robot/bspMCU/My_freeRTOS.c

/******************************************************************************

                  版权所有 (C), 2018-2099, Radkil

 ******************************************************************************
  文 件 名   : My_freeRTOS.c
  版 本 号   : 初稿
  作    者   : Radkil
  生成日期   : 2026年5月17日
  最近修改   :
  功能描述   : freeRTOS中间层
  
  修改历史   :
  1.日    期   : 2026年5月17日
    作    者   : Radkil
    修改内容   : 创建文件

******************************************************************************/
#include "common.h"
#include "rd_thread.h"
#ifdef USE_FREERTOS
#include "cmsis_os.h"
#include "cmsis_os2.h"
#include "FreeRTOS.h"
#include "task.h"
#include "string.h"
#include "stdio.h"
#include "lua_base.h"

/*----------------------------------------------*
 * 外部变量说明                                 *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 外部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 内部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 全局变量                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 常量定义                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 宏定义                                       *
 *----------------------------------------------*/
void StackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
{
    log_a("!!! Stack Overflow Detected in Task: %s !!!\n", pcTaskName);
    while(1) {osDelay(1);}
}

void ShowTaskList(void)
{
	char taskInfoBuffer[256];
	vTaskList(taskInfoBuffer);
	lua_print("Name\t\tState\tPrior\tStack\tNum\n");
	lua_print("%s", taskInfoBuffer);
}

void ShowHeapSize(void)
{
	size_t iSize = xPortGetFreeHeapSize();
	size_t iMin = xPortGetMinimumEverFreeHeapSize();
	size_t Rd_MemPoolGetFreeCount(void);
	size_t myMempool = Rd_MemPoolGetFreeCount();
	size_t Rd_MemPoolGetTotalCount(void);
	size_t myTotal = Rd_MemPoolGetTotalCount();
	lua_print("freeRTOS used:\t%d\t%d\n", iSize, iMin);
	lua_print("mempool free:\t%d\t%d\n", myMempool, myTotal);
}


int Rd_SemInit(void *_sem, int _iPshared, int _iValue)
{
	rd_sem_t *pSem = (rd_sem_t *)_sem;
	osSemaphoreAttr_t attr = {
		.name = NULL,
		.attr_bits = 0,
		.cb_mem = pSem->cb_buf,
		.cb_size = sizeof(pSem->cb_buf)
	};
	pSem->sem_id = osSemaphoreNew((uint32_t)_iValue + 1, (uint32_t)_iValue, &attr);
	if (pSem->sem_id == NULL) {
		return RD_FAILURE;
	}
	pSem->count = _iValue;
	return RD_SUCCESS;
}

void Rd_SemWait(void *_sem, const char *_pcFunc, int *_piCnt)
{
	rd_sem_t *pSem = (rd_sem_t *)_sem;
	(void)_pcFunc;
	osSemaphoreAcquire(pSem->sem_id, osWaitForever);
	if (_piCnt != NULL) {
		(*_piCnt)++;
	}
}

void Rd_SemPost(void *_sem, const char *_pcFunc, int *_piCnt)
{
	rd_sem_t *pSem = (rd_sem_t *)_sem;
	(void)_pcFunc;
	osSemaphoreRelease(pSem->sem_id);
	if (_piCnt != NULL) {
		(*_piCnt)++;
	}
}

int Rd_SemDestroy(void *_sem)
{
	rd_sem_t *pSem = (rd_sem_t *)_sem;
	if (pSem->sem_id != NULL) {
		osSemaphoreDelete(pSem->sem_id);
		pSem->sem_id = NULL;
	}
	return RD_SUCCESS;
}

int Rd_MutexInit(void *_pMutex)
{
	rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex;
	osMutexAttr_t attr = {
		.name = NULL,
		.attr_bits = osMutexRecursive | osMutexPrioInherit,
		.cb_mem = NULL,
		.cb_size = 0
	};
	*pMutex = osMutexNew(&attr);
	if (*pMutex == NULL) {
		return RD_FAILURE;
	}
	return RD_SUCCESS;
}

void Rd_MutexLock(void *_pMutex, const char *_pcFunc, int *_piCnt)
{
	rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex;
	(void)_pcFunc;
	if (*pMutex != NULL) {
		osMutexAcquire(*pMutex, osWaitForever);
	}
	if (_piCnt != NULL) {
		(*_piCnt)++;
	}
}

void Rd_MutexUnlock(void *_pMutex, const char *_pcFunc, int *_piCnt)
{
	rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex;
	(void)_pcFunc;
	if (*pMutex != NULL) {
		osMutexRelease(*pMutex);
	}
	if (_piCnt != NULL) {
		(*_piCnt)++;
	}
}

int Rd_MutexDestroy(void *_pMutex)
{
	rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex;
	if (*pMutex != NULL) {
		osMutexDelete(*pMutex);
		*pMutex = NULL;
	}
	return RD_SUCCESS;
}

void Rd_Delay(uint32_t Delay)
{
    osDelay(Delay);
}

void MyTask_Init(void)
{
#ifndef USE_TALNET
    const osThreadAttr_t Lua_attributes = {
        .name = "LuaREPL",
        .stack_size = 4 * 1024,
        .priority = (osPriority_t) osPriorityLow7,
    };
    void StartLuaREPL(void *argument);
    (void)osThreadNew(StartLuaREPL, NULL, &Lua_attributes);
#endif

#ifdef USE_LWIP
    const osThreadAttr_t talnet_attributes = {
            .name = "talnet",
            .stack_size = 6 * 1024,
            .priority = (osPriority_t) osPriorityLow6,
        };
    void vTCPServer_Task(void *pvParameters);
    (void)osThreadNew(vTCPServer_Task, NULL, &talnet_attributes);
#endif
}

#endif