444 lines
13 KiB
C
444 lines
13 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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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* @file freertos.c
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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 "dac161s997.h"
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#include "ad7124.h"
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#include "usart.h"
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#include "communication_protocol.h"
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#include "tim.h"
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#include "gpio.h"
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#include "tcpserverc.h"
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#include "lwip.h"
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#include "uart_lcd.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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// extern UART_HandleTypeDef huart5;
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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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osThreadId lwip_taskHandle;
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osThreadId led_taskHandle;
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osThreadId dac_taskHandle;
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osThreadId adc_taskHandle;
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osThreadId gpio_di_do_taskHandle;
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osThreadId ec11_taskHandle;
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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extern float current_buff[2];
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extern uint8_t tcp_echo_flags_control;
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extern uint8_t send_data_flag_cmd;
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ec11_t ec11_data = {0};
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uint8_t di_state_last[DI_MAX] = {0};
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uint8_t di_state_now[DI_MAX] = {0};
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int encode_direction = 0;
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int encode_num = 0;
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/* USER CODE END FunctionPrototypes */
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void start_tcp_task(void const *argument);
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void start_led_toggle_task(void const *argument);
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void start_dac_task(void const *argument);
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void start_adc_task(void const *argument);
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void start_gpio_di_do_task(void const *argument);
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void start_ec11_task(void const *argument);
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extern void MX_LWIP_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* GetIdleTaskMemory prototype (linked to static allocation support) */
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
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/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
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static StaticTask_t xIdleTaskTCBBuffer;
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static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
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{
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
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*ppxIdleTaskStackBuffer = &xIdleStack[0];
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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/* place for user code */
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}
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/* USER CODE END GET_IDLE_TASK_MEMORY */
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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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{
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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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/* definition and creation of lwip_task */
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osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512);
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lwip_taskHandle = osThreadCreate(osThread(lwip_task), NULL);
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/* definition and creation of led_task */
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osThreadDef(led_task, start_led_toggle_task, osPriorityLow, 0, 128);
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led_taskHandle = osThreadCreate(osThread(led_task), NULL);
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/* definition and creation of dac_task */
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osThreadDef(dac_task, start_dac_task, osPriorityNormal, 0, 512);
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dac_taskHandle = osThreadCreate(osThread(dac_task), NULL);
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/* definition and creation of adc_task */
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osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
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adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);
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/* definition and creation of gpio_di_do_task */
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osThreadDef(gpio_di_do_task, start_gpio_di_do_task, osPriorityNormal, 0, 128);
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gpio_di_do_taskHandle = osThreadCreate(osThread(gpio_di_do_task), NULL);
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/* definition and creation of ec11_task */
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osThreadDef(ec11_task, start_ec11_task, osPriorityNormal, 0, 512);
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ec11_taskHandle = osThreadCreate(osThread(ec11_task), NULL);
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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_start_tcp_task */
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/**
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* @brief Function implementing the lwip_task 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_start_tcp_task */
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void start_tcp_task(void const *argument)
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{
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/* init code for LWIP */
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MX_LWIP_Init();
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/* USER CODE BEGIN start_tcp_task */
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tcp_echo_init();
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/* Infinite loop */
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for (;;)
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{
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uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
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osThreadTerminate(NULL);
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}
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/* USER CODE END start_tcp_task */
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}
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/* USER CODE BEGIN Header_start_led_toggle_task */
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/**
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* @brief Function implementing the led_task 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_start_led_toggle_task */
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void start_led_toggle_task(void const *argument)
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{
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/* USER CODE BEGIN start_led_toggle_task */
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/* Infinite loop */
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for (;;)
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{
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HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
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// 旋转编码器确认按键状态，并切换<E58887>?<3F>道和确认电流<E794B5>?<3F>输<EFBFBD>?????
