A8：任务骨架与调度（5 个任务、两把锁）
需求 §10.3 落地。四件事： 1. 五任务表（tasks.c）：周期与优先级写在一张 const 表里，开机自检查的是 相对顺序（safety 唯一最高、log 唯一最低、thermal 与 actuator 同级）， 外加「巡检周期必须长于 INA226 一帧转换 8.8 ms」。不过就 abort。 2. 节拍器（sched.c）：记下一次该醒的绝对时刻，回绕安全（int32_t 差判先后）。 过载时跳过错过的整周期、保住相位，不补跑。 3. 两把锁（hal_lock）：I²C 与 74HC595，禁止嵌套持有 —— 这块板上两者没有交集， 「拿着 A 去拿 B」永远是写错了。ESP 侧用 mutex 取优先级继承。 4. t_safety 的一个周期：拿锁 → 6 片 INA226 的 V+I + PCA9555 两端口 → 放锁。 不死等锁（5 ms 超时就跳过这圈），一片读失败不中断整圈、保留上一圈的值。 I²C 占用由 HAL 按线上真实字节数记账（两个目标同一份代码），静态预算与实测 必须相等：一次寄存器读 48 位，一圈 13 次事务 = 1560 µs / 20 ms = 7.8 %， 与 §10.3 手算的「约 1.5 ms / 约 8 %」相符（本节的 46 位没数 STOP 和重复 START）。 sim 侧配套两样：假 I²C 事务真的把虚拟时钟花掉（否则时序测试是空话）， 以及可强制的加锁纪律检查（配一条反向测试，防止检查本身失灵）。 11 条 ctest（161 例）全绿，idf.py build 通过；16 个注错实验全部变红。 Co-Authored-By: Claude Opus 5 <[email protected]>
这个提交包含在：
zhou yang
@@ -1,114 +1,120 @@
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/* I²C 的 ESP-IDF v5.4 实现（新版 i2c_master 驱动，不是已废弃的 driver/i2c.h）。 */
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#include <string.h>
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#include "driver/i2c_master.h"
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#include "hal_i2c.h"
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#define I2C_XFER_TIMEOUT_MS 50
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#define I2C_DEFAULT_FREQ_HZ 400000
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static i2c_master_bus_handle_t s_bus;
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static i2c_master_dev_handle_t s_devs[128]; /* 按 7 位地址索引，用到才建 */
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static uint32_t s_freq_hz;
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static hal_err_t map_err(esp_err_t e)
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{
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switch (e) {
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case ESP_OK: return HAL_OK;
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case ESP_ERR_INVALID_ARG: return HAL_ERR_ARG;
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case ESP_ERR_INVALID_STATE: return HAL_ERR_STATE;
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case ESP_ERR_TIMEOUT: return HAL_ERR_TIMEOUT;
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case ESP_ERR_NOT_FOUND: return HAL_ERR_NAK;
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case ESP_FAIL: return HAL_ERR_NAK; /* 从机没 ACK 走这条 */
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default: return HAL_ERR_BUS;
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}
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}
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hal_err_t hal_i2c_init(const hal_i2c_cfg_t *cfg)
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{
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if (cfg == NULL || cfg->sda_gpio < 0 || cfg->scl_gpio < 0) {
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return HAL_ERR_ARG;
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}
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if (s_bus != NULL) {
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return HAL_OK; /* 幂等 */
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}
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i2c_master_bus_config_t bc = {
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.i2c_port = -1, /* 自动选口 */
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.sda_io_num = (gpio_num_t)cfg->sda_gpio,
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.scl_io_num = (gpio_num_t)cfg->scl_gpio,
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.glitch_ignore_cnt = 7,
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/* 板上已有 4.7 kΩ 外部上拉（设计文档 §8.2），内部上拉 45 kΩ 太弱，
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开着只会掩盖「上拉电阻漏焊」这类问题。 */
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.flags.enable_internal_pullup = false,
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};
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esp_err_t e = i2c_new_master_bus(&bc, &s_bus);
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if (e != ESP_OK) {
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return map_err(e);
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}
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s_freq_hz = cfg->freq_hz != 0 ? cfg->freq_hz : I2C_DEFAULT_FREQ_HZ;
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return HAL_OK;
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}
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static hal_err_t dev_of(uint8_t addr, i2c_master_dev_handle_t *out)
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{
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if (s_bus == NULL) {
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return HAL_ERR_STATE;
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}
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if (addr > 0x7f) {
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return HAL_ERR_ARG;
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}
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if (s_devs[addr] == NULL) {
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i2c_device_config_t dc = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = addr,
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.scl_speed_hz = s_freq_hz,
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};
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esp_err_t e = i2c_master_bus_add_device(s_bus, &dc, &s_devs[addr]);
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if (e != ESP_OK) {
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return map_err(e);
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}
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}
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*out = s_devs[addr];
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return HAL_OK;
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}
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hal_err_t hal_i2c_write(uint8_t addr, const uint8_t *data, size_t len)
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{
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i2c_master_dev_handle_t dev;
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hal_err_t err = dev_of(addr, &dev);
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if (err != HAL_OK) {
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return err;
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}
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return map_err(i2c_master_transmit(dev, data, len, I2C_XFER_TIMEOUT_MS));
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}
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hal_err_t hal_i2c_read(uint8_t addr, uint8_t *data, size_t len)
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{
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i2c_master_dev_handle_t dev;
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hal_err_t err = dev_of(addr, &dev);
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if (err != HAL_OK) {
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return err;
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}
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return map_err(i2c_master_receive(dev, data, len, I2C_XFER_TIMEOUT_MS));
