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

- 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

application/robot_task.h

@@ -13,32 +13,48 @@
 
 #include "bsp_log.h"
 
-osThreadId insTaskHandle;
+osThreadId_t insTaskHandle;
-osThreadId robotTaskHandle;
+osThreadId_t robotTaskHandle;
-osThreadId motorTaskHandle;
+osThreadId_t motorTaskHandle;
-osThreadId daemonTaskHandle;
+osThreadId_t daemonTaskHandle;
 
-void StartINSTASK(void const *argument);
+void StartINSTASK(void *argument);
-void StartMOTORTASK(void const *argument);
+void StartMOTORTASK(void *argument);
-void StartDAEMONTASK(void const *argument);
+void StartDAEMONTASK(void *argument);
-void StartROBOTTASK(void const *argument);
+void StartROBOTTASK(void *argument);
 
 void OSTaskInit()
 {
-    osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
+    const osThreadAttr_t insTask_attr = {
-    insTaskHandle = osThreadCreate(osThread(instask), NULL);
+        .name = "instask",
+        .priority = osPriorityAboveNormal,
+        .stack_size = 1024,
+    };
+    insTaskHandle = osThreadNew(StartINSTASK, NULL, &insTask_attr);
 
-    osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
+    // const osThreadAttr_t motorTask_attr = {
-    motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
+    //     .name = "motortask",
+    //     .priority = osPriorityNormal,
+    //     .stack_size = 256,
+    // };
+    // motorTaskHandle = osThreadNew(StartMOTORTASK, NULL, &motorTask_attr);
 
-    osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 128);
+    const osThreadAttr_t daemonTask_attr = {
-    daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
+        .name = "daemontask",
+        .priority = osPriorityNormal,
+        .stack_size = 512,
+    };
+    daemonTaskHandle = osThreadNew(StartDAEMONTASK, NULL, &daemonTask_attr);
 
-    osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
+    const osThreadAttr_t robotTask_attr = {
-    robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
+        .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");

bsp/bsp_tools.c

@@ -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 (*cbk_func)(void *) = (void (*)(void *))((CallbackTask_t *)cbk)->callback;
-    void const *ins = ((CallbackTask_t const *)cbk)->ins;
+    void *ins = ((CallbackTask_t *)cbk)->ins;
-    uint32_t sig = ((CallbackTask_t const *)cbk)->sig;
+    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;
+    const osThreadAttr_t threadAttr = {
-    threadDef.name = name;
+        .name = name,
-    threadDef.pthread = &CallbackTaskBase;
+        .priority = priority,
-    threadDef.tpriority = priority;
+        .stack_size = 128,
-    threadDef.instances = 0;
+    };
-    threadDef.stacksize = 128;
+    cbkid_list[sig_idx] = osThreadNew(CallbackTaskBase, (void *)&cbkinfo_list[sig_idx], &threadAttr);
-    cbkid_list[sig_idx] = osThreadCreate(&threadDef, (void *)&cbkinfo_list[sig_idx]);
 
     return cbkinfo_list[sig_idx++].sig; // 返回信号量,同时增加索引
 }

bsp/bsp_tools.h

@@ -13,5 +13,5 @@
  * @param priority 任务优先级,决定了在中断结束后能否保证立刻执行
  * @return uint32_t 信号量,用于唤醒该任务
  */
-uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority);
+uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority_t priority);
 

modules/imu/ins_task.c

@@ -176,10 +176,15 @@ void INS_Task(void)
         IMU_Temperature_Ctrl();
     }
 
-    if ((count++ % 1000) == 0)
+    if ((count % 1000) == 0)
     {
         // 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
+        LOGINFO("[IMU] Temperature: %d C, PWM: %d", (int)(BMI088.Temperature * 100), (int)TempCtrl.Output);
     }
+
+    count++;
+    if (count >= 10000)
+        count = 0;
 }
 
 /**