667 lines
20 KiB
C
667 lines
20 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2020 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under Ultimate Liberty license
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* SLA0044, the "License"; You may not use this file except in compliance with
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* the License. You may obtain a copy of the License at:
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* www.st.com/SLA0044
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "iwdg.h"
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#include "gpio.h"
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#include "usart.h"
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#include "navikit.h"
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#include "coulomb.h"
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#include "stdbool.h"
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#include "adc.h"
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#include "i2c.h"
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#include "log.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* USER CODE END Variables */
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.priority = (osPriority_t) osPriorityNormal,
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.stack_size = 128 * 4
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};
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/* Definitions for LedBlinkTask */
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osThreadId_t LedBlinkTaskHandle;
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const osThreadAttr_t LedBlinkTask_attributes = {
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.name = "LedBlinkTask",
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.priority = (osPriority_t) osPriorityLow,
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.stack_size = 128 * 4
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};
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/* Definitions for IWDGRefreshTask */
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osThreadId_t IWDGRefreshTaskHandle;
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const osThreadAttr_t IWDGRefreshTask_attributes = {
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.name = "IWDGRefreshTask",
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.priority = (osPriority_t) osPriorityHigh,
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.stack_size = 128 * 4
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};
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/* Definitions for EventDetect */
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osThreadId_t EventDetectHandle;
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const osThreadAttr_t EventDetect_attributes = {
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.name = "EventDetect",
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.priority = (osPriority_t) osPriorityLow,
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.stack_size = 128 * 4
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};
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/* Definitions for CoulombRead */
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osThreadId_t CoulombReadHandle;
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const osThreadAttr_t CoulombRead_attributes = {
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.name = "CoulombRead",
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.priority = (osPriority_t) osPriorityLow,
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.stack_size = 128 * 4
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};
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/* Definitions for StateSwitchTask */
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osThreadId_t StateSwitchTaskHandle;
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const osThreadAttr_t StateSwitchTask_attributes = {
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.name = "StateSwitchTask",
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.priority = (osPriority_t) osPriorityLow,
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.stack_size = 128 * 4
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};
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/* Definitions for PowerMonitTask */
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osThreadId_t PowerMonitTaskHandle;
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const osThreadAttr_t PowerMonitTask_attributes = {
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.name = "PowerMonitTask",
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.priority = (osPriority_t) osPriorityLow,
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.stack_size = 128 * 4
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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void osEnterSleepState();
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void osEnterRuningState();
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void StartLedBlinkTask(void *argument);
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void StartIWDGRefreshTask(void *argument);
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void StartEventDetect(void *argument);
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void StartCoulombRead(void *argument);
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void StartStateSwitchTask(void *argument);
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void StartPowerMonitTask(void *argument);
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extern void MX_USB_DEVICE_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* Hook prototypes */
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void configureTimerForRunTimeStats(void);
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unsigned long getRunTimeCounterValue(void);
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void vApplicationIdleHook(void);
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void vApplicationTickHook(void);
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void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
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/* USER CODE BEGIN 1 */
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/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
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__weak void configureTimerForRunTimeStats(void)
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{
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}
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__weak unsigned long getRunTimeCounterValue(void)
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{
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return 0;
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}
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/* USER CODE END 1 */
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/* USER CODE BEGIN 2 */
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void vApplicationIdleHook( void )
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{
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/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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task. It is essential that code added to this hook function never attempts
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to block in any way (for example, call xQueueReceive() with a block time
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specified, or call vTaskDelay()). If the application makes use of the
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vTaskDelete() API function (as this demo application does) then it is also
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important that vApplicationIdleHook() is permitted to return to its calling
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function, because it is the responsibility of the idle task to clean up
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memory allocated by the kernel to any task that has since been deleted. */
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}
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/* USER CODE END 2 */
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/* USER CODE BEGIN 3 */
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void vApplicationTickHook( void )
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{
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/* This function will be called by each tick interrupt if
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configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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added here, but the tick hook is called from an interrupt context, so
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code must not attempt to block, and only the interrupt safe FreeRTOS API
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functions can be used (those that end in FromISR()). */
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}
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/* USER CODE END 3 */
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/* USER CODE BEGIN 4 */
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void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
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{
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/* Run time stack overflow checking is performed if
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configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
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called if a stack overflow is detected. */
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}
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/* USER CODE END 4 */
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/* USER CODE BEGIN PREPOSTSLEEP */
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__weak void PreSleepProcessing(uint32_t *ulExpectedIdleTime)
