refactor(freertos): 优化任务配置和代码结构
- 调整任务优先级和栈大小 - 移除冗余的 DAC161S997 测试任务 - 优化 IO 控制任务的执行逻辑 - 更新 DAC 控制任务，增加 DAC161S997 初始化和输出 - 调整任务执行周期和延时
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@ -315,7 +315,7 @@ void start_led_toggle_task(void const *argument);
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void start_adc_task(void const *argument);
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void start_io_control_task(void const *argument);
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void start_dac_control_task(void const *argument);
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void start_dac161s997_test_task(void const *argument);
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void start_dac8568_test_task(void const *argument);
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extern void MX_LWIP_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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@ -364,29 +364,25 @@ void MX_FREERTOS_Init(void)
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/* Create the thread(s) */
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/* definition and creation of lwip_task */
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osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512);
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osThreadDef(lwip_task, start_tcp_task, osPriorityRealtime, 0, 512);
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lwip_taskHandle = osThreadCreate(osThread(lwip_task), NULL);
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/* HART测试任务 - 提高优先级和栈大小 */
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osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityAboveNormal, 0, 256);
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/* HART测试任务 */
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osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityLow, 0, 256);
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usart6_test_taskHandle = osThreadCreate(osThread(usart6_test_task), NULL);
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/* ADC任务 - 提高优先级和栈大小 */
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/* ADC任务 */
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osThreadDef(adc_task, start_adc_task, osPriorityNormal, 0, 256);
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adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);
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/* IO控制任务 - 合并TCA6416和GPIO控制 */
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/* IO监听控制任务 */
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osThreadDef(io_control_task, start_io_control_task, osPriorityNormal, 0, 256);
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io_control_taskHandle = osThreadCreate(osThread(io_control_task), NULL);
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/* DAC控制任务 DAC8568控制 */
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osThreadDef(dac_control_task, start_dac_control_task, osPriorityBelowNormal, 0, 256);
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/* 合并后的DAC控制任务 - 使用较低优先级 */
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osThreadDef(dac_control_task, start_dac_control_task, osPriorityBelowNormal, 0, 512); // 增加堆栈大小
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dac_control_taskHandle = osThreadCreate(osThread(dac_control_task), NULL);
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/* DAC161S997测试任务 - 使用较高优先级以确保及时处理 */
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osThreadDef(dac161s997_test_task, start_dac161s997_test_task, osPriorityAboveNormal, 0, 256);
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osThreadCreate(osThread(dac161s997_test_task), NULL);
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/* USER CODE END RTOS_THREADS */
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}
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@ -499,7 +495,7 @@ void start_tcp_task(void const *argument)
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}
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}
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vTaskDelay(1000);
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vTaskDelay(5);
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}
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/* USER CODE END start_tcp_task */
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}
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@ -734,9 +730,11 @@ void start_io_control_task(void const *argument)
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/* USER CODE BEGIN start_io_control_task */
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uint8_t ret = 0;
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uint8_t addr_scan_result[8] = {0};
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static uint32_t last_scan_time = 0;
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const uint32_t SCAN_INTERVAL = 20; // 20ms扫描间隔
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// 等待系统稳定
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osDelay(100);
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osDelay(50);
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// 初始化TCA6416
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tca6416_test_step = 0;
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@ -746,7 +744,7 @@ void start_io_control_task(void const *argument)
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ret = I2C_SendByte(addr << 1);
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I2C_Stop();
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addr_scan_result[addr - 0x20] = ret;
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osDelay(10);
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osDelay(1);
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}
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// 初始化三个TCA6416芯片
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@ -755,73 +753,68 @@ void start_io_control_task(void const *argument)
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tca6416_init3_result = TCA6416_Init3();
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// 配置第一个TCA6416芯片的端口方向和输出状态
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if(tca6416_init_result == 0) // 确保初始化成功
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if(tca6416_init_result == 0)
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{
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// 设置端口为输出模式
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TCA6416_SetPortDirection(0, 0x00); // Port0输出
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TCA6416_SetPortDirection(1, 0x00); // Port1输出
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osDelay(5);
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TCA6416_SetPortDirection(0, 0x00);
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TCA6416_SetPortDirection(1, 0x00);
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osDelay(1);
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}
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// 配置其他两个芯片的端口方向
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if(tca6416_init2_result == 0)
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{
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TCA6416_SetPortDirection2(0, 0xFF); // Port0输入
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TCA6416_SetPortDirection2(1, 0xFF); // Port1输入
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TCA6416_SetPortDirection2(0, 0xFF);
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TCA6416_SetPortDirection2(1, 0xFF);
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}
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if(tca6416_init3_result == 0)
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{
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TCA6416_SetPortDirection3(0, 0xFF); // Port0输入
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TCA6416_SetPortDirection3(1, 0xFF); // Port1输入
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TCA6416_SetPortDirection3(0, 0xFF);
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TCA6416_SetPortDirection3(1, 0xFF);
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}
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/* Infinite loop */
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for(;;)
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{
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// 获取信号量
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if(osSemaphoreWait(io_semaphoreHandle, 100) == osOK)
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uint32_t current_time = HAL_GetTick();
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// 使用时间间隔控制扫描频率
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if(current_time - last_scan_time >= SCAN_INTERVAL)
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{
