/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * @file freertos.c
 *
 ******************************************************************************
 */
/* 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 "dac161s997.h"
#include "ad7124.h"
#include "usart.h"
#include "communication_protocol.h"
#include "tim.h"
#include "gpio.h"
#include "tcpserverc.h"
#include "lwip.h"
#include "uart_lcd.h"
#include "user_gpio.h"
#include "linear_encoder.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 */
osThreadId lwip_taskHandle;
osThreadId led_taskHandle;
osThreadId dac_taskHandle;
osThreadId adc_taskHandle;
osThreadId gpio_di_do_taskHandle;
osThreadId ec11_taskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
extern float current_buff[2];
/* USER CODE END FunctionPrototypes */

void start_tcp_task(void const *argument);
void start_led_toggle_task(void const *argument);
void start_dac_task(void const *argument);
void start_adc_task(void const *argument);
void start_gpio_di_do_task(void const *argument);
void start_ec11_task(void const *argument);

extern void MX_LWIP_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
 * @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) */
  /* definition and creation of lwip_task */
  osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512);
  lwip_taskHandle = osThreadCreate(osThread(lwip_task), NULL);

  /* definition and creation of led_task */
  osThreadDef(led_task, start_led_toggle_task, osPriorityLow, 0, 128);
  led_taskHandle = osThreadCreate(osThread(led_task), NULL);

  /* definition and creation of dac_task */
  osThreadDef(dac_task, start_dac_task, osPriorityNormal, 0, 512);
  dac_taskHandle = osThreadCreate(osThread(dac_task), NULL);

  /* definition and creation of adc_task */
  osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
  adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);

  /* definition and creation of gpio_di_do_task */
  osThreadDef(gpio_di_do_task, start_gpio_di_do_task, osPriorityNormal, 0, 128);
  gpio_di_do_taskHandle = osThreadCreate(osThread(gpio_di_do_task), NULL);

  /* definition and creation of ec11_task */
  osThreadDef(ec11_task, start_ec11_task, osPriorityNormal, 0, 512);
  ec11_taskHandle = osThreadCreate(osThread(ec11_task), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */
}

/* USER CODE BEGIN Header_start_tcp_task */
/**
 * @brief  Function implementing the lwip_task thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_tcp_task */
void start_tcp_task(void const *argument)
{
  /* init code for LWIP */
  MX_LWIP_Init();
  /* USER CODE BEGIN start_tcp_task */
  tcp_echo_init();
  uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
  /* Infinite loop */
  for (;;)
  {

    vTaskDelay(1000);
    // osThreadTerminate(NULL);
  }
  /* USER CODE END start_tcp_task */
}

/* USER CODE BEGIN Header_start_led_toggle_task */
/**
 * @brief Function implementing the led_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_led_toggle_task */
void start_led_toggle_task(void const *argument)
{
  /* USER CODE BEGIN start_led_toggle_task */
  /* Infinite loop */
  for (;;)
  {
    HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);

    uart_lcd_ecll_control_current_out();
    vTaskDelay(500);
  }
  /* USER CODE END start_led_toggle_task */
}

/* USER CODE BEGIN Header_start_dac_task */
/**
 * @brief Function implementing the dac_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_dac_task */
void start_dac_task(void const *argument)
{
  /* USER CODE BEGIN start_dac_task */
  dac161s997_init();
  /* Infinite loop */
  for (;;)
  {
    osThreadSuspend(adc_taskHandle); // 暂停ADC任务，防止DAC采集时产生干�?????,因为ADC和DAC采用的是同一路SPI，但是时序不�?????
    dac161s997_output(DAC161S997_1, current_buff[0]);
    dac161s997_output(DAC161S997_2, current_buff[1]);
    osThreadResume(adc_taskHandle);
    vTaskDelay(100);
  }
  /* USER CODE END start_dac_task */
}

/* USER CODE BEGIN Header_start_adc_task */
/**
 * @brief Function implementing the adc_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_adc_task */
void start_adc_task(void const *argument)
{
  /* USER CODE BEGIN start_adc_task */
  ad7124_setup();
  /* Infinite loop */
  for (;;)
  {
    osThreadSuspend(dac_taskHandle); // 暂停DAC任务，防止ADC采集时产生干�?????,因为ADC和DAC采用的是同一路SPI，但是时序不�?????
    uint8_t ch = 0;
    for (ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
    {
      ad7124_get_analog(ch);
    }
    communication_reset_hart();
    osThreadResume(dac_taskHandle);
    vTaskDelay(10);
  }
  /* USER CODE END start_adc_task */
}

/* USER CODE BEGIN Header_start_gpio_di_do_task */
/**
 * @brief Function implementing the gpio_di_do_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_gpio_di_do_task */
void start_gpio_di_do_task(void const *argument)
{
  /* USER CODE BEGIN start_gpio_di_do_task */
  /* Infinite loop */
  for (;;)
  {
    user_gpio_trigger();
    vTaskDelay(100);
  }
  /* USER CODE END start_gpio_di_do_task */
}

/* USER CODE BEGIN Header_start_ec11_task */
/**
 * @brief Function implementing the ec11_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_ec11_task */
void start_ec11_task(void const *argument)
{
  /* USER CODE BEGIN start_ec11_task */
  /* Infinite loop */
  for (;;)
  {
    linear_encoder_get_data();
    uart_lcd_ec11_control_current();
    vTaskDelay(100);
  }
  /* USER CODE END start_ec11_task */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */