stm32cubemx 版本5.6.0
keil版本5.29.0
freertos.c中代码
/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
#include "can.h"
#include "gpio.h"
#include "KincoServo.h"
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.priority = (osPriority_t) osPriorityNormal,
.stack_size = 128 * 4
};
osThreadId_t myTask02_LedHandle;
const osThreadAttr_t myTask02_Led_attributes = {
.name = "myTask02_Led",
.priority = (osPriority_t) osPriorityLow,
.stack_size = 128 * 4
};
osThreadId_t myTask03_MotorHandle;
const osThreadAttr_t myTask03_Motor_attributes = {
.name = "myTask03_Motor",
.priority = (osPriority_t) osPriorityLow,
.stack_size = 128 * 4
};
osThreadId_t myTask04_CanTxHandle;
const osThreadAttr_t myTask04_CanTx_attributes = {
.name = "myTask04_CanTx",
.priority = (osPriority_t) osPriorityLow,
.stack_size = 128 * 4
};
osMessageQueueId_t myQueue01Handle;
const osMessageQueueAttr_t myQueue01_attributes = {
.name = "myQueue01"
};
void StartDefaultTask(void *argument);
void StartTask02_LedFunction(void *argument);
void StartTask03_MotorFunction(void *argument);
void StartTask04_CanTxFunction(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
void MX_FREERTOS_Init(void) {
myQueue01Handle = osMessageQueueNew (16, sizeof(uint16_t), &myQueue01_attributes);
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
myTask02_LedHandle = osThreadNew(StartTask02_LedFunction, NULL, &myTask02_Led_attributes);
myTask03_MotorHandle = osThreadNew(StartTask03_MotorFunction, NULL, &myTask03_Motor_attributes);
myTask04_CanTxHandle = osThreadNew(StartTask04_CanTxFunction, NULL, &myTask04_CanTx_attributes);
}
void StartDefaultTask(void *argument)
{
for(;;)
{
osDelay(1);
}
}
void StartTask02_LedFunction(void *argument)
{
for(;;)
{
HAL_GPIO_TogglePin(LED0_GPIO_Port,LED0_Pin);
osDelay(1000);
HAL_GPIO_TogglePin(LED1_GPIO_Port,LED1_Pin);
}
}
void StartTask03_MotorFunction(void *argument)
{
FindOrigin(1);
osDelay(2000);
GetStates(1);
SetInterpolationModeType();
osMessagePut(myQueue01Handle,1,osWaitForever);
for(;;)
{
osDelay(1);
}
}
void StartTask04_CanTxFunction(void *argument)
{
for(;;)
{
osDelay(1);
}
}
敲代码的时候 能自动补全,也没有报错 osMessagePut(myQueue01Handle,1,osWaitForever);
但编译的时候报错了 ,提示没有定义
test\test.axf: Error: L6218E: Undefined symbol osMessagePut (referred from freertos.o).
问题解决,是cube中cmsisi库版本的问题V1和V2版本对osMessagePut等函数定义不同,v1版本没这个问题