/* USER CODE BEGIN Header */ /** ****************************************************************************** * File Name : freertos.c * Description : Code for freertos applications ****************************************************************************** * @attention * *

© Copyright (c) 2020 STMicroelectronics. * All rights reserved.

* * 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(NaviKit.system_runing == true) {//整板开机状态 HAL_GPIO_TogglePin(LED_RUN_GPIO_Port,LED_RUN_Pin); osDelay(100); } else {//整板关机状态 if(HAL_GPIO_ReadPin(LED_RUN_GPIO_Port,LED_RUN_Pin) == GPIO_PIN_SET) {//LED处于熄灭状态 HAL_GPIO_WritePin(LED_RUN_GPIO_Port,LED_RUN_Pin,GPIO_PIN_RESET); } else {//LED处于点亮状态 HAL_GPIO_WritePin(LED_RUN_GPIO_Port,LED_RUN_Pin,GPIO_PIN_SET); osDelay(2000); } } osDelay(50); } /* 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 */ /* Infinite loop */ for(;;) { coulomb_read_status(); 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****/