修改cmsis_rtos的队列推送不会覆盖问题；keil工程.bin文件名生成更改；can.c:can_filter_none返回值修正

3 years ago · bc6128bad7
8 changed files with 65 additions and 29 deletions
--- a/App/freertos_action.c
+++ b/App/freertos_action.c
@ -4,6 +4,8 @@
				@@ -4,6 +4,8 @@
 extern uint32_t last_rev_usart1_tick;
 extern uint32_t last_rev_usart2_tick;

+osStatus_t handleQueuePutErrorResource(osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
+
 void task_usart_rev_action(void)
 {
    usart_data_t data = {0};
@ -100,7 +102,7 @@ void task_default_action(void)
				@@ -100,7 +102,7 @@ void task_default_action(void)
                send_data.id = UAVCAN_NODE_STATUS_DATA_TYPE_ID;
                uavcan_node_status_t data = {0};
                memcpy(&send_data.content.node_state, &data, sizeof(uavcan_node_status_t));
-                osMessageQueuePut(uavcan_send_queueHandle, &send_data, 0, 10);
+                myOsMessageQueuePut(uavcan_send_queueHandle, &send_data, 0, 10);
            }
        }
        osDelay(200);
@ -201,4 +203,40 @@ uint16_t min(uint16_t one, uint16_t two)
				@@ -201,4 +203,40 @@ uint16_t min(uint16_t one, uint16_t two)
    return one < two ? one : two;
 }

+osStatus_t myOsMessageQueuePut(osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout)
+{
+    osStatus_t osStatus = osMessageQueuePut(mq_id, msg_ptr, msg_prio, timeout);
+    switch (osStatus)
+    {
+    case osOK:
+        return osOK;
+    case osErrorTimeout:
+        return osErrorTimeout;
+    case osErrorResource:
+        return handleQueuePutErrorResource(mq_id, msg_ptr, msg_prio, timeout);
+    case osErrorParameter:
+        return osMessageQueuePut(mq_id, msg_ptr, msg_prio, 0);
+    default:
+        return osError;
+    }
+}

+osStatus_t handleQueuePutErrorResource(osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout)
+{
+    uint32_t size = osMessageQueueGetMsgSize(mq_id);
+    if (size <= 0)
+    {
+        size = 100;
+    }
+    uint8_t *temp = pvPortMalloc(size);
+    osStatus_t osStatus = osMessageQueueGet(mq_id, temp, &msg_prio, timeout);
+    osStatus = myOsMessageQueuePut(mq_id, temp, msg_prio, timeout);
+    vPortFree(temp);
+    // osMemoryPoolId_t mpid_MemPool = osMemoryPoolNew(1, size, NULL);
+    // uint8_t *temp = osMemoryPoolAlloc(mpid_MemPool, 0);
+    // osStatus_t osStatus = osMessageQueueGet(mq_id, temp, &msg_prio, timeout);
+    // osStatus = myOsMessageQueuePut(mq_id, temp, msg_prio, timeout);
+    // osStatus = osMemoryPoolFree(mpid_MemPool, temp);
+    // osStatus = osMemoryPoolDelete(mpid_MemPool);
+    return osStatus;
+}
--- a/App/freertos_action.h
+++ b/App/freertos_action.h
@ -27,7 +27,7 @@ void task_usart2_rev_action(void);
				@@ -27,7 +27,7 @@ void task_usart2_rev_action(void);
 void task_usart_send(void);
 void task_proximity(void);
 uint16_t min(uint16_t one, uint16_t two);
-
+osStatus_t myOsMessageQueuePut(osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
 #ifdef __cplusplus
 }
 #endif
--- a/BSP/bsp_common.c
+++ b/BSP/bsp_common.c
@ -56,7 +56,7 @@ void avtion_do_can_back(CAN_HandleTypeDef *hcan)
				@@ -56,7 +56,7 @@ void avtion_do_can_back(CAN_HandleTypeDef *hcan)
    {
        if (uavcan_rev_queueHandle != NULL)
        {
-            osStatus status = osMessageQueuePut(uavcan_rev_queueHandle, &can_rev, 0U, 0U);
+            osStatus status = myOsMessageQueuePut(uavcan_rev_queueHandle, &can_rev, 0U, 0U);
        }
    }
 }
@ -106,7 +106,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
				@@ -106,7 +106,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)

