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fix: migrate CMSIS-RTOS v1 to v2 API, fix stack overflow and float format crash

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- Replace osThreadDef/osThreadCreate/osThread with osThreadNew/osThreadAttr_t
- Replace osSignalWait with osThreadFlagsWait
- Change osThreadId to osThreadId_t, osPriority to osPriority_t
- Increase daemon task stack from 128 to 512 to fix stack overflow HardFault
- Cast BMI088.Temperature float to int before %d format to fix va_list misalignment
This commit is contained in:
李傲琦
2026-05-30 20:38:30 +08:00
parent dff49cb462
commit b7328a0c93
4 changed files with 56 additions and 36 deletions
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application/robot_task.h
+36 -20
View File
@@ -13,32 +13,48 @@
#include "bsp_log.h"
osThreadId insTaskHandle;
osThreadId robotTaskHandle;
osThreadId motorTaskHandle;
osThreadId daemonTaskHandle;
osThreadId_t insTaskHandle;
osThreadId_t robotTaskHandle;
osThreadId_t motorTaskHandle;
osThreadId_t daemonTaskHandle;
void StartINSTASK(void const *argument);
void StartMOTORTASK(void const *argument);
void StartDAEMONTASK(void const *argument);
void StartROBOTTASK(void const *argument);
void StartINSTASK(void *argument);
void StartMOTORTASK(void *argument);
void StartDAEMONTASK(void *argument);
void StartROBOTTASK(void *argument);
void OSTaskInit()
{
osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
insTaskHandle = osThreadCreate(osThread(instask), NULL);
const osThreadAttr_t insTask_attr = {
.name = "instask",
.priority = osPriorityAboveNormal,
.stack_size = 1024,
};
insTaskHandle = osThreadNew(StartINSTASK, NULL, &insTask_attr);
osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
// const osThreadAttr_t motorTask_attr = {
// .name = "motortask",
// .priority = osPriorityNormal,
// .stack_size = 256,
// };
// motorTaskHandle = osThreadNew(StartMOTORTASK, NULL, &motorTask_attr);
osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 128);
daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
const osThreadAttr_t daemonTask_attr = {
.name = "daemontask",
.priority = osPriorityNormal,
.stack_size = 512,
};
daemonTaskHandle = osThreadNew(StartDAEMONTASK, NULL, &daemonTask_attr);
osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
const osThreadAttr_t robotTask_attr = {
.name = "robottask",
.priority = osPriorityNormal,
.stack_size = 1024,
};
robotTaskHandle = osThreadNew(StartROBOTTASK, NULL, &robotTask_attr);
}
__attribute__((noreturn)) void StartINSTASK(void const *argument)
__attribute__((noreturn)) void StartINSTASK(void *argument)
{
static float ins_start, ins_dt;
INS_Init();
@@ -54,7 +70,7 @@ __attribute__((noreturn)) void StartINSTASK(void const *argument)
}
}
__attribute__((noreturn)) void StartMOTORTASK(void const *argument)
__attribute__((noreturn)) void StartMOTORTASK(void *argument)
{
static float motor_start, motor_dt;
LOGINFO("[freeRTOS] MOTOR Task Start");
@@ -69,7 +85,7 @@ __attribute__((noreturn)) void StartMOTORTASK(void const *argument)
}
}
__attribute__((noreturn)) void StartDAEMONTASK(void const *argument)
__attribute__((noreturn)) void StartDAEMONTASK(void *argument)
{
static float daemon_start, daemon_dt;
BuzzerInit();
@@ -86,7 +102,7 @@ __attribute__((noreturn)) void StartDAEMONTASK(void const *argument)
}
}
__attribute__((noreturn)) void StartROBOTTASK(void const *argument)
__attribute__((noreturn)) void StartROBOTTASK(void *argument)
{
static float robot_start, robot_dt;
LOGINFO("[freeRTOS] ROBOT core Task Start");