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{
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/* place for user code */
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}
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__weak void PostSleepProcessing(uint32_t *ulExpectedIdleTime)
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{
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/* place for user code */
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}
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/* USER CODE END PREPOSTSLEEP */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
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/* creation of LedBlinkTask */
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LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);
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/* creation of IWDGRefreshTask */
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// IWDGRefreshTaskHandle = osThreadNew(StartIWDGRefreshTask, NULL, &IWDGRefreshTask_attributes);
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/* creation of EventDetect */
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EventDetectHandle = osThreadNew(StartEventDetect, NULL, &EventDetect_attributes);
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/* creation of CoulombRead */
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CoulombReadHandle = osThreadNew(StartCoulombRead, NULL, &CoulombRead_attributes);
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/* creation of StateSwitchTask */
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StateSwitchTaskHandle = osThreadNew(StartStateSwitchTask, NULL, &StateSwitchTask_attributes);
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/* creation of PowerMonitTask */
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PowerMonitTaskHandle = osThreadNew(StartPowerMonitTask, NULL, &PowerMonitTask_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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/**
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* @brief Function implementing the defaultTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartDefaultTask */
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void StartDefaultTask(void *argument)
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{
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/* init code for USB_DEVICE */
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// MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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osVersion_t osVersion;
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char id_buf[20];
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unsigned char id_size=20;
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HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
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Beep(50);
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Log(info,"----------------------------------------------");
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Log(info,"Copyright (c) Powered by www.autolabor.com.cn");
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Log(info,"EC Firmware: %s[%s], build: %s, %s, by STD:%u",APP_VERSION,DEPLOY_MODE,__DATE__ ,__TIME__,__STDC_VERSION__ );
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Log(info,"HAL Version: %u ", HAL_GetHalVersion());
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Log(info,"Revision ID: %u ", HAL_GetREVID());
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Log(info,"Device ID: %u ", HAL_GetDEVID());
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Log(info,"Chip UID: %u%u%u ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());
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if(osOK == osKernelGetInfo(&osVersion,id_buf,id_size)){
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Log(info,"OS Kernel Version: %u ", osVersion.kernel );
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Log(info,"OS Kernel ID: %s ",id_buf );
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}
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Log(info,"Core initial successfully");
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Log(info,"----------------------------------------------");
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// osEnterSleepState();
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/* Infinite loop */
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for(;;)
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{
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osDelay(1000);
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}
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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_StartLedBlinkTask */
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/**
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* @brief Function implementing the LedBlinkTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartLedBlinkTask */
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void StartLedBlinkTask(void *argument)
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{
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/* USER CODE BEGIN StartLedBlinkTask */
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/* Infinite loop */
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for(;;)
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{
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switch(NaviKit.sys.sta){
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case running:
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{
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if(HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin))
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);//turn on power led
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if(HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin) == GPIO_PIN_SET)//sys run led is off
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{
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on sys run led
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osDelay(50);
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}
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else
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{
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
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osDelay(300);
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}
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}break;
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case shutdown:
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{
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if(!HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin))
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);//turn off power led
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if(HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin) == GPIO_PIN_SET)//sys run led is off
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{
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on sys run led
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osDelay(20);
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}
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else
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{
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
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osDelay(2000);
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}
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}break;
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case sleep:
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{//sleep mode
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for(uint16_t i=0;i<25;i++)
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{//20 light level
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for(uint16_t j=0;j<3;j++)
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{//the time length of every light level
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);
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osDelay(i);
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);
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osDelay(25-i);
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}
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}
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for(uint16_t i=0;i<25;i++)
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{
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for(uint16_t j=0;j<3;j++)
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{
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);
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osDelay(25-i);
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);
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osDelay(i);
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}
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}
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}break;
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case dfu:
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{
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if(HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin) == GPIO_PIN_SET)//power led is off
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{
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);//turn on power led
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on run led
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osDelay(300);
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}
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else
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{
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HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
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HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off run led
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osDelay(300);
