SkyLiCoder
b7328a0c93
- 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
55 lines
1.6 KiB
C
55 lines
1.6 KiB
C
#include <stdarg.h>
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#include "cmsis_os.h"
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#include "bsp_log.h"
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#include "bsp_tools.h"
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#define MX_SIG_LIST_SIZE 32 // 不可修改,最大信号量数量
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typedef struct
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{
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void *callback;
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uint32_t sig;
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void *ins;
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} CallbackTask_t;
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// 递增记录全局信号量的数组,最大32个信号量
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static uint8_t sig_idx = 0;
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static uint32_t tmp_sig = 1; // tmp_sing << sig_idx从而生成对应信号量
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static osThreadId_t cbkid_list[MX_SIG_LIST_SIZE];
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static CallbackTask_t cbkinfo_list[MX_SIG_LIST_SIZE];
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// 死循环任务,执行cbk函数指针,每次执行完毕后等待sig信号
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__attribute__((noreturn)) static void CallbackTaskBase(void *cbk)
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{
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void (*cbk_func)(void *) = (void (*)(void *))((CallbackTask_t *)cbk)->callback;
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void *ins = ((CallbackTask_t *)cbk)->ins;
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uint32_t sig = ((CallbackTask_t *)cbk)->sig;
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for (;;)
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{
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cbk_func(ins);
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osThreadFlagsWait(sig, osFlagsWaitAny, osWaitForever);
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}
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}
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uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority_t priority)
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{
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if (sig_idx >= MX_SIG_LIST_SIZE)
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while (1)
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LOGERROR("[rtos:cbk_register] CreateCallbackTask: sig_idx >= MX_SIG_LIST_SIZE");
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cbkinfo_list[sig_idx].callback = cbk;
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cbkinfo_list[sig_idx].sig = tmp_sig << sig_idx;
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cbkinfo_list[sig_idx].ins = ins;
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const osThreadAttr_t threadAttr = {
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.name = name,
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.priority = priority,
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.stack_size = 128,
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};
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cbkid_list[sig_idx] = osThreadNew(CallbackTaskBase, (void *)&cbkinfo_list[sig_idx], &threadAttr);
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return cbkinfo_list[sig_idx++].sig; // 返回信号量,同时增加索引
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} |