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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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bsp/bsp_tools.c
+13 -14
View File
@@ -17,24 +17,24 @@ typedef struct
static uint8_t sig_idx = 0;
static uint32_t tmp_sig = 1; // tmp_sing << sig_idx从而生成对应信号量
static osThreadId cbkid_list[MX_SIG_LIST_SIZE];
static osThreadId_t cbkid_list[MX_SIG_LIST_SIZE];
static CallbackTask_t cbkinfo_list[MX_SIG_LIST_SIZE];
// 死循环任务,执行cbk函数指针,每次执行完毕后等待sig信号
__attribute__((noreturn)) static void CallbackTaskBase(void const *cbk)
__attribute__((noreturn)) static void CallbackTaskBase(void *cbk)
{
void (*cbk_func)(void const *) = (void (*)(void const *))((CallbackTask_t const *)cbk)->callback;
void const *ins = ((CallbackTask_t const *)cbk)->ins;
uint32_t sig = ((CallbackTask_t const *)cbk)->sig;
void (*cbk_func)(void *) = (void (*)(void *))((CallbackTask_t *)cbk)->callback;
void *ins = ((CallbackTask_t *)cbk)->ins;
uint32_t sig = ((CallbackTask_t *)cbk)->sig;
for (;;)
{
cbk_func(ins);
osSignalWait(sig, osWaitForever);
osThreadFlagsWait(sig, osFlagsWaitAny, osWaitForever);
}
}
uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority)
uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority_t priority)
{
if (sig_idx >= MX_SIG_LIST_SIZE)
while (1)
@@ -44,13 +44,12 @@ uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priorit
cbkinfo_list[sig_idx].sig = tmp_sig << sig_idx;
cbkinfo_list[sig_idx].ins = ins;
osThreadDef_t threadDef;
threadDef.name = name;
threadDef.pthread = &CallbackTaskBase;
threadDef.tpriority = priority;
threadDef.instances = 0;
threadDef.stacksize = 128;
cbkid_list[sig_idx] = osThreadCreate(&threadDef, (void *)&cbkinfo_list[sig_idx]);
const osThreadAttr_t threadAttr = {
.name = name,
.priority = priority,
.stack_size = 128,
};
cbkid_list[sig_idx] = osThreadNew(CallbackTaskBase, (void *)&cbkinfo_list[sig_idx], &threadAttr);
return cbkinfo_list[sig_idx++].sig; // 返回信号量,同时增加索引
}