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chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config

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- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h)
- Update FreeRTOS kernel, port, and headers to match v2 integration
- Remove unused heap implementations, keep heap_4
- Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt)
- Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c
- Update application modules (master_machine, dmmotor)
- Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support
This commit is contained in:
李傲琦
2026-05-30 20:40:00 +08:00
parent b7328a0c93
commit 8763b25839
63 changed files with 27596 additions and 23151 deletions
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Core/Src/freertos.c
+133 -171
View File
@@ -1,171 +1,133 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
/* 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 */
/* USER CODE END Variables */
osThreadId defaultTaskHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void const * argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
/* GetTimerTaskMemory prototype (linked to static allocation support) */
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
/* Hook prototypes */
void configureTimerForRunTimeStats(void);
unsigned long getRunTimeCounterValue(void);
/* USER CODE BEGIN 1 */
/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
__weak void configureTimerForRunTimeStats(void)
{
}
__weak unsigned long getRunTimeCounterValue(void)
{
return 0;
}
/* USER CODE END 1 */
/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
*ppxIdleTaskStackBuffer = &xIdleStack[0];
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
/* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */
/* USER CODE BEGIN GET_TIMER_TASK_MEMORY */
static StaticTask_t xTimerTaskTCBBuffer;
static StackType_t xTimerStack[configTIMER_TASK_STACK_DEPTH];
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
{
*ppxTimerTaskTCBBuffer = &xTimerTaskTCBBuffer;
*ppxTimerTaskStackBuffer = &xTimerStack[0];
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
/* place for user code */
}
/* USER CODE END GET_TIMER_TASK_MEMORY */
/**
* @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) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* 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 const * argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartDefaultTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 "FreeRTOS.h"
#include "cmsis_os2.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument);
extern void MX_USB_DEVICE_Init(void);
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);
/* 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)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartDefaultTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
Core/Src/main.c
+12 -1
View File
@@ -18,6 +18,8 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "FreeRTOS.h"
#include "cmsis_os2.h"
#include "adc.h"
#include "dma.h"
#include "fdcan.h"
@@ -63,6 +65,7 @@ uint8_t W25Qxx_ReadBuffer[W25Qxx_NumByteToTest]; // ��������
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -103,7 +106,6 @@ int main(void)
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_USB_DEVICE_Init();
MX_TIM12_Init();
MX_SPI1_Init();
MX_SPI2_Init();
@@ -128,6 +130,15 @@ int main(void)
LOGINFO("[main] SystemInit() and RobotInit() done");
/* 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)
Core/Src/stm32h7xx_it.c
+19 -1
View File
@@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -194,6 +194,7 @@ void DMA1_Stream0_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
/* USER CODE END DMA1_Stream0_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
/* USER CODE END DMA1_Stream0_IRQn 1 */
@@ -207,6 +208,7 @@ void DMA1_Stream1_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_tx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
@@ -220,6 +222,7 @@ void DMA1_Stream2_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
/* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */
@@ -233,6 +236,7 @@ void DMA1_Stream3_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
/* USER CODE END DMA1_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_tx);
/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
/* USER CODE END DMA1_Stream3_IRQn 1 */
@@ -246,6 +250,7 @@ void DMA1_Stream4_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
/* USER CODE END DMA1_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart9_rx);
/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
/* USER CODE END DMA1_Stream4_IRQn 1 */
@@ -259,6 +264,7 @@ void DMA1_Stream5_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
/* USER CODE END DMA1_Stream5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart9_tx);
/* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
/* USER CODE END DMA1_Stream5_IRQn 1 */
@@ -272,6 +278,7 @@ void DMA1_Stream6_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
/* USER CODE END DMA1_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
/* USER CODE END DMA1_Stream6_IRQn 1 */
@@ -397,6 +404,7 @@ void DMA1_Stream7_IRQHandler(void)
/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
/* USER CODE END DMA1_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart5_rx);
/* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
/* USER CODE END DMA1_Stream7_IRQn 1 */
@@ -424,6 +432,7 @@ void DMA2_Stream0_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
/* USER CODE END DMA2_Stream0_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
/* USER CODE END DMA2_Stream0_IRQn 1 */
@@ -437,6 +446,7 @@ void DMA2_Stream1_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
/* USER CODE END DMA2_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_tx);
/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
/* USER CODE END DMA2_Stream1_IRQn 1 */
@@ -450,6 +460,7 @@ void DMA2_Stream2_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
/* USER CODE END DMA2_Stream2_IRQn 1 */
@@ -463,6 +474,7 @@ void DMA2_Stream3_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
/* USER CODE END DMA2_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
/* USER CODE END DMA2_Stream3_IRQn 1 */
@@ -476,6 +488,7 @@ void DMA2_Stream4_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream4_IRQn 0 */
/* USER CODE END DMA2_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart10_rx);
/* USER CODE BEGIN DMA2_Stream4_IRQn 1 */
/* USER CODE END DMA2_Stream4_IRQn 1 */
@@ -489,6 +502,7 @@ void DMA2_Stream5_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
/* USER CODE END DMA2_Stream5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart10_tx);
/* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
/* USER CODE END DMA2_Stream5_IRQn 1 */
@@ -502,6 +516,7 @@ void DMA2_Stream6_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
/* USER CODE END DMA2_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart8_tx);
/* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
/* USER CODE END DMA2_Stream6_IRQn 1 */
@@ -515,6 +530,7 @@ void DMA2_Stream7_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
/* USER CODE END DMA2_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart8_rx);
/* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
/* USER CODE END DMA2_Stream7_IRQn 1 */
@@ -528,6 +544,7 @@ void OTG_HS_IRQHandler(void)
/* USER CODE BEGIN OTG_HS_IRQn 0 */
/* USER CODE END OTG_HS_IRQn 0 */
HAL_PCD_IRQHandler(&hpcd_USB_OTG_HS);
/* USER CODE BEGIN OTG_HS_IRQn 1 */
/* USER CODE END OTG_HS_IRQn 1 */
@@ -597,6 +614,7 @@ void TIM23_IRQHandler(void)
/* USER CODE BEGIN TIM23_IRQn 0 */
/* USER CODE END TIM23_IRQn 0 */
HAL_TIM_IRQHandler(&htim23);
/* USER CODE BEGIN TIM23_IRQn 1 */
/* USER CODE END TIM23_IRQn 1 */