||
NVIC_SystemReset();
|
||
}
|
||
/* USER CODE END Application */
|