        if (usart_rev_queueHandle != NULL && msg.len > 0)
        {
-            osMessageQueuePut(usart_rev_queueHandle, &msg, NULL, 0U);
+            myOsMessageQueuePut(usart_rev_queueHandle, &msg, NULL, 0U);
        }

        memset(&hart1_rev_buff[0], 0, sizeof(hart1_rev_buff));
@ -128,7 +128,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
				@@ -128,7 +128,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)

        if (usart_rev_queueHandle != NULL && msg.len > 0)
        {
-            osMessageQueuePut(usart_rev_queueHandle, &msg, NULL, 0U);
+            myOsMessageQueuePut(usart_rev_queueHandle, &msg, NULL, 0U);
        }

        memset(&hart2_rev_buff[0], 0, sizeof(hart2_rev_buff));
--- a/BSP/insifhtica_QOAR1271.c
+++ b/BSP/insifhtica_QOAR1271.c
@ -84,14 +84,14 @@ void decode_ar1271(char c,uint8_t index){
				@@ -84,14 +84,14 @@ void decode_ar1271(char c,uint8_t index){
                {
                    if (proximity1_queueHandle != NULL)
                    {
-                        osMessageQueuePut(proximity1_queueHandle, &proximity_data, 0, 10);
+                        myOsMessageQueuePut(proximity1_queueHandle, &proximity_data, 0, 10);
                    }
                }
                else if (index == 2)
                {
                    if (proximity2_queueHandle != NULL)
                    {
-                        osMessageQueuePut(proximity2_queueHandle, &proximity_data, 0, 10);
+                        myOsMessageQueuePut(proximity2_queueHandle, &proximity_data, 0, 10);
                    }
                }
            }
@ -208,7 +208,7 @@ void data_process(void){
				@@ -208,7 +208,7 @@ void data_process(void){
            data.d315 = range_arr[7];
            if (proximity1_queueHandle != NULL)
            {
-                osMessageQueuePut(proximity1_queueHandle, &data, 0, 10);
+                myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10);
            }
            for (uint8_t i = 0; i < 8; i++)
            {
@ -317,7 +317,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
				@@ -317,7 +317,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
        send_data.data[1] = 0x11;
        send_data.data[2] = 0x02;
        send_data.data[3] = 0x4C;
-        osMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
+        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    case 2:
        
@ -326,7 +326,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
				@@ -326,7 +326,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
        send_data.data[1] = 0x31;
        send_data.data[2] = 0x03;
        send_data.data[3] = 0xE5;
-        osMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
+        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    case 3:

@ -336,7 +336,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
				@@ -336,7 +336,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
        send_data.data[2] = 0x02;
        send_data.data[3] = 0x01;
        send_data.data[4] = 0xDF;
-        osMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
+        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    case 4:

@ -346,7 +346,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
				@@ -346,7 +346,7 @@ void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
        send_data.data[2] = 0x03;
        send_data.data[3] = 0x03;
        send_data.data[4] = 0xC4;
-        osMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
+        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    default:
        break;
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@ -174,9 +174,6 @@ HAL_StatusTypeDef can_filter_none(void)
				@@ -174,9 +174,6 @@ HAL_StatusTypeDef can_filter_none(void)
  filter1.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0
  filter1.FilterActivation = ENABLE;