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// if (uart_lcd_state.page_num == 0)
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{
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if (ec11_data.confirm_key_flag == 0)
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{
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}
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else if (ec11_data.confirm_key_flag == 1) // 确认按键确认电流输出
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{
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ec11_data.confirm_key_flag_last++;
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if (ec11_data.confirm_key_flag_last > 2)
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{
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current_buff[0] = (float)uart_lcd_state.current_value[0];
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current_buff[1] = (float)uart_lcd_state.current_value[1];
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ec11_data.confirm_key_flag_last = 0;
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ec11_data.confirm_key_flag = 0;
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}
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}
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else if (ec11_data.confirm_key_flag == 2) // 切换通道按键确认状<E8AEA4>??
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{
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ec11_data.confirm_key_flag_last++;
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if (ec11_data.confirm_key_flag_last > 2)
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{
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if (uart_lcd_state.key_state[0] == 1)
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{
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uart_lcd_state.key_state[0] = 0;
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uart_lcd_state.key_state[1] = 1;
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uart_lcd_state.key_state[2] = 0;
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}
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else if (uart_lcd_state.key_state[0] == 0)
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{
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uart_lcd_state.key_state[0] = 1;
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uart_lcd_state.key_state[1] = 0;
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uart_lcd_state.key_state[2] = 1;
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}
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ec11_data.confirm_key_flag_last = 0;
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ec11_data.confirm_key_flag = 0;
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uart_lcd_channel_switch(uart_lcd_state.key_state[0]);
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}
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}
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else if (ec11_data.confirm_key_flag == 3) // 切换界面
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{
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if (uart_lcd_state.page_num == 0)
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{
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uart_lcd_state.page_num = 1;
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}
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else if (uart_lcd_state.page_num == 1)
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{
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uart_lcd_state.page_num = 0;
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}
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ec11_data.confirm_key_flag_last = 0;
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ec11_data.confirm_key_flag = 0;
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uart_lcd_page_switch(uart_lcd_state.page_num);
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}
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}
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vTaskDelay(500);
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}
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/* USER CODE END start_led_toggle_task */
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}
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/* USER CODE BEGIN Header_start_dac_task */
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/**
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* @brief Function implementing the dac_task 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_start_dac_task */
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void start_dac_task(void const *argument)
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{
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/* USER CODE BEGIN start_dac_task */
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dac161s997_init();
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/* Infinite loop */
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for (;;)
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{
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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>?????
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dac161s997_output(DAC161S997_1, current_buff[0]);
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dac161s997_output(DAC161S997_2, current_buff[1]);
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osThreadResume(adc_taskHandle);
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vTaskDelay(100);
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}
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/* USER CODE END start_dac_task */
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}
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/* USER CODE BEGIN Header_start_adc_task */
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/**
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* @brief Function implementing the adc_task 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_start_adc_task */
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void start_adc_task(void const *argument)
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{
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/* USER CODE BEGIN start_adc_task */
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ad7124_setup();
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/* Infinite loop */
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for (;;)
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{
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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>?????
