Motion_EC_Stm32_archived/Core/Src/freertos.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */     
#include "iwdg.h"
#include "gpio.h"
#include "usart.h"
#include "stdio.h"
#include "navikit.h"
#include "coulomb.h"
#include "stdbool.h"
#include "adc.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .priority = (osPriority_t) osPriorityNormal,
  .stack_size = 128 * 4
};
/* Definitions for LedBlinkTask */
osThreadId_t LedBlinkTaskHandle;
const osThreadAttr_t LedBlinkTask_attributes = {
  .name = "LedBlinkTask",
  .priority = (osPriority_t) osPriorityLow,
  .stack_size = 128 * 4
};
/* Definitions for IWDGRefreshTask */
osThreadId_t IWDGRefreshTaskHandle;
const osThreadAttr_t IWDGRefreshTask_attributes = {
  .name = "IWDGRefreshTask",
  .priority = (osPriority_t) osPriorityHigh,
  .stack_size = 128 * 4
};
/* Definitions for EventDetect */
osThreadId_t EventDetectHandle;
const osThreadAttr_t EventDetect_attributes = {
  .name = "EventDetect",
  .priority = (osPriority_t) osPriorityLow,
  .stack_size = 128 * 4
};
/* Definitions for CoulombRead */
osThreadId_t CoulombReadHandle;
const osThreadAttr_t CoulombRead_attributes = {
  .name = "CoulombRead",
  .priority = (osPriority_t) osPriorityLow,
  .stack_size = 128 * 4
};
/* Definitions for StateSwitchTask */
osThreadId_t StateSwitchTaskHandle;
const osThreadAttr_t StateSwitchTask_attributes = {
  .name = "StateSwitchTask",
  .priority = (osPriority_t) osPriorityLow,
  .stack_size = 128 * 4
};
/* Definitions for PowerMonitTask */
osThreadId_t PowerMonitTaskHandle;
const osThreadAttr_t PowerMonitTask_attributes = {
  .name = "PowerMonitTask",
  .priority = (osPriority_t) osPriorityLow,
  .stack_size = 128 * 4
};
/* Definitions for uartQueue */
osMessageQueueId_t uartQueueHandle;
const osMessageQueueAttr_t uartQueue_attributes = {
  .name = "uartQueue"
};
/* Definitions for uartMutex */
osMutexId_t uartMutexHandle;
const osMutexAttr_t uartMutex_attributes = {
  .name = "uartMutex"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void StartLedBlinkTask(void *argument);
void StartIWDGRefreshTask(void *argument);
void StartEventDetect(void *argument);
void StartCoulombRead(void *argument);
void StartStateSwitchTask(void *argument);
void StartPowerMonitTask(void *argument);

extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* Hook prototypes */
void vApplicationIdleHook(void);
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);

/* USER CODE BEGIN 2 */
__weak void vApplicationIdleHook( void )
{
   /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
   to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
   task. It is essential that code added to this hook function never attempts
   to block in any way (for example, call xQueueReceive() with a block time
   specified, or call vTaskDelay()). If the application makes use of the
   vTaskDelete() API function (as this demo application does) then it is also
   important that vApplicationIdleHook() is permitted to return to its calling
   function, because it is the responsibility of the idle task to clean up
   memory allocated by the kernel to any task that has since been deleted. */
}
/* USER CODE END 2 */

/* USER CODE BEGIN 4 */
__weak void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
{
   /* Run time stack overflow checking is performed if
   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
   called if a stack overflow is detected. */
}
/* USER CODE END 4 */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
       
  /* USER CODE END Init */
  /* Create the mutex(es) */
  /* creation of uartMutex */
  uartMutexHandle = osMutexNew(&uartMutex_attributes);

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* Create the queue(s) */
  /* creation of uartQueue */
  uartQueueHandle = osMessageQueueNew (256, sizeof(uint8_t), &uartQueue_attributes);

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of LedBlinkTask */
  LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);

  /* creation of IWDGRefreshTask */
  IWDGRefreshTaskHandle = osThreadNew(StartIWDGRefreshTask, NULL, &IWDGRefreshTask_attributes);

  /* creation of EventDetect */
  EventDetectHandle = osThreadNew(StartEventDetect, NULL, &EventDetect_attributes);

  /* creation of CoulombRead */
  CoulombReadHandle = osThreadNew(StartCoulombRead, NULL, &CoulombRead_attributes);

  /* creation of StateSwitchTask */
  StateSwitchTaskHandle = osThreadNew(StartStateSwitchTask, NULL, &StateSwitchTask_attributes);

