/* 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" #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 (1024, 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