From fcda752b65e27ce42a109b373c1b44362bd3f095 Mon Sep 17 00:00:00 2001
From: ThinkPad-T460P <ibookshiyi@gmail.com>
Date: Fri, 12 Mar 2021 13:38:28 +0800
Subject: [PATCH] update

---
 App/Src/th_button.c  |  4 ++--
 App/Src/th_cdc.c     |  6 +++---
 App/Src/th_coulomb.c |  2 +-
 App/Src/th_demo.c    |  8 ++++----
 App/Src/th_elog.c    |  2 +-
 App/Src/th_iwdg.c    |  5 +++--
 App/Src/th_led.c     |  4 ++--
 App/Src/th_power.c   |  4 ++--
 Core/Inc/main.h      |  5 +++++
 Core/Inc/navikit.h   | 14 +++++++++-----
 Core/Src/freertos.c  | 33 ++++++++++++++++++---------------
 Core/Src/main.c      | 23 +++++++++++++----------
 Core/Src/navikit.c   |  2 ++
 README.md            |  6 +++++-
 14 files changed, 70 insertions(+), 48 deletions(-)

diff --git a/App/Src/th_button.c b/App/Src/th_button.c
index 8bb9a52..6c579bd 100644
--- a/App/Src/th_button.c
+++ b/App/Src/th_button.c
@@ -15,7 +15,7 @@
 const osThreadAttr_t ButtonDetectTask_attributes = {
   .name = "ButtonDetectTask",
   .priority = (osPriority_t) osPriorityBelowNormal,
-  .stack_size = 128 * 4
+  .stack_size = 128 * 8
 };
 
 //Timer
@@ -45,7 +45,7 @@ void StartButtonDetectTask(void *argument)
 {
   /* USER CODE BEGIN StartButtonDetect */
   /* Infinite loop */
-	log_v("Start Button Detect Task");
+	log_d("Start Button Detect Task");
   for(;;)
   {
 	  	  //power button
diff --git a/App/Src/th_cdc.c b/App/Src/th_cdc.c
index 5c45cf7..4508ca2 100644
--- a/App/Src/th_cdc.c
+++ b/App/Src/th_cdc.c
@@ -15,8 +15,8 @@ extern uint32_t number_restart;
 //task attributes
 const osThreadAttr_t cdcMonitorTask_attributes = {
   .name = "cdcMonitorTask",
-  .priority = (osPriority_t) osPriorityNormal,
-  .stack_size = 128 * 4
+  .priority = (osPriority_t) osPriorityBelowNormal7,
+  .stack_size = 128 * 8
 };
 
 //task instance
@@ -24,7 +24,7 @@ void StartCdcMonitorTask(void *argument){
 	uint8_t port_restart_temp[64]={0};
 	uint32_t number_restart_temp =0;
 	bool beep_flag = false;
-	log_v("Start CDC Monitor Task");
+	log_d("Start CDC Monitor Task");
 	for(;;){
 		if(number_restart){
 			number_restart_temp = number_restart;
diff --git a/App/Src/th_coulomb.c b/App/Src/th_coulomb.c
index aaf8867..b90ad01 100644
--- a/App/Src/th_coulomb.c
+++ b/App/Src/th_coulomb.c
@@ -30,7 +30,7 @@ const osThreadAttr_t CoulombRead_attributes = {
 void StartCoulombRead(void *argument)
 {
   /* USER CODE BEGIN StartCoulombRead */
-	log_v("Start Coulomb Read Task");
+	log_d("Start Coulomb Read Task");
 	//写寄存器方法
   coulomb_write_config_load();
   coulomb_write_config_actual_to_raw();
diff --git a/App/Src/th_demo.c b/App/Src/th_demo.c
index 00f5823..00e856b 100644
--- a/App/Src/th_demo.c
+++ b/App/Src/th_demo.c
@@ -23,17 +23,17 @@ const osThreadAttr_t DemoTask2_attributes = {
 };
 void StartDemoTask1(void *argument){
 	uint8_t i=0;
-	log_v("Start Demo Task1");
+	log_d("Start Demo Task1");
 	for(;;){
-		log_v("demo task 1 [%d].",i++);
+		log_v("DemoTask1 counter [%d].",i++);
 		osDelay(100);
 	}
 }
 void StartDemoTask2(void *argument){
 	uint8_t i=0;
-	log_v("Start Demo Task2");
+	log_d("Start Demo Task2");
 	for(;;){
-		log_v("demo task 2 [%d].",i++);
 		osDelay(100);
+		log_v("DemoTask2 counter [%d].",i++);
 	}
 }
diff --git a/App/Src/th_elog.c b/App/Src/th_elog.c
index 3710f1f..18c7431 100644
--- a/App/Src/th_elog.c
+++ b/App/Src/th_elog.c
@@ -40,7 +40,7 @@ void StartElogInitTask(void *argument){
 void StartElogFlushTask(void *argument){
 