  /* creation of PowerMonitTask */
  PowerMonitTaskHandle = osThreadNew(StartPowerMonitTask, NULL, &PowerMonitTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */

  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used 
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
  HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
   Beep(50);


  /* Infinite loop */
  for(;;)
  {
	osDelay(1000);
	 printf("Time:[%f s]; OUT_24:[%f V]; OUT_5:[%f V]; OUT_12:[%f V]; BKP_BAT:[%f V]; MAIN_PWR:[%f V]\n",(float)(osKernelGetTickCount()/1000.0),NaviKit.pmb.rails.out_24v,NaviKit.pmb.rails.out_5v,NaviKit.pmb.rails.out_12v,NaviKit.pmb.rails.bkp_bat,NaviKit.pmb.rails.main_pwr);

  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_StartLedBlinkTask */
/**
* @brief Function implementing the LedBlinkTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartLedBlinkTask */
void StartLedBlinkTask(void *argument)
{
  /* USER CODE BEGIN StartLedBlinkTask */
  /* Infinite loop */
	for(;;)
	{
		switch(NaviKit.sys.sta){
		case runing:
    {
      if(HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin))
        HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);//turn on power led
    
      if(HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin) == GPIO_PIN_SET)//sys run led is off
      {
        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on sys run led
        osDelay(50);
      }
      else
      {
        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
        osDelay(300);
      }
    }break;
		case shutdown:
    {
      if(!HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin))
        HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);//turn off power led

      if(HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin) == GPIO_PIN_SET)//sys run led is off
      {
        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on sys run led
        osDelay(20);
      }
      else
      {
        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
        osDelay(2000);
      }
    }break;
		case sleep:
    {//sleep mode
      for(uint16_t i=0;i<25;i++)
      {//20 light level
          for(uint16_t j=0;j<3;j++)
          {//the time length of every light level 
              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);
              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);
              osDelay(i);
              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);
              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);
              osDelay(25-i);
          } 
      }
      for(uint16_t i=0;i<25;i++)
      {
          for(uint16_t j=0;j<3;j++)
          {
              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);
              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);
              osDelay(25-i);
              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);
              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);
              osDelay(i);
          } 
      }
      
    }break;
		case dfu:
		{
			  if(HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin) == GPIO_PIN_SET)//power led is off
			  {
				HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);//turn on power led
				HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on run led
				osDelay(300);
			  }
			  else
			  {
				HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
				HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off run led
				osDelay(300);
			  }
		}
  }
	}
  /* USER CODE END StartLedBlinkTask */
}

/* USER CODE BEGIN Header_StartIWDGRefreshTask */
/**
* @brief Function implementing the IWDGRefreshTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartIWDGRefreshTask */
void StartIWDGRefreshTask(void *argument)
{
  /* USER CODE BEGIN StartIWDGRefreshTask */
  /* Infinite loop */
  for(;;)
  {
	HAL_IWDG_Refresh(&hiwdg);
//	printf("2\n");
	osDelay(1000);
  }
  /* USER CODE END StartIWDGRefreshTask */
}

/* USER CODE BEGIN Header_StartEventDetect */
/**
* @brief Function implementing the EventDetect thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartEventDetect */
void StartEventDetect(void *argument)
{
  /* USER CODE BEGIN StartEventDetect */
	osDelay(100);
  if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port,SYS_CUSTOM_BTN_Pin) == GPIO_PIN_RESET)
  {
      printf("Custom button has been pushed. \n");
      NaviKit.sys.next_sta = isp;
  }
  /* Infinite loop */
  for(;;)
  {

	  if(NaviKit.sys.power_btn == true)
	  {//power btn has been pushed
		  uint8_t count =0;
		  while(NaviKit.sys.power_btn && count<=10){
			  osDelay(100);
			  count ++;
		  }
		  if(count >10)
		  {//power btn has been pushed more than 1000 ms
		// while(NaviKit.sys.power_btn == true);//wait to release button
			  switch(NaviKit.sys.sta){
				  case runing:{//system is runing now, user request to shutdown
					  NaviKit.sys.next_sta = shutdown;
				  }break;
				  case shutdown:{//system is shutdown now , user request to power on
					  NaviKit.sys.next_sta = runing;
				  }break;
				  case dfu:{
					  NaviKit.sys.next_sta = shutdown;
				  }break;
				  case sleep:{
					  NaviKit.sys.next_sta = runing;
				  }break;
			  }
		  }
	  else
	  {
		  //sleep mode is unused
	//    	  if(NaviKit.sys.sta == runing)
	//          NaviKit.sys.sta = sleep;
	//    	  else if(NaviKit.sys.sta == sleep)
	//          NaviKit.sys.sta = runing;
	  }
	  }
	  if(NaviKit.sys.custom_btn == true )
	  {//custom button has been pushed
		  uint8_t count =0;
		  while(NaviKit.sys.custom_btn  && count<=10){
			  osDelay(100);
			  count ++;
		  }
		  if(count > 20 )
		  {//custom button has been pushed over 1000 ms
			  if((NaviKit.sys.power_btn == true) && (NaviKit.sys.sta == shutdown))//into dfu state
				  NaviKit.sys.next_sta = dfu;
			  else//TODO: force restart
				  NaviKit.sys.next_sta = shutdown;
//			  if(NaviKit.sys.sta == runing)
//				  NaviKit.sys.next_sta = shutdown;
//			  else if(NaviKit.sys.sta == shutdown)
//				  NaviKit.sys.next_sta = runing;
		  }
	  }