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}
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hal_err_t hal_i2c_write_read(uint8_t addr, const uint8_t *wr, size_t wr_len,
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uint8_t *rd, size_t rd_len)
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{
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i2c_master_dev_handle_t dev;
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hal_err_t err = dev_of(addr, &dev);
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if (err != HAL_OK) {
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return err;
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}
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return map_err(i2c_master_transmit_receive(dev, wr, wr_len, rd, rd_len,
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I2C_XFER_TIMEOUT_MS));
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}
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hal_err_t hal_i2c_probe(uint8_t addr)
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{
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if (s_bus == NULL) {
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return HAL_ERR_STATE;
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}
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return map_err(i2c_master_probe(s_bus, addr, I2C_XFER_TIMEOUT_MS));
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}
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/* I²C 的 ESP-IDF v5.4 实现（新版 i2c_master 驱动，不是已废弃的 driver/i2c.h）。 */
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#include <string.h>
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#include "driver/i2c_master.h"
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#include "hal_i2c.h"
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#include "hal_i2c_acct.h"
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#define I2C_XFER_TIMEOUT_MS 50
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#define I2C_DEFAULT_FREQ_HZ 400000
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static i2c_master_bus_handle_t s_bus;
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static i2c_master_dev_handle_t s_devs[128]; /* 按 7 位地址索引，用到才建 */
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static uint32_t s_freq_hz;
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static hal_err_t map_err(esp_err_t e)
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{
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switch (e) {
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case ESP_OK: return HAL_OK;
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case ESP_ERR_INVALID_ARG: return HAL_ERR_ARG;
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case ESP_ERR_INVALID_STATE: return HAL_ERR_STATE;
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case ESP_ERR_TIMEOUT: return HAL_ERR_TIMEOUT;
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case ESP_ERR_NOT_FOUND: return HAL_ERR_NAK;
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case ESP_FAIL: return HAL_ERR_NAK; /* 从机没 ACK 走这条 */
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default: return HAL_ERR_BUS;
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}
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}
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hal_err_t hal_i2c_init(const hal_i2c_cfg_t *cfg)
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{
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if (cfg == NULL || cfg->sda_gpio < 0 || cfg->scl_gpio < 0) {
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return HAL_ERR_ARG;
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}
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if (s_bus != NULL) {
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return HAL_OK; /* 幂等 */
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}
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i2c_master_bus_config_t bc = {
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.i2c_port = -1, /* 自动选口 */
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.sda_io_num = (gpio_num_t)cfg->sda_gpio,
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.scl_io_num = (gpio_num_t)cfg->scl_gpio,
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.glitch_ignore_cnt = 7,
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/* 板上已有 4.7 kΩ 外部上拉（设计文档 §8.2），内部上拉 45 kΩ 太弱，
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开着只会掩盖「上拉电阻漏焊」这类问题。 */
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.flags.enable_internal_pullup = false,
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};
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esp_err_t e = i2c_new_master_bus(&bc, &s_bus);
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if (e != ESP_OK) {
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return map_err(e);
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}
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s_freq_hz = cfg->freq_hz != 0 ? cfg->freq_hz : I2C_DEFAULT_FREQ_HZ;
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hal_i2c_acct_set_freq(s_freq_hz); /* 占用核算按真实速率折算，见 hal_i2c_acct.h */
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return HAL_OK;
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}
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static hal_err_t dev_of(uint8_t addr, i2c_master_dev_handle_t *out)
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{
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if (s_bus == NULL) {
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return HAL_ERR_STATE;
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}
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if (addr > 0x7f) {
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return HAL_ERR_ARG;
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}
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if (s_devs[addr] == NULL) {
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i2c_device_config_t dc = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = addr,
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.scl_speed_hz = s_freq_hz,
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};
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esp_err_t e = i2c_master_bus_add_device(s_bus, &dc, &s_devs[addr]);
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if (e != ESP_OK) {
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return map_err(e);
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}
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}
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*out = s_devs[addr];
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return HAL_OK;
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}
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hal_err_t hal_i2c_write(uint8_t addr, const uint8_t *data, size_t len)
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{
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i2c_master_dev_handle_t dev;
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hal_err_t err = dev_of(addr, &dev);
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if (err != HAL_OK) {
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return err;
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}
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hal_i2c_acct_add(len, 0);
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return map_err(i2c_master_transmit(dev, data, len, I2C_XFER_TIMEOUT_MS));
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}
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hal_err_t hal_i2c_read(uint8_t addr, uint8_t *data, size_t len)
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{
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i2c_master_dev_handle_t dev;
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hal_err_t err = dev_of(addr, &dev);
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if (err != HAL_OK) {
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return err;
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}
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hal_i2c_acct_add(0, len);
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return map_err(i2c_master_receive(dev, data, len, I2C_XFER_TIMEOUT_MS));
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}
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hal_err_t hal_i2c_write_read(uint8_t addr, const uint8_t *wr, size_t wr_len,
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uint8_t *rd, size_t rd_len)
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{
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i2c_master_dev_handle_t dev;
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hal_err_t err = dev_of(addr, &dev);
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if (err != HAL_OK) {
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return err;
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}
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hal_i2c_acct_add(wr_len, rd_len);
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return map_err(i2c_master_transmit_receive(dev, wr, wr_len, rd, rd_len,
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I2C_XFER_TIMEOUT_MS));
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}
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hal_err_t hal_i2c_probe(uint8_t addr)
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{
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if (s_bus == NULL) {
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return HAL_ERR_STATE;
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}
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hal_i2c_acct_add(0, 0);
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return map_err(i2c_master_probe(s_bus, addr, I2C_XFER_TIMEOUT_MS));
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}
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@@ -0,0 +1,65 @@
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/* 两把互斥锁的 FreeRTOS 实现。静态分配（`xSemaphoreCreateMutexStatic`）——
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两把锁的数量是编译期定死的，没有理由去堆上要内存，也就没有「创建失败」这条路径。
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⚠️ 用的是 mutex 不是 binary semaphore：mutex 有**优先级继承**。
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t_safety 是最高优先级且每 20 ms 就要总线，低优先级的 t_link 拿着 I²C 锁去读遥测时
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如果没有继承，t_safety 会被一个中优先级任务无限期挡在门外（经典优先级反转）。 */
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/task.h"
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#include "hal_lock.h"
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static StaticSemaphore_t s_buf[HAL_LOCK_COUNT];
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static SemaphoreHandle_t s_mtx[HAL_LOCK_COUNT];
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static uint32_t s_timeouts[HAL_LOCK_COUNT];
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hal_err_t hal_lock_init(void)
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{
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for (int i = 0; i < HAL_LOCK_COUNT; i++) {
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if (s_mtx[i] == NULL) {
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s_mtx[i] = xSemaphoreCreateMutexStatic(&s_buf[i]);
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s_timeouts[i] = 0;
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}
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}
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return HAL_OK;
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}
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bool hal_lock_held(hal_lock_id_t id)
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{
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if (id < 0 || id >= HAL_LOCK_COUNT || s_mtx[id] == NULL) {
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return false;
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}
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return xSemaphoreGetMutexHolder(s_mtx[id]) == xTaskGetCurrentTaskHandle();
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}
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hal_err_t hal_lock_take(hal_lock_id_t id, uint32_t timeout_ms)
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{
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if (id < 0 || id >= HAL_LOCK_COUNT || s_mtx[id] == NULL) {
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return HAL_ERR_STATE;
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}
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/* 已经持有 = 重复加锁；持有另一把 = 嵌套。两者都是写错了，见 hal_lock.h。 */
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for (int i = 0; i < HAL_LOCK_COUNT; i++) {
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if (hal_lock_held((hal_lock_id_t)i)) {
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return HAL_ERR_STATE;
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}
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}
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const TickType_t ticks =
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(timeout_ms == HAL_LOCK_FOREVER) ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
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if (xSemaphoreTake(s_mtx[id], ticks) != pdTRUE) {
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s_timeouts[id]++;
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return HAL_ERR_TIMEOUT;
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}
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return HAL_OK;
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}
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void hal_lock_give(hal_lock_id_t id)
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{
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configASSERT(id >= 0 && id < HAL_LOCK_COUNT && s_mtx[id] != NULL);
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configASSERT(hal_lock_held(id)); /* 不是自己拿的就别放 */
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(void)xSemaphoreGive(s_mtx[id]);
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}
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uint32_t hal_lock_timeouts(hal_lock_id_t id)
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{
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return (id >= 0 && id < HAL_LOCK_COUNT) ? s_timeouts[id] : 0;
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}
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在新工单中引用
屏蔽一个用户