 	uint8_t i=0;
-	log_v("Start Elog Flush Task");
+	log_d("Start Elog Flush Task");
 	for(;;){
 		elog_flush();
 		 osDelay(1);
diff --git a/App/Src/th_iwdg.c b/App/Src/th_iwdg.c
index e139427..54b779b 100644
--- a/App/Src/th_iwdg.c
+++ b/App/Src/th_iwdg.c
@@ -15,13 +15,14 @@
 const osThreadAttr_t IWDGTask_attributes = {
   .name = "IWDGTask",
   .priority = (osPriority_t) osPriorityHigh,
-  .stack_size = 128 * 4
+  .stack_size = 128 * 8
 };
 
 void StartIWDGTask(void *argument){
-	log_v("Start IWDG Task");
+	log_d("Start IWDG Task");
 	for(;;){
 		HAL_IWDG_Refresh(&hiwdg);
+		log_v("IWDG Counter Refreshed");
 		osDelay(1000);
 	}
 }
diff --git a/App/Src/th_led.c b/App/Src/th_led.c
index 07cf763..a00549c 100644
--- a/App/Src/th_led.c
+++ b/App/Src/th_led.c
@@ -13,7 +13,7 @@
 
 const osThreadAttr_t LedBlinkTask_attributes = {
   .name = "LedBlinkTask",
-  .priority = (osPriority_t) osPriorityBelowNormal,
+  .priority = (osPriority_t) osPriorityLow7,
   .stack_size = 128 * 8
 };
 
@@ -28,7 +28,7 @@ void StartLedBlinkTask(void *argument)
 {
   /* USER CODE BEGIN StartLedBlinkTask */
   /* Infinite loop */
-	log_v("Start LED Blink Task");
+	log_d("Start LED Blink Task");
 	for(;;)
 	{
 
diff --git a/App/Src/th_power.c b/App/Src/th_power.c
index a02d238..811b6a4 100644
--- a/App/Src/th_power.c
+++ b/App/Src/th_power.c
@@ -15,7 +15,7 @@
 const osThreadAttr_t PowerMonitTask_attributes = {
   .name = "PowerMonitTask",
   .priority = (osPriority_t) osPriorityBelowNormal,
-  .stack_size = 128 * 4
+  .stack_size = 128 * 8
 };
 
 
@@ -29,7 +29,7 @@ const osThreadAttr_t PowerMonitTask_attributes = {
 void StartPowerMonitTask(void *argument)
 {
   /* USER CODE BEGIN StartPowerMonitTask */
-	log_v("Start Power Monitor Task");
+	log_d("Start Power Monitor Task");
 	HAL_ADCEx_Calibration_Start(&hadc1);
 	HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&(NaviKit.pmb.rails.adc), ADC_CH_COUNT);
 	osDelay(100);
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 91c0b3a..d89a0d3 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -188,8 +188,13 @@ void Error_Handler(void);
 #define IIC1_SDA_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
+//define application software version
 #define APP_VERSION		"v0.9.6"
 
+// set iwdg enable or disable
+//#define IWDG_ENABLE
+#undef IWDG_ENABLE
+
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus
diff --git a/Core/Inc/navikit.h b/Core/Inc/navikit.h
index 65dd71c..911c984 100644
--- a/Core/Inc/navikit.h
+++ b/Core/Inc/navikit.h
@@ -124,13 +124,17 @@ typedef struct
 extern NaviKit_t NaviKit;
 