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}
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}break;
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case isp:
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break;
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}
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}
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/* USER CODE END StartLedBlinkTask */
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}
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/* USER CODE BEGIN Header_StartIWDGRefreshTask */
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/**
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* @brief Function implementing the IWDGRefreshTask thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartIWDGRefreshTask */
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void StartIWDGRefreshTask(void *argument)
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{
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/* USER CODE BEGIN StartIWDGRefreshTask */
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/* Infinite loop */
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for(;;)
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{
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HAL_IWDG_Refresh(&hiwdg);
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osDelay(1000);
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}
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/* USER CODE END StartIWDGRefreshTask */
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}
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/* USER CODE BEGIN Header_StartEventDetect */
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/**
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* @brief Function implementing the EventDetect thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartEventDetect */
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void StartEventDetect(void *argument)
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{
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/* USER CODE BEGIN StartEventDetect */
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osDelay(100);
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if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port,SYS_CUSTOM_BTN_Pin) == GPIO_PIN_RESET)
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{
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Log(debug,"Custom button has been pushed.");
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NaviKit.sys.next_sta = isp;
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}
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/* Infinite loop */
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for(;;)
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{
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if(NaviKit.sys.power_btn == true)
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{//power btn has been pushed
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uint8_t count =0;
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while(NaviKit.sys.power_btn && count<=10){
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osDelay(100);
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count ++;
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}
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if(count >10)
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{//power btn has been pushed more than 1000 ms
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// while(NaviKit.sys.power_btn == true);//wait to release button
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switch(NaviKit.sys.sta){
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case running:{//system is running now, user request to shutdown
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NaviKit.sys.next_sta = shutdown;
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}break;
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case shutdown:{//system is shutdown now , user request to power on
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NaviKit.sys.next_sta = running;
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}break;
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case dfu:{
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NaviKit.sys.next_sta = shutdown;
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}break;
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case sleep:{
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NaviKit.sys.next_sta = running;
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}break;
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}
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}
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else
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{
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//sleep mode is unused
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// if(NaviKit.sys.sta == runing)
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// NaviKit.sys.sta = sleep;
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// else if(NaviKit.sys.sta == sleep)
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// NaviKit.sys.sta = runing;
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}
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}
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if(NaviKit.sys.custom_btn == true )
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{//custom button has been pushed
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uint8_t count =0;
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while(NaviKit.sys.custom_btn && count<=20){
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osDelay(100);
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count ++;
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}
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if(count > 20 )
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{//custom button has been pushed over 1000 ms
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if((NaviKit.sys.power_btn == true) && (NaviKit.sys.sta == shutdown))//into dfu state
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NaviKit.sys.next_sta = dfu;
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else//TODO: force restart
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NaviKit.sys.next_sta = shutdown;
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// if(NaviKit.sys.sta == runing)
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// NaviKit.sys.next_sta = shutdown;
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// else if(NaviKit.sys.sta == shutdown)
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// NaviKit.sys.next_sta = runing;
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}
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}
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osDelay(10);
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}
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/* USER CODE END StartEventDetect */
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}
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/* USER CODE BEGIN Header_StartCoulombRead */
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/**
|
|
* @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();
|
|
// osEnterSleepState();
|
|
}
|
|
}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(5000);
|
|
if(NaviKit.sys.sta == running){
|
|
if(NaviKit.pmb.rails.out_24v > 26.4 || NaviKit.pmb.rails.out_24v < 21.6){
|
|
Log(error,"24V(±10%) power rail exception:%dV",NaviKit.pmb.rails.out_24v);
|
|
}
|
|
if(NaviKit.pmb.rails.out_5v > 5.5 || NaviKit.pmb.rails.out_5v < 4.5){
|
|
Log(error,"5V(±10%) power rail exception:%dV",NaviKit.pmb.rails.out_5v);
|
|
}
|
|
if(NaviKit.pmb.rails.out_12v > 13.2 || NaviKit.pmb.rails.out_12v < 10.8){
|
|
Log(error ,"12V(±10%) power rail exception:%dV",NaviKit.pmb.rails.out_12v);
|
|
}
|
|
if(NaviKit.pmb.rails.bkp_bat < 9.5){
|
|
Log(warning,"Backup power is not online");
|
|
}
|
|
if(NaviKit.pmb.rails.main_pwr < 19){
|
|
Beep(200);
|
|
Log(warning,"Main power has been lost, please shutdown computer as soon as possible");
|
|
}
|
|
}
|
|
if(NaviKit.pmb.rails.bkp_bat > 15){
|
|
Log(error,"Backup power is exception:%dV",NaviKit.pmb.rails.bkp_bat);
|
|
Beep(200);
|
|
}
|
|
if(NaviKit.pmb.rails.main_pwr > 30){
|
|
Beep(200);
|
|
Log(error,"Backup power is exception:%dV",NaviKit.pmb.rails.main_pwr);
|
|
}
|
|
|
|
}
|
|
/* USER CODE END StartPowerMonitTask */
|
|
}
|
|
|
|
/* Private application code --------------------------------------------------*/
|
|
/* USER CODE BEGIN Application */
|
|
|
|
//os enter sleep state for save power
|
|
void osEnterSleepState(){
|
|
Log(info,"EC Enter Sleep State");
|
|
HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
|
|
vTaskSuspendAll();
|
|
// osKernelLock();
|
|
HAL_SuspendTick();
|
|
// MX_USB_DEVICE_DeInit();
|
|
HAL_I2C_MspDeInit(&hi2c1);
|
|
HAL_ADC_MspDeInit(&hadc1);
|
|
HAL_ADC_Stop_DMA(&hadc1);
|
|
HAL_PWR_EnableSleepOnExit();//for rtos application,enter sleep after interrupt end
|
|
HAL_PWR_EnterSLEEPMode(0,PWR_SLEEPENTRY_WFE);
|
|
}
|
|
void osEnterRuningState(){
|
|
HAL_ResumeTick();
|
|
// MX_USB_DEVICE_Init();
|
|
HAL_I2C_MspInit(&hi2c1);
|
|
HAL_ADC_MspInit(&hadc1);
|
|
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&(NaviKit.pmb.rails.adc), ADC_CH_COUNT);
|
|
__set_CONTROL(0);
|
|
xTaskResumeAll();
|
|
// osKernelUnlock();
|
|
NaviKit.sys.next_sta = running;
|
|
Log(info,"EC Enter Runing State");
|
|
}
|
|
//printf redirect
|
|
#ifdef __GNUC__
|
|
//#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
|
|
#define PUTCHAR_PROTOTYPE int putchar(int ch)
|
|
#else
|
|
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
|
|
#endif
|
|
|
|
PUTCHAR_PROTOTYPE
|
|
{
|
|
while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
|
|
HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,1);
|
|
return ch;
|
|
}
|
|
|
|
/* USER CODE END Application */
|
|
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|