Motion_EC_Stm32_archived/App/Src/th_default.c

/*
 * @Description: 
 * @Date: 2021-03-10 11:43:58
 * @LastEditors: CK.Zh
 * @LastEditTime: 2021-03-10 11:46:56
 * @FilePath: \NaviKit_EC_stm32\App\Src\th_default.c
 */
#define LOG_TAG    "TH-Default"

#include <th_default.h>

#include "main.h"
#include "navikit.h"


extern void MX_USB_DEVICE_Init(void);

const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .priority = (osPriority_t) osPriorityNormal,
  .stack_size = 128 * 4
};

const osTimerAttr_t IdleStateHoldTimer_attributes = {
  .name = "IdleStateHoldTimer"
};

bool isWakeUpFromReset() {	return  __HAL_PWR_GET_FLAG(PWR_FLAG_WU);}

/* 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 */
	 osVersion_t osVersion;
	 char id_buf[20];
	 unsigned char id_size=20;

	HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
	if(isWakeUpFromReset()){//judge reset source form "wakeup event"

		__HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
		__HAL_PWR_CLEAR_FLAG(PWR_FLAG_SB);

		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_SET){
			if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET)
				NaviKit.sys.next_sta = dfu;
			else{
				NaviKit.sys.power_btn = true;
			}
			log_i("EC Reset source :Power Button WakeUP");
		}else{
			NaviKit.sys.next_sta = idle;
			log_i("EC Reset source :RTC WakeUP");
			enter_standby_state();
		}
	}else{//judge reset source "power on"
		log_i("EC Reset source :PowerON");
		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET){
			log_d("EC next state isp");
			NaviKit.sys.next_sta = isp;
		}else{
			NaviKit.sys.next_sta = idle;
		}
//		TaskBeep(50,1);
	}

 	log_i("----------------------------------------------");
 	log_i("Copyright (c) Powered by www.autolabor.com.cn");
 #ifdef DEBUG
 	log_i("EC Firmware: %s[DEBUG], build: %s, %s",APP_VERSION,__DATE__ ,__TIME__);
 #else
 	log_i("EC Firmware: %s[RELEASE], build: %s, %s",APP_VERSION,__DATE__ ,__TIME__);
 #endif
 	log_i("HAL Version: 0x%X ", HAL_GetHalVersion());
 	log_i("Revision ID: 0x%X ", HAL_GetREVID());
 	log_i("Device ID: 0x%X ", HAL_GetDEVID());
 	log_i("Chip UID: 0x%X%X%X ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());

 	if(osOK == osKernelGetInfo(&osVersion,id_buf,id_size)){
 		log_i("OS Kernel Version: %u ", osVersion.kernel);
 		log_i("OS Kernel ID: %s ",id_buf);
 	}
 	log_i("OS Kernel Tick Frequence: %d ",osKernelGetTickFreq());
 	log_i("OS Kernel System Timer Frequence: %d ",osKernelGetSysTimerFreq());
     log_i("Log Library Version: V%s",ELOG_SW_VERSION);

 	log_i("Core initial successfully");
 	log_i("----------------------------------------------");

  /* Infinite loop */
  for(;;)
  {
//	 HAL_IWDG_Refresh(&hiwdg);
	osDelay(20);
    if(NaviKit.sys.sta != NaviKit.sys.next_sta){
    	switch(NaviKit.sys.next_sta){
			case standby:  {
				enter_standby_state();
			}break;
			case idle:  {
				enter_idle_state(100);
		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
			} break;
			case run: {
//				if(NaviKit.pmb.rails.main_pwr>19){
					enter_run_state(100);
					NaviKit.sys.sta = NaviKit.sys.next_sta;
//				}else{
//					NaviKit.sys.next_sta = NaviKit.sys.sta;
//					TaskBeep(500,2);
//					log_e(,"Main power not exist, retry after plug in it.");
//					 log_e("Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
//				}
			}break;
			case sleep:{
				enter_sleep_state(100);
		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
			}break;
			case dfu:{
//				if(NaviKit.pmb.rails.main_pwr>19){
					enter_dfu_state(100);
					NaviKit.sys.sta = NaviKit.sys.next_sta;
//				}else{
//					NaviKit.sys.next_sta = NaviKit.sys.sta;
//					TaskBeep(500,2);
//					log_e(,"Main power not exist, retry after plug in it.");
//					 log_e("Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
//				}
			}break;
			case isp:{
				enter_isp_state();
		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
			}break;
    	}
    }

	  if(NaviKit.sys.sta == idle && NaviKit.sys.next_sta == idle){//idle state
//			  if((NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
//			  || (NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)){//Not Charge or float charge
//				  NaviKit.sys.next_sta = standby;
//			  }

		  if(!osTimerIsRunning(IdleStateHoldTimerHandle)){
		  			osTimerStart(IdleStateHoldTimerHandle,5000);
		  }
	  }

  }
  /* USER CODE END StartDefaultTask */
}
void IdleStateHoldTimerCallback(void *argument){
	if(NaviKit.sys.sta == idle && NaviKit.sys.next_sta == idle){
	  log_v("Idle state duration more than 5000ms.");
	  NaviKit.sys.next_sta = standby;
	}
}