  osDelay(10);
  }
  /* USER CODE END StartEventDetect */
}

/* USER CODE BEGIN Header_StartCoulombRead */
/**
* @brief Function implementing the CoulombRead thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartCoulombRead */
void StartCoulombRead(void *argument)
{
  /* USER CODE BEGIN StartCoulombRead */
	//写寄存器方法
  coulomb_write_config_load();
  coulomb_write_config_actual_to_raw();
  coulomb_write_config();
  //读寄存器方法
  coulomb_read_status_and_config();
  coulomb_read_status_raw_to_actual();
  coulomb_read_config_raw_to_actual();

  /* Infinite loop */
  for(;;)
  {
    coulomb_read_status_and_config();
    coulomb_read_status_raw_to_actual();
	  if(NaviKit.sys.sta == runing)
		  osDelay(500);
	  else
		  osDelay(5000);
  }
  /* USER CODE END StartCoulombRead */
}

/* USER CODE BEGIN Header_StartStateSwitchTask */
/**
* @brief Function implementing the StateSwitchTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartStateSwitchTask */
void StartStateSwitchTask(void *argument)
{
  /* USER CODE BEGIN StartStateSwitchTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(10);
	  if(NaviKit.sys.next_sta != NaviKit.sys.sta)
	  {
		  switch(NaviKit.sys.next_sta)
		  {
			  case shutdown:
			  {//only from runing state
          if(NaviKit.sys.sta == runing)
            enter_shutdown_state();
          }break;
			  case runing:
			  {//from sleep and shutdown state
          enter_runing_state();
          }break;
			  case sleep:
			  {//only form runing state
          if(NaviKit.sys.sta == runing)
            enter_sleep_state();

          }break;
			  case dfu:
			  {
				  enter_dfu_state();
			  }break;
        case isp:
        {
          enter_isp_state();
        }break;
		  }
		  NaviKit.sys.sta = NaviKit.sys.next_sta;
	  }
  }
  /* USER CODE END StartStateSwitchTask */
}

/* USER CODE BEGIN Header_StartPowerMonitTask */
/**
* @brief Function: Monit som power status and PMB status
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartPowerMonitTask */
void StartPowerMonitTask(void *argument)
{
  /* USER CODE BEGIN StartPowerMonitTask */
	HAL_ADCEx_Calibration_Start(&hadc1);
	HAL_ADC_Start_DMA(&hadc1, &(NaviKit.pmb.rails.adc), ADC_CH_COUNT);
  /* Infinite loop */
  for(;;)
  {
//    osDelay(1000);
  // printf("out_24v: %f \n",NaviKit.pmb.out_24v_div16);
  // printf("out_5v: %f \n",NaviKit.pmb.out_5v_div8);
  // printf("out_12v: %f \n",NaviKit.pmb.out_12v_div8);
  // printf("bkp_bat: %f \n",NaviKit.pmb.bkp_bat_div8);
  // printf("main_pwr: %f \n",NaviKit.pmb.main_pwr_div16);




    //    //module request to stop
    //    if(HAL_GPIO_ReadPin(SOM_SHUTDOWN_REQ_GPIO_Port,SOM_SHUTDOWN_REQ_Pin) == GPIO_PIN_SET)
    //    {
    //      //1.the last step of normal power off process
    //      //2.Thermal shutdown
    //      //3.vdd_in's wave more than 5% of 5.0V
    //
    //
    //      HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port,SOM_POWER_EN_Pin,GPIO_PIN_RESET);
    //    }

  }
  /* USER CODE END StartPowerMonitTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */




//printf redefine
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
PUTCHAR_PROTOTYPE
{

	while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
  return ch;
}
#endif
/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/