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 uartQueueTask */
osThreadId_t uartQueueTaskHandle;
const osThreadAttr_t uartQueueTask_attributes = {
  .name = "uartQueueTask",
  .priority = (osPriority_t) osPriorityLow,
  .stack_size = 128 * 4
};
/* Definitions for uartQueue */
osMessageQueueId_t uartQueueHandle;
const osMessageQueueAttr_t uartQueue_attributes = {
  .name = "uartQueue"
};

/* 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);
void StartUartQueueTask(void *argument);

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

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
       
  /* USER CODE END Init */

  /* 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 (128, 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);

  /* creation of uartQueueTask */
  uartQueueTaskHandle = osThreadNew(StartUartQueueTask, NULL, &uartQueueTask_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);

   osDelay(100);
   osDelay(100);
   printf("\nCore initial successfully\n");
   printf("---------------------------------------------\n");
   printf("Copyright (c) Powered by www.autolabor.com.cn\n");
   printf("BIOS SW Version: V0.9.1, build: %s, %s\n",__DATE__ ,__TIME__ );
	  printf("HAL Version: %lu \n", HAL_GetHalVersion());
	  printf("Revision ID: %lu \n", HAL_GetREVID());
	  printf("Device ID: %lu \n", HAL_GetDEVID());
	  printf("Chip UID: %lu%lu%lu \n", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2);
	  printf("----------------------------------------------\n");

  /* Infinite loop */
  for(;;)
  {
	osDelay(100);

	//  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 running:
    {
      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 running:{//system is running 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 = running;
				  }break;
				  case dfu:{
					  NaviKit.sys.next_sta = shutdown;
				  }break;
				  case sleep:{
					  NaviKit.sys.next_sta = running;
				  }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<=20){
			  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 == running)
		  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 running state
			  if((NaviKit.sys.sta == running))// && (NaviKit.som.shutdown_req == true)
				enter_shutdown_state();
          }break;
			  case running:
			  {//from sleep and shutdown state
          enter_runing_state();
          }break;
			  case sleep:
			  {//only form running state
          if(NaviKit.sys.sta == running)
            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, (uint32_t*)&(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);

    if(NaviKit.pmb.rails.main_pwr < 19)
    {
    	Beep(50);
    }

  }
  /* USER CODE END StartPowerMonitTask */
}

/* USER CODE BEGIN Header_StartUartQueueTask */
/**
* @brief Function implementing the uartQueueTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartUartQueueTask */
void StartUartQueueTask(void *argument)
{
  /* USER CODE BEGIN StartUartQueueTask */
    uint8_t count,temp[256];
//  osMessageQueuePut(uartQueueHandle,"t",0,100);
//  osMessageQueuePut(uartQueueHandle,"e",0,100);
//  osMessageQueuePut(uartQueueHandle,"s",0,100);
//  osMessageQueuePut(uartQueueHandle,"t",0,100);

  /* Infinite loop */
  for(;;)
  {
    osDelay(2);
      count = osMessageQueueGetCount(uartQueueHandle);
      if(count){
        for(uint32_t i=0;i<count;i++){
        	osMessageQueueGet(uartQueueHandle,&temp[i],0,10);
        }
        taskENTER_CRITICAL();
		while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
        HAL_UART_Transmit(&huart1,(uint8_t *)&temp,count,0xffff);
        taskEXIT_CRITICAL();
      }
  }
  /* USER CODE END StartUartQueueTask */
}

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


//printf redefine
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif

PUTCHAR_PROTOTYPE
{

//	while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
//	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);

	//queue space check before enqueue
	if(osMessageQueueGetSpace(uartQueueHandle)){
		osMessageQueuePut(uartQueueHandle,(uint8_t*)&ch,0,10);
	}
	else{
		uint8_t front[1];//trash
    	osMessageQueueGet(uartQueueHandle,front,0,10);
		osMessageQueuePut(uartQueueHandle,(uint8_t *)&ch,0,100);
	}
  return ch;
}

/* USER CODE END Application */

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