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uint8_t ch = 0;
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for (ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
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{
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ad7124_get_analog(ch);
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}
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// HAL_GPIO_TogglePin(LED2_Y_GPIO_Port, LED2_Y_Pin);
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/*姝ら儴鍒嗘槸鍥犱负閫氳杩囩▼涓細浜х敓閫氳涓柇骞舵棤娉曟仮澶嶇殑鎯呭喌*/
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if (huart5.RxState == HAL_UART_STATE_READY)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(&huart5, hart1_uart5.rx_data_temp, ARRAY_LEN(hart1_uart5.rx_data_temp));
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}
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if (huart2.RxState == HAL_UART_STATE_READY)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(&huart2, hart2_uart2.rx_data_temp, ARRAY_LEN(hart2_uart2.rx_data_temp));
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}
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osThreadResume(dac_taskHandle);
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vTaskDelay(10);
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}
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/* USER CODE END start_adc_task */
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}
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/* USER CODE BEGIN Header_start_gpio_di_do_task */
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/**
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* @brief Function implementing the gpio_di_do_task 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_start_gpio_di_do_task */
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void start_gpio_di_do_task(void const *argument)
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{
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/* USER CODE BEGIN start_gpio_di_do_task */
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/* Infinite loop */
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for (;;)
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{
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uint8_t di_ch = 0;
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uint8_t tx_data_len = 7 + DI_MAX;
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uint8_t tx_data[32] = {0};
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tx_data[0] = FRAME_HEAD;
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tx_data[1] = COM_OK;
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tx_data[2] = DEVICE_NUM;
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tx_data[3] = SEND_STATE_CMD;
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tx_data[4] = DI_MAX;
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for (di_ch = 0; di_ch < DI_MAX; di_ch++)
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{
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di_state_now[di_ch] = gpio_di_test(di_ch);
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if (di_state_last[di_ch] != di_state_now[di_ch])
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{
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di_state_last[di_ch] = di_state_now[di_ch];
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send_data_flag_cmd = 1;
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}
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tx_data[5 + di_ch] = di_state_now[di_ch];
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}
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if ((send_data_flag_cmd != 0) && (1 == tcp_echo_flags_control))
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{
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tx_data[5 + DI_MAX] = xor_compute(tx_data + 1, tx_data_len - 3); // 寮傛垨鏍￠獙
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tx_data[6 + DI_MAX] = FRAME_TAIL; // 甯у熬
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user_send_data_control(tx_data, tx_data_len);
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send_data_flag_cmd++;
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if (send_data_flag_cmd > 3) // 杩炵画涓夋涓婁綅鏈烘病鏈夊洖搴旓紝鍒欏仠姝㈠彂閫佹暟鎹寘
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{
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send_data_flag_cmd = 0;
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}
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}
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vTaskDelay(100);
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}
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/* USER CODE END start_gpio_di_do_task */
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}
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/* USER CODE BEGIN Header_start_ec11_task */
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/**
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* @brief Function implementing the ec11_task 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_start_ec11_task */
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void start_ec11_task(void const *argument)
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{
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/* USER CODE BEGIN start_ec11_task */
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/* Infinite loop */
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for (;;)
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{
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encode_direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim8);
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encode_num = (short)__HAL_TIM_GET_COUNTER(&htim8);
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// 旋转编码器调节电流<E794B5>?<3F>画面显<E99DA2>?????
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if (uart_lcd_state.page_num == 0)
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{
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ec11_data.direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);
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ec11_data.encode_num = (short)__HAL_TIM_GET_COUNTER(&htim1);
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if ((ec11_data.direction == 0) && (ec11_data.encode_num > ec11_data.encode_num_last))
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{
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if (uart_lcd_state.key_state[0] == 0)
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{
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uart_lcd_state.current_value[0] += 1;
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if (uart_lcd_state.current_value[0] > 20)
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{
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uart_lcd_state.current_value[0] = 20;
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}
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}
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else if (uart_lcd_state.key_state[0] == 1)
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{
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uart_lcd_state.current_value[1] += 1;
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if (uart_lcd_state.current_value[1] > 20)
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{
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uart_lcd_state.current_value[1] = 20;
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}
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}
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uart_lcd_current_out(uart_lcd_state.key_state[0]);
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}
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if ((ec11_data.direction == 1) && (ec11_data.encode_num < ec11_data.encode_num_last))
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{
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if (uart_lcd_state.key_state[0] == 0)
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{
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if (uart_lcd_state.current_value[0] < 2)
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{
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uart_lcd_state.current_value[0] = 0;
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}
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else
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{
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uart_lcd_state.current_value[0] -= 1;
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}
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}
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else if (uart_lcd_state.key_state[0] == 1)
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{
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if (uart_lcd_state.current_value[1] < 2)
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{
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uart_lcd_state.current_value[1] = 0;
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}
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else
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{
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uart_lcd_state.current_value[1] -= 1;
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}
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}
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uart_lcd_current_out(uart_lcd_state.key_state[0]);
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}
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ec11_data.encode_num_last = ec11_data.encode_num;
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}
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vTaskDelay(100);
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}
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/* USER CODE END start_ec11_task */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/* USER CODE END Application */
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