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//写入第一块
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TCA6416_WritePort(0, TCA6416_WritePort_buff[1]);
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osDelay(5);
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TCA6416_WritePort(1, TCA6416_WritePort_buff[0]);
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osDelay(5);
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// 读取其他芯片状态
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if(tca6416_init2_result == 0)
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// 获取信号量，但设置较短的超时时间
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if(osSemaphoreWait(io_semaphoreHandle, 5) == osOK)
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{
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if(TCA6416_ReadPort2(0, &tca6416_read_data) == 0)
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// 写入第一块
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TCA6416_WritePort(0, TCA6416_WritePort_buff[1]);
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TCA6416_WritePort(1, TCA6416_WritePort_buff[0]);
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// 读取其他芯片状态
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if(tca6416_init2_result == 0)
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{
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TCA6416_ReadPort2(0, &tca6416_read_data);
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tca6416_port2_status = tca6416_read_data;
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}
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if(TCA6416_ReadPort2(1, &tca6416_read_data) == 0)
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{
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TCA6416_ReadPort2(1, &tca6416_read_data);
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tca6416_port3_status = tca6416_read_data;
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}
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}
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if(tca6416_init3_result == 0)
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{
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if(TCA6416_ReadPort3(0, &tca6416_read_data) == 0)
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{
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tca6416_port4_status = tca6416_read_data;
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}
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if(TCA6416_ReadPort3(1, &tca6416_read_data) == 0)
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if(tca6416_init3_result == 0)
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{
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TCA6416_ReadPort3(0, &tca6416_read_data);
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tca6416_port4_status = tca6416_read_data;
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TCA6416_ReadPort3(1, &tca6416_read_data);
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tca6416_port5_status = tca6416_read_data;
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}
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osSemaphoreRelease(io_semaphoreHandle);
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}
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// 释放信号量
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osSemaphoreRelease(io_semaphoreHandle);
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last_scan_time = current_time;
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}
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// 200ms扫描周期
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osDelay(50);
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// 使用较短的延时，让出CPU时间
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osDelay(100);
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}
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/* USER CODE END start_io_control_task */
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}
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@ -839,7 +832,9 @@ void start_dac_control_task(void const *argument)
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// 等待系统稳定
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osDelay(1000);
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// 初始化DAC161S997
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dac161s997_init();
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// 初始化DAC8568
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DAC8568_Init(&hspi3);
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HAL_Delay(10);
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@ -851,9 +846,8 @@ void start_dac_control_task(void const *argument)
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// 获取信号量
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if(osSemaphoreWait(dac_semaphoreHandle, 100) == osOK)
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{
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// 处理DAC161S997输出
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// current_buff[0] = 12.0f; // 示例值
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// dac161s997_output(DAC161S997, current_buff[0]);
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// 处理DAC161S997输出 - 必须脉冲输出
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dac161s997_output(DAC161S997, current_buff[0]);
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// 处理DAC8568输出
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// uint16_t dac_value = 32768; // 示例值
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@ -863,8 +857,8 @@ void start_dac_control_task(void const *argument)
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osSemaphoreRelease(dac_semaphoreHandle);
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}
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// 500ms更新周期
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osDelay(500);
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// 使用较短的延时，因为DAC161S997需要脉冲输出
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osDelay(100); // 100ms更新周期，与原来的DAC161S997任务保持一致
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}
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/* USER CODE END start_dac_control_task */
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}
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@ -1010,7 +1004,7 @@ void start_usart6_test_task(void const *argument)
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uart6_last_rx_time = 0;
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}
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vTaskDelay(5); // 给其他任务执行的机会
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vTaskDelay(500); // 给其他任务执行的机会
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}
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/* USER CODE END start_usart6_test_task */
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}
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@ -1133,32 +1127,6 @@ void test_tca6416_task(void const *argument)
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/* USER CODE END test_tca6416_task */
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}
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/* USER CODE BEGIN Header_start_dac161s997_test_task */
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/**
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* @brief Function implementing the dac161s997_test_task 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_dac161s997_test_task */
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void start_dac161s997_test_task(void const *argument)
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{
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// 等待系统稳定
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osDelay(1000); // 启动延时1秒等待系统稳定
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// 初始化DAC161S997
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dac161s997_init();
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/* DAC161必须脉冲输出*/
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for (;;)
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{
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dac161s997_output(DAC161S997, current_buff[0]); // 输出当前电流值
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osDelay(100); // 延时100ms
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}
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/* USER CODE END start_dac161s997_test_task */
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}
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/* USER CODE BEGIN Header_start_dac8568_test_task */
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/**
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* @brief Function implementing the dac8568_test_task thread.
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