stm32和FreeRTOS的平衡小车代码如下，能编译不报错，但在小车上不运行OLED都不显示
/* 头文件 */
#include "stm32f10x.h" // Device header
#include "delay.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h" // 包含队列头文件
#include "semphr.h" // 包含信号量头文件
#include "math.h" // 包含数学函数头文件
#include "OLED.h"
#include "EXTI.h"
#include "encoder.h"
#include "motor.h"
#include "mpu6050.h"
#include "mpuiic.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "pid.h"
//#include "sys.h"
#include "usart2.h"
#include "stdarg.h"
#include "stdio.h"
#include "string.h"
#include "led.h"
// 优先级定义（数值越大优先级越高）
#define TASK_PRIO_HARD_REAL_TIME 4 // 硬实时控制
#define TASK_PRIO_SAFETY 3 // 安全监控
#define TASK_PRIO_SENSOR 5 // 传感器融合
#define TASK_PRIO_COMM 2 // 通信处理
#define TASK_PRIO_HMI 1 // 人机界面
//// 任务句柄
static TaskHandle_t xHardRealTimeHandle = NULL;
static TaskHandle_t xSafetyHandle = NULL;
static TaskHandle_t xSensorFusionHandle = NULL;
static TaskHandle_t xCommHandle = NULL;
static TaskHandle_t xHmiHandle = NULL;
float a=42,b=1.6,c=120,d=0.6;//
int Bluetooth_data;
int Target = 0;
float Angle_turn = 0;
int L_Speed, R_Speed;
float pitch, roll, yaw; // 欧拉角
short aacx, aacy, aacz; // 加速度传感器原始数据
short gyrox, gyroy, gyroz; // 陀螺仪原始数据
extern int Moto1, Moto2;
u8 stop_flag = 0;
//void YunDong(void);
//void My_XianShi(void);
extern u8 Fore, Back, Left, Right;
// 创建互斥锁和队列
SemaphoreHandle_t xMotorMutex;
SemaphoreHandle_t xPidMutex;
QueueHandle_t xAngleQueue;
QueueHandle_t xCmdQueue;
// 函数声明
void Error_Handler(void);
int16_t USART2_Receive(uint8_t *buf, uint16_t len);
u8 mpu_dmp_get_data(float *pitch, float *roll, float *yaw);
void MPU6050_EXTI_Init(void);
u8 mpu_dmp_init(void);
int Velocity(int target, int encoder_left, int encoder_right);
/* 硬件初始化 */
void Hardware_Init(void) {
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
// NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
OLED_Init();
TIM3_Encoder_Init();
TIM4_Encoder_Init();
MOTOR_Init();
TIM2_PWM_Init(7199, 0);
MPU6050_EXTI_Init();
MPU_Init();
mpu_dmp_init();
PID_Init();
// uart2_Init();
//LED_Init();
// 在Hardware_Init()中添加检查
if(mpu_dmp_init() != 0){
OLED_ShowString(1,1,"DMP FAIL!");
while(1); // 阻塞初始化
}
printf("%0.2f,%0.2f,%0.2f,%0.2f\n",a,b,c,d);
}
//硬实时控制任务（最高优先级）
void vHardRealTimeTask(void *pvParameters)
{
const TickType_t xPeriod = pdMS_TO_TICKS(1); // 1ms周期
TickType_t xLastWakeTime = xTaskGetTickCount();
while(1) {
// 读取编码器（原子操作）
portENTER_CRITICAL();
L_Speed = Read_Encoder(3);
R_Speed = Read_Encoder(4);
portEXIT_CRITICAL();
// 获取融合后的角度
float current_angle;
xQueueReceive(xAngleQueue, ¤t_angle, 0);
// PID计算（参数保护）
xSemaphoreTake(xPidMutex, portMAX_DELAY);
Moto1 = balance(current_angle, gyrox) + Velocity(Target, L_Speed, R_Speed);
Moto2 = balance(current_angle, gyrox) + Velocity(Target, L_Speed, R_Speed);
xSemaphoreGive(xPidMutex);
// 电机输出（带互斥锁）
if(xSemaphoreTake(xMotorMutex, pdMS_TO_TICKS(0)) == pdTRUE) {
Set_Pwm(Moto1, Moto2);
xSemaphoreGive(xMotorMutex);
}
vTaskDelayUntil(&xLastWakeTime, xPeriod);
}
}
//传感器融合任务
void vSensorFusionTask(void *pvParameters)
{
float fused_angle = 0;
while(1) {
// 获取DMP数据（带超时保护）
