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"
/* 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 ButtonDetect */
osThreadId_t ButtonDetectHandle;
const osThreadAttr_t ButtonDetect_attributes = {
  .name = "ButtonDetect",
  .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
};

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

void StartDefaultTask(void *argument);
void StartLedBlinkTask(void *argument);
void StartIWDGRefreshTask(void *argument);
void StartButtonDetect(void *argument);
void StartCoulombRead(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 */

  /* 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 ButtonDetect */
  ButtonDetectHandle = osThreadNew(StartButtonDetect, NULL, &ButtonDetect_attributes);

  /* creation of CoulombRead */
  CoulombReadHandle = osThreadNew(StartCoulombRead, NULL, &CoulombRead_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 */

  NaviKit_var_init();
  HAL_GPIO_WritePin(ENUM_CTL_GPIO_Port,ENUM_CTL_Pin, GPIO_PIN_SET);
  Beep(50);
  /* Infinite loop */
  for(;;)
  {
	osDelay(1000);
	printf("[%f]\n",(float)(osKernelGetTickCount()/1000.0));
  }
  /* 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(;;)
	{
		if(HAL_GPIO_ReadPin(LED_RUN_GPIO_Port,LED_RUN_Pin) == GPIO_PIN_SET)
		{//LED处于熄灭状态
			osDelay(NaviKit.system_runing ? 400 : 2000);
			HAL_GPIO_WritePin(LED_RUN_GPIO_Port,LED_RUN_Pin,GPIO_PIN_RESET);//点亮
		}
		else
		{//LED处于点亮状态
			osDelay(20);
			HAL_GPIO_WritePin(LED_RUN_GPIO_Port,LED_RUN_Pin,GPIO_PIN_SET);//熄灭
		}
	}
  /* 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_StartButtonDetect */
/**
* @brief Function implementing the ButtonDetect thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartButtonDetect */
void StartButtonDetect(void *argument)
{
  /* USER CODE BEGIN StartButtonDetect */

  /* Infinite loop */
  for(;;)
  {
	  //长按检测
	  if(NaviKit.pwr_button_pushed == true)
	  {//按键被按下
		  osDelay(2000);
		  if(NaviKit.pwr_button_pushed == true)
		  {//仍被按下
			  if(NaviKit.system_runing == true)
			  {//当前处于开机状态,进行关机操作
				  NaviKit.system_runing = false;

				  HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_RESET);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_RESET);
				  Beep(40);
				  osDelay(500);
				  HAL_GPIO_WritePin(BAT_RELAY_CTL_GPIO_Port ,BAT_RELAY_CTL_Pin, GPIO_PIN_RESET);

			  }
			  else
			  {//当前处于关机状态,进行开机操作
				  NaviKit.system_runing = true;
				  Beep(40);
				  HAL_GPIO_WritePin(BAT_RELAY_CTL_GPIO_Port ,BAT_RELAY_CTL_Pin, GPIO_PIN_SET);
				  osDelay(500);

				  HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_SET);
				  osDelay(500);
				  HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_SET);
			  }
		  }
	  }

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

/* 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 */
  coulomb_write_config_init();
  coulomb_write_config_actual_to_raw();
  coulomb_write_config();
//读寄存器方法


  /* Infinite loop */
  for(;;)
  {
    coulomb_read_status_and_config();
    coulomb_read_status_raw_to_actual();
    coulomb_read_config_raw_to_actual();
	  if(NaviKit.system_runing)
		  osDelay(500);
	  else
		  osDelay(5000);
  }
  /* USER CODE END StartCoulombRead */
}

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



#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
PUTCHAR_PROTOTYPE
{

	while(HAL_UART_GetState(&huart4) == HAL_UART_STATE_BUSY_TX){}
	HAL_UART_Transmit(&huart4,(uint8_t *)&ch,1,0xffff);
  return ch;
}
#endif
/* USER CODE END Application */

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