301 lines
9.0 KiB
C
301 lines
9.0 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 "stdio.h"
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#include "navikit.h"
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#include "stdbool.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 ButtonDetect */
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osThreadId_t ButtonDetectHandle;
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const osThreadAttr_t ButtonDetect_attributes = {
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.name = "ButtonDetect",
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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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/* 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 StartButtonDetect(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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/**
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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 ButtonDetect */
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ButtonDetectHandle = osThreadNew(StartButtonDetect, NULL, &ButtonDetect_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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}
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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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NaviKit_var_init();
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HAL_GPIO_WritePin(ENUM_CTL_GPIO_Port,ENUM_CTL_Pin, GPIO_PIN_SET);
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Beep(50);
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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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printf("[%f]\n",(float)(osKernelGetTickCount()/1000.0));
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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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HAL_GPIO_TogglePin(LED_RUN_GPIO_Port,LED_RUN_Pin);
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// printf("1\n");
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osDelay(500);
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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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// printf("2\n");
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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_StartButtonDetect */
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/**
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* @brief Function implementing the ButtonDetect 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_StartButtonDetect */
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void StartButtonDetect(void *argument)
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{
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/* USER CODE BEGIN StartButtonDetect */
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/* Infinite loop */
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for(;;)
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{
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//长按检测
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if(NaviKit.pwr_button_pushed == true)
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{//按键被按下
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osDelay(2000);
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if(NaviKit.pwr_button_pushed == true)
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{//仍被按下
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if(NaviKit.system_runing == true)
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{//当前处于开机状态，进行关机操作
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NaviKit.system_runing = false;
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HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_RESET);
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Beep(40);
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osDelay(500);
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HAL_GPIO_WritePin(BAT_RELAY_CTL_GPIO_Port ,BAT_RELAY_CTL_Pin, GPIO_PIN_RESET);
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}
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else
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{//当前处于关机状态，进行开机操作
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NaviKit.system_runing = true;
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Beep(40);
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HAL_GPIO_WritePin(BAT_RELAY_CTL_GPIO_Port ,BAT_RELAY_CTL_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_SET);
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osDelay(500);
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HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_SET);
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}
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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 StartButtonDetect */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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#ifdef __GNUC__
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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PUTCHAR_PROTOTYPE
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{
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while(HAL_UART_GetState(&huart4) == HAL_UART_STATE_BUSY_TX){}
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HAL_UART_Transmit(&huart4,(uint8_t *)&ch,1,0xffff);
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return ch;
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}
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#endif
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/* USER CODE END Application */
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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