if(mpu_dmp_get_data(&pitch, &roll, &yaw) == 0) {
// 数据滤波（示例：互补滤波）
fused_angle = 0.98*(fused_angle + gyrox*0.001) + 0.02*roll;
// 发送到控制任务
xQueueOverwrite(xAngleQueue, &fused_angle);
}
vTaskDelay(pdMS_TO_TICKS(5)); // 200Hz更新
}
}
//安全监控任务
void vSafetyTask(void *pvParameters)
{
float current_angle;
while(1) {
xQueuePeek(xAngleQueue, ¤t_angle, portMAX_DELAY);
// 倾角保护
if(fabs(current_angle) > 40.0f) {
xSemaphoreTake(xMotorMutex, portMAX_DELAY);
Motor_EmergencyStop();
xSemaphoreGive(xMotorMutex);
vTaskSuspendAll();
}
vTaskDelay(pdMS_TO_TICKS(10));
}
}
//通信任务优化
void vCommTask(void *pvParameters)
{
// uint8_t uart_buf[64];
while(1) {
// USART2_IRQHandler();
// // 非阻塞读取
// int16_t len = USART2_Receive(uart_buf, sizeof(uart_buf));
// if(len > 0) {
// // 协议解析
// if(parse_bluetooth_cmd(uart_buf, len)) {
// xQueueSend(xCmdQueue, &Bluetooth_data, 0);
// }
// }
//
// // 发送状态数据
// static uint32_t last_send = 0;
// if(xTaskGetTickCount() - last_send > pdMS_TO_TICKS(20)) {
// send_status_packet();
// last_send = xTaskGetTickCount();
// }
vTaskDelay(pdMS_TO_TICKS(5));
}
}
//人机界面任务
void vHmiTask(void *pvParameters)
{
OLED_Clear();
while(1) {
//OLED_ShowHexNum(1, 1, Bluetooth_data, 2);
OLED_ShowSignedNum(2, 1, L_Speed, 5);
OLED_ShowSignedNum(3, 1, R_Speed, 5);
OLED_ShowSignedNum(4, 1, pitch, 5);
OLED_ShowSignedNum(5, 1, roll, 5);
OLED_ShowSignedNum(6, 1, yaw, 5);
// // 双缓冲显示
// static uint8_t disp_buf[2][128];
// static uint8_t front = 0;
//
// // 后台准备数据
// prepare_display_data(disp_buf[1-front]);
//
// // 切换显示缓冲
// OLED_Refresh(disp_buf[front]);
// front = !front;
vTaskDelay(pdMS_TO_TICKS(100)); // 10Hz刷新
}
}
void EXTI9_5_IRQHandler(void)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if(EXTI_GetITStatus(EXTI_Line8) == SET) {
// 直接处理关键操作
Motor_QuickBrake();
// 发送快速通知
xTaskNotifyFromISR(xSafetyHandle,
1 << 0, // SAFETY_EVENT_OBSTACLE
eSetBits,
&xHigherPriorityTaskWoken);
EXTI_ClearITPendingBit(EXTI_Line8);
}
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
/* 添加缺失的函数实现 */
void Error_Handler(void)
{
OLED_ShowString(1, 1, "SYSTEM FAULT!");
}
///* MPU6050初始化状态检查 */
//void MPU_Init(void) {
// if(!MPU6050_Init()) {
// Error_Handler();
// }
//}
int main(void)
{
Hardware_Init();
// 创建RTOS对象
xAngleQueue = xQueueCreate(1, sizeof(float));
xCmdQueue = xQueueCreate(5, sizeof(int));
xMotorMutex = xSemaphoreCreateMutex();
xPidMutex = xSemaphoreCreateMutex();
// 确保互斥锁和队列创建成功
if (xMotorMutex == NULL || xAngleQueue == NULL || xCmdQueue == NULL || xPidMutex == NULL) {
// 处理创建失败的情况
Error_Handler();
}
// 初始释放互斥锁
xSemaphoreGive(xMotorMutex);
// 创建任务
xTaskCreate(vHardRealTimeTask, "Ctrl", 256, NULL, TASK_PRIO_HARD_REAL_TIME, &xHardRealTimeHandle);
xTaskCreate(vSafetyTask, "Safety", 192, NULL, TASK_PRIO_SAFETY, &xSafetyHandle);
xTaskCreate(vSensorFusionTask, "Sensor", 384, NULL, TASK_PRIO_SENSOR, &xSensorFusionHandle);
xTaskCreate(vCommTask, "Comm", 256, NULL, TASK_PRIO_COMM, &xCommHandle);
xTaskCreate(vHmiTask, "HMI", 192, NULL, TASK_PRIO_HMI, &xHmiHandle);
// 启动调度器
vTaskStartScheduler();
// 故障处理
while(1) {
Error_Handler();
}
}
