Motion_EC_Stm32_archived/Core/Src/freertos.c

255 lines
6.7 KiB
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 "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
};
/* 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);
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);
/* 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(ENUM_CTL_GPIO_Port,ENUM_CTL_Pin, GPIO_PIN_SET);
// Beep(100);
/* 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(;;)
{
HAL_GPIO_TogglePin(LED_RUN_GPIO_Port,LED_RUN_Pin);
// printf("1\n");
osDelay(500);
}
/* 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 */
static bool last_pwr_button_status = false;
/* Infinite loop */
for(;;)
{
if(NaviKit.pwr_button_status != last_pwr_button_status)
{
last_pwr_button_status = NaviKit.pwr_button_status;
Beep(100);
}
else
{
last_pwr_button_status = NaviKit.pwr_button_status;
}
// printf("3\n");
osDelay(10);
}
/* USER CODE END StartButtonDetect */
}
/* 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****/