 //device on board 
-enum Device_t{USB2_Port1,USB2_Port2,USB2_Port3,USB2_Port4,USB2_Port5,USB2_Port6,	//USB2.0 Port
+enum Device_t{USB2_Port1=0x00,USB2_Port2,USB2_Port3,USB2_Port4,USB2_Port5,USB2_Port6,	//USB2.0 Port
 				USB3_Port5,USB3_Port6,USB3_Port1,USB3_Port2,USB3_Port3,USB3_Port4,	//USB3.0 Port
-				SOC_USB2_HUB,SOC_USB3_HUB,SOC_USB3_HOST,SOC_USB3_GEC,SOC_GE_SW,		//SOC on Board
-				SYS_FAN1,SYS_FAN2,SYS_FAN3,											//Fan on Board
+
+				SOC_USB2_HUB=0x10,SOC_USB3_HUB,SOC_USB3_HOST,SOC_USB3_GEC,SOC_GE_SW,		//SOC on Board
+
+				SYS_FAN1=0x20,SYS_FAN2,SYS_FAN3,											//Fan on Board
 				SYS_RUN_LED,SYS_PWR_LED,											//LED on Board
-				SOM_PWR_EN,SOM_DFU,SOM_RESET,SOM_SLEEP,										//SOM Control
-				PMB_PS_ON};															//Power Management Board
+
+				SOM_PWR_EN=0x30,SOM_DFU,SOM_RESET,SOM_SLEEP,										//SOM Control
+
+				PMB_PS_ON=0x40};															//Power Management Board
 
 void PWR_Enable(enum Device_t device,bool en,uint16_t delay);
 bool PWR_Status(enum Device_t device);
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index b9488ee..1730c5d 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -206,7 +206,9 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   //IWDG--------------------------------------------
+#ifdef IWDG_ENABLE
   IWDGTaskHandle = osThreadNew(StartIWDGTask, NULL, &IWDGTask_attributes);
+#endif
 
 	//Power--------------------------------------------
 //  PowerMonitTaskHandle = osThreadNew(StartPowerMonitTask, NULL, &PowerMonitTask_attributes);
@@ -217,7 +219,7 @@ void MX_FREERTOS_Init(void) {
 
 
   //LED--------------------------------------------
- LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);
+  LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);
 
 
   //CDC--------------------------------------------
@@ -235,8 +237,8 @@ void MX_FREERTOS_Init(void) {
 #endif
 
   //Demo--------------------------------------------
- DemoTask1Handle = osThreadNew(StartDemoTask1, NULL, &DemoTask1_attributes);
- DemoTask2Handle = osThreadNew(StartDemoTask2, NULL, &DemoTask2_attributes);
+DemoTask1Handle = osThreadNew(StartDemoTask1, NULL, &DemoTask1_attributes);
+DemoTask2Handle = osThreadNew(StartDemoTask2, NULL, &DemoTask2_attributes);
 
 
   /* USER CODE END RTOS_THREADS */
@@ -276,14 +278,14 @@ osVersion_t osVersion;
 			else{
 				NaviKit.sys.power_btn = true;
 			}
-			log_i("EC Reset source :Power Button WakeUP");
+			log_i("EC Reset source: [Power Button WakeUP]");
 		}else{
 			NaviKit.sys.next_sta = idle;
-			log_i("EC Reset source :RTC WakeUP");
+			log_i("EC Reset source: [RTC WakeUP]");
 			enter_standby_state();
 		}
 	}else{//judge reset source "power on"
-		log_i("EC Reset source :PowerON");
+		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;
@@ -302,16 +304,16 @@ osVersion_t osVersion;
 #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());
+	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 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("OS Kernel Tick Frequency: %d Hz",osKernelGetTickFreq());
+ 	log_i("System Timer Frequency  : %d Hz",osKernelGetSysTimerFreq());
+    log_i("Log Library Version     : V%s",ELOG_SW_VERSION);
 
  	log_i("Core initial successfully");
 
@@ -368,7 +370,8 @@ osVersion_t osVersion;
 //			  }
 
 		  if(!osTimerIsRunning(IdleStateHoldTimerHandle)){
-//		  			osTimerStart(IdleStateHoldTimerHandle,5000);
+		  			osTimerStart(IdleStateHoldTimerHandle,5000);
+            log_i("Idle state hold timer started.");
 		  }
 	  }
 
