293 lines
8.3 KiB
C
293 lines
8.3 KiB
C
/* 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<E7949F>?????,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F>?????
|
||
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<E7949F>?????,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F>?????
|
||
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 */
|