ucos系统死机问题求助

mdxlz · 发表于 2017-9-30 23:46:10

用原子哥的ucos改写了飞控程序，但是这两天出现了死机跟程序初始化运行不下去的问题，导致飞机惨炸。有时候初始化程序都运行不下去，有时候运行下去了之后，程序就死机了。试过改变中断优先级，任务优先级，堆栈大小。都没能找出bug。

这是初始化程序

这里是中断优先级

这里是任务

各个任务的优先级跟堆栈大小

还有每个中断里面都加了这两兄弟OSIntEnter(); OSIntExit(); 然而实在找不出问题了，求大神解答！！！

mdxlz · 发表于 2017-9-30 23:46:11

// USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
找到bug了，把串口一的接收中断开启注释掉就可以了
不过我只是用串口一来把姿态数据传输到电脑上，并没有用到接收中断，这个问题导致的死机有点奇怪了。

mdxlz · 发表于 2017-9-30 23:52:51

Delay_init();       //ÑÓÊ±³õÊ¼»¯
NVIC_Configuration();    //ÉèÖÃNVICÖÐ¶Ï·Ö×é2:2Î»ÇÀÕ¼ÓÅÏÈ¼¶£¬2Î»ÏìÓ¦ÓÅÏÈ¼¶
LED_Init();
TIM_PWM_Init(2499,71);
TIM2_Cap_Init(0xffff,71); //ÒÔ1MhzµÄÆµÂÊ¼ÆÊý
Init_USART1(115200);
Init_USART3(115200); //´®¿Ú¹âÁ÷
MYDMA_Config(DMA1_Channel4,(u32)&USART1->DR);
     USART_DMACmd(USART1,USART_DMAReq_Tx,ENABLE); //Ê¹ÄÜ´®¿Ú1µÄDMA·¢ËÍ
Ultrasonic_Init();
SPI1_INIT();
while(!NRF_CHECK())
{
LED0=0;
LED1=0;
Delay_ms(100);
LED0=1;
LED1=1;
Delay_ms(100);
}
NRF24L01_INIT();
SetRX_Mode();
NRF_GPIO_Interrupt_Init();
MPU_IIC_Init();
MPU6050_Init();
MPU6050_Interrupt_Init();
while(!w_and_angle.angle_yaw||w_and_angle.angle_yaw>161) //µÈ´ýangle_rollºÍangle_yawÎÈ¶¨
{
LED1=0;
LED0=0;
Delay_ms(300);
LED1=1;
LED0=1;
Delay_ms(300);
}
Angle_Yaw_Flag=w_and_angle.angle_yaw;
iwdg_init();

mdxlz · 发表于 2017-9-30 23:54:19

NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //ÉèÖÃNVICÖÐ¶Ï·Ö×é2:2Î»ÇÀÕ¼ÓÅÏÈ¼¶£¬2Î»ÏìÓ¦ÓÅÏÈ¼¶

/* ¿ªÆôÍâ²¿ÖÐ¶Ï, 2¼¶ÏÈÕ¼ÓÅÏÈ¼¶£¬2¼¶ºóÕ¼ÓÅÏÈ¼¶£¬nRFÐÅºÅ½ÓÊÕÖÐ¶Ï */
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* ¿ªÆôÍâ²¿ÖÐ¶Ï, 0¼¶ÏÈÕ¼ÓÅÏÈ¼¶£¬0¼¶ºóÕ¼ÓÅÏÈ¼¶£¬6050Êý¾Ý½ÓÊÕÖÐ¶Ï */
NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

///ÏÂÃæ½øÐÐ´®¿ÚÖÐ¶ÏNVICÅäÖÃ
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority= 0 ;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQÍ¨µÀÊ¹ÄÜ
NVIC_Init(&NVIC_InitStructure);
/* ¿ªÆô²¶»ñÖÐ¶Ï, 0¼¶ÏÈÕ¼ÓÅÏÈ¼¶£¬0¼¶ºóÕ¼ÓÅÏÈ¼¶£¬³¬Éù²¨²¶»ñÐÅºÅÖÐ¶Ï*/
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;  //TIM2ÖÐ¶Ï
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

mdxlz · 发表于 2017-9-30 23:54:39

OSTaskCreate(Debug_task,(void *)0,(OS_STK*)&Debug_TASK_STK[Debug_STK_SIZE-1],Debug_TASK_PRIO);
OSTaskCreate(led_task,(void *)0,(OS_STK*)&LED_TASK_STK[LED_STK_SIZE-1],LED_TASK_PRIO);
OSTaskCreate(PID_PWM_task,(void *)0,(OS_STK*)&PID_PWM_TASK_STK[PID_PWM_STK_SIZE-1],PID_PWM_TASK_PRIO);
// OSTaskCreate(MS5611_task,(void *)0,(OS_STK*)&MS5611_TASK_STK[MS5611_STK_SIZE-1],MS5611_TASK_PRIO);
OSTaskCreate(Ultrasonic_task,(void *)0,(OS_STK*)&Ultrasonic_TASK_STK[Ultrasonic_STK_SIZE-1],Ultrasonic_TASK_PRIO);

mdxlz · 发表于 2017-9-30 23:56:51

#define Debug_TASK_PRIO    6
#define Debug_STK_SIZE            128

#define LED_TASK_PRIO    8
#define LED_STK_SIZE            32

#define PID_PWM_TASK_PRIO    3
#define PID_PWM_STK_SIZE            64

#define Ultrasonic_TASK_PRIO    2
#define Ultrasonic_STK_SIZE            64