@@ -382,7 +385,7 @@ osVersion_t osVersion;
 
 void IdleStateHoldTimerCallback(void *argument){
 	if(NaviKit.sys.sta == idle && NaviKit.sys.next_sta == idle){
-	  log_v("Idle state duration more than 5000ms.");
+	  log_i("Idle state duration more than 5000ms.");
 	  NaviKit.sys.next_sta = standby;
 	}
 }
diff --git a/Core/Src/main.c b/Core/Src/main.c
index bc9f09a..35fc979 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -97,7 +97,7 @@ int main(void)
   MX_GPIO_Init();
   MX_DMA_Init();
   MX_I2C1_Init();
-  MX_IWDG_Init();
+//  MX_IWDG_Init();
   MX_UART4_Init();
   MX_ADC1_Init();
   MX_USART1_UART_Init();
@@ -107,16 +107,19 @@ int main(void)
   MX_NVIC_Init();
   /* USER CODE BEGIN 2 */
   //print log before kernel start
-//  uint8_t log_head[]="Autolabor EC Booting...\r\n";
-//  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
-	  if( hiwdg.Instance->SR & IWDG_KEY_ENABLE){
-		  uint8_t log_head[]="iwdg enable\r\n";
-		  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
-	  }else{
 
-		  uint8_t log_head[]="iwdg disable\r\n";
-		  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
-	  }
+#ifdef IWDG_ENABLE
+  __HAL_DBGMCU_FREEZE_IWDG();		//stop iwdg counter while cpu pause by debug mode
+#endif
+
+#ifdef DEBUG
+  HAL_DBGMCU_EnableDBGSleepMode();
+  HAL_DBGMCU_EnableDBGStopMode();
+  HAL_DBGMCU_EnableDBGStandbyMode();
+#endif
+
+  uint8_t log_head[]="Autolabor EC Booting...\r\n";
+  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
   /* USER CODE END 2 */
 
   /* Init scheduler */
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index 46cac33..2cfdfe5 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -12,6 +12,7 @@
  *      Author: oarap
  */
 
+#define LOG_TAG "NAVIKIT"
 
 #include "navikit.h"
 #include "cmsis_os2.h"                  // ::CMSIS:RTOS2
@@ -254,6 +255,7 @@ void PWR_Enable(enum Device_t device,bool en,uint16_t delay){
 	case PMB_PS_ON:  	{HAL_GPIO_WritePin(PMB_PS_ON_GPIO_Port,			PMB_PS_ON_Pin, 			en);			}break;
 	default:			{log_e("PWR_Enable device parameter is invalid.");									}break;
 	}
+	log_v("Device 0x%X has been %s",device,en ? "enabled" : "disabled");
 	osDelay(delay);
 }
 
diff --git a/README.md b/README.md
index ae0bcbd..a29477f 100644
--- a/README.md
+++ b/README.md
@@ -27,12 +27,16 @@
 * 电池管理部分
 
 # Note
+* 官方的HAL中USB库已知问题
  在使用usb的时候，
  文件`stm32f1xx_hal_pcd.c`
  函数`void HAL_PCD_IRQHandler(PCD_HandleTypeDef *hpcd)`
  代码段`HAL_PCD_SuspendCallback(hpcd); ` 务必屏蔽，否则导致枚举失败，提示获取设备描述符失败。
 
-
+* FreeRTOS调试指南
+    * 莫名进入`HardFault`错误
+        * 一般是堆栈大小不足导致，可通过`Static Stack Analyzer`中的`Call graph`来分析每个任务所占用的栈大小(并且以大纲视图看出任务中占用栈较大的函数)，从而修改每个任务的`stack_size`为合适大小
+        * 如`elog_output()`该函数占用栈大小为400字节，如果有任务调用了该日志输出接口，那么freertos的默认`128*4=512`字节显然非常容易溢出
 
 # 维护指南
 * 为提高可移植性、可维护性、可阅读性，开发（应用层）时尽量使用`CMSIS_OS2`的抽象接口，特殊情况时再考虑使用RTOS的原生接口