-  if (HAL_CAN_ConfigFilter(&hcan, &filter1) != HAL_OK)
-  {
-    Error_Handler();
-  }
+  return HAL_CAN_ConfigFilter(&hcan, &filter1);
 }
 /* USER CODE END 1 */
--- a/MDK-ARM/proximity_uavcan_converter.uvprojx
+++ b/MDK-ARM/proximity_uavcan_converter.uvprojx
@ -10,13 +10,13 @@
				@@ -10,13 +10,13 @@
      <TargetName>proximity_uavcan_converter</TargetName>
      <ToolsetNumber>0x4</ToolsetNumber>
      <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060750::V5.06 update 6 (build 750)::ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
      <uAC6>0</uAC6>
      <TargetOption>
        <TargetCommonOption>
          <Device>STM32F103T8</Device>
          <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
          <PackURL>http://www.keil.com/pack/</PackURL>
          <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
          <FlashUtilSpec></FlashUtilSpec>
@ -82,7 +82,7 @@
				@@ -82,7 +82,7 @@
          <AfterMake>
            <RunUserProg1>1</RunUserProg1>
            <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name>fromelf --bin -o "$Lpriximity.bin" "#L"</UserProg1Name>
+            <UserProg1Name>fromelf --bin -o "$Lzrzk.proxi.bin" "#L"</UserProg1Name>
            <UserProg2Name></UserProg2Name>
            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
@ -185,6 +185,7 @@
				@@ -185,6 +185,7 @@
            <uocXRam>0</uocXRam>
            <RvdsVP>0</RvdsVP>
            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
            <hadIRAM2>0</hadIRAM2>
            <hadIROM2>0</hadIROM2>
            <StupSel>8</StupSel>
@ -351,7 +352,7 @@
				@@ -351,7 +352,7 @@
            <NoWarn>0</NoWarn>
            <uSurpInc>0</uSurpInc>
            <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
            <VariousControls>
              <MiscControls></MiscControls>
              <Define></Define>
@ -565,7 +566,7 @@
				@@ -565,7 +566,7 @@
                <NoWarn>2</NoWarn>
                <uSurpInc>2</uSurpInc>
                <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                <VariousControls>
                  <MiscControls></MiscControls>
                  <Define></Define>
@ -1479,7 +1480,7 @@
				@@ -1479,7 +1480,7 @@
                <NoWarn>2</NoWarn>
                <uSurpInc>2</uSurpInc>
                <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                <VariousControls>
                  <MiscControls></MiscControls>
                  <Define></Define>
@ -1609,7 +1610,7 @@
				@@ -1609,7 +1610,7 @@
                <NoWarn>2</NoWarn>
                <uSurpInc>2</uSurpInc>
                <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                <VariousControls>
                  <MiscControls></MiscControls>
                  <Define></Define>
--- a/MDK-ARM/startup_stm32f103xb.lst
+++ b/MDK-ARM/startup_stm32f103xb.lst
@ -476,11 +476,11 @@ ARM Macro Assembler    Page 8
				@@ -476,11 +476,11 @@ ARM Macro Assembler    Page 8
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=proximity_uavcan_converter\startup_stm32f103xb.d -oproximity_uavca
 n_converter\startup_stm32f103xb.o -I..\Core\Inc -I.\RTE\_proximity_uavcan_conve
-rter -I"D:\Program Files (x86)\Keil_v5\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Inc
-lude" -I"D:\Program Files (x86)\Keil_v5\Arm\Packs\Keil\STM32F1xx_DFP\2.2.0\Devi
-ce\Include" --predefine="__UVISION_VERSION SETA 529" --predefine="_RTE_ SETA 1"
- --predefine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32
-f103xb.s
+rter -IC:\Users\ZRZK\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include
+ -IC:\Users\ZRZK\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Includ
+e --predefine="__UVISION_VERSION SETA 536" --predefine="_RTE_ SETA 1" --predefi
+ne="STM32F10X_MD SETA 1" --predefine="_RTE_ SETA 1" --list=startup_stm32f103xb.
+lst startup_stm32f103xb.s



--- a/UAVCAN/uavcan.c
+++ b/UAVCAN/uavcan.c
@ -457,7 +457,7 @@ void send_uavcan_proximity(uavcan_proximity_t *data)
				@@ -457,7 +457,7 @@ void send_uavcan_proximity(uavcan_proximity_t *data)
    {
        msg.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
        memcpy(&msg.content.proximity, data, sizeof(uavcan_proximity_t));
-        osMessageQueuePut(uavcan_send_queueHandle, &msg, NULL, 10U);
+        myOsMessageQueuePut(uavcan_send_queueHandle, &msg, NULL, 10U);
    }
 }