/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 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.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* 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 "communication.h"
#include "ProximitySwitches.h"
#include "dac.h"
#include "ctr_logic.h"
#include "bldc.h"
#include "hc595display.h"
#include "ds18b20.h"
#include "flash.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 defaultTaskHandle;
osThreadId task_comHandle;
osThreadId task_get_switchHandle;
osThreadId task_ctr_motorHandle;
osThreadId task_display_reHandle;
osMutexId beep_mutexHandle;
osSemaphoreId binary_sem_nssHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

static void fun_get_switch_pwr_vol(void);

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const * argument);
void start_task_com(void const * argument);
void start_task_get_switch_vol(void const * argument);
void start_task_ctr_motor(void const * argument);
void start_task_disp_result(void const * argument);

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 */
  /* Create the mutex(es) */
  /* definition and creation of beep_mutex */
  osMutexDef(beep_mutex);
  beep_mutexHandle = osMutexCreate(osMutex(beep_mutex));

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* Create the semaphores(s) */
  /* definition and creation of binary_sem_nss */
  osSemaphoreDef(binary_sem_nss);
  binary_sem_nssHandle = osSemaphoreCreate(osSemaphore(binary_sem_nss), 1);

  /* 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 defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* definition and creation of task_com */
  osThreadDef(task_com, start_task_com, osPriorityIdle, 0, 2048);
  task_comHandle = osThreadCreate(osThread(task_com), NULL);

  /* definition and creation of task_get_switch */
  osThreadDef(task_get_switch, start_task_get_switch_vol, osPriorityIdle, 0, 128);
  task_get_switchHandle = osThreadCreate(osThread(task_get_switch), NULL);

  /* definition and creation of task_ctr_motor */
  osThreadDef(task_ctr_motor, start_task_ctr_motor, osPriorityIdle, 0, 512);
  task_ctr_motorHandle = osThreadCreate(osThread(task_ctr_motor), NULL);

  /* definition and creation of task_display_re */
  osThreadDef(task_display_re, start_task_disp_result, osPriorityIdle, 0, 128);
  task_display_reHandle = osThreadCreate(osThread(task_display_re), NULL);

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

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the defaultTask thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for (;;)
  {
    HAL_GPIO_TogglePin(PF2_LED_GPIO_Port, PF2_LED_Pin);
    osDelay(500);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_start_task_com */
/**
 * @brief Function implementing the task_com thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_task_com */
void start_task_com(void const * argument)
{
  /* USER CODE BEGIN start_task_com */
  fun_ini_modbus(&modbus_rtu_A);
  fun_ini_modbus(&modbus_rtu_B);
  fun_ini_modbus(&modbus_rtu_hmi);
  /* Infinite loop */
  for (;;)
  {
    if (motor_X == MOTOR_A)
      fun_proc_modbus(&modbus_rtu_A);
    else if (motor_X == MOTOR_B)
      fun_proc_modbus(&modbus_rtu_B);

    fun_proc_modbus(&modbus_rtu_hmi);
    osDelay(1);
  }
  /* USER CODE END start_task_com */
}

/* USER CODE BEGIN Header_start_task_get_switch_vol */
/**
 * @brief Function implementing the task_get_switch thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_task_get_switch_vol */
void start_task_get_switch_vol(void const * argument)
{
  /* USER CODE BEGIN start_task_get_switch_vol */
  fun_ini_adc();
  fun_ini_switch_pwr(&prox_swith_pwr_A);
  fun_ini_switch_pwr(&prox_swith_pwr_B);
  /* Infinite loop */
  for (;;)
  {
    fun_get_switch_vol();
    fun_get_switch_pwr_vol();
    fun_ctr_switch_pwr(&prox_swith_pwr_A);
    fun_ctr_switch_pwr(&prox_swith_pwr_B);
    osDelay(1);
    //osDelay(500);
  }
  /* USER CODE END start_task_get_switch_vol */
}

/* USER CODE BEGIN Header_start_task_ctr_motor */
/**
 * @brief Function implementing the task_ctr_motor thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_task_ctr_motor */
void start_task_ctr_motor(void const * argument)
{
  /* USER CODE BEGIN start_task_ctr_motor */
  fun_ini_freq(&freq_opto);
  fun_ini_freq(&freq_namur);
  fun_ini_encoder(&htim1, &encoder_B);
  fun_ini_encoder(&htim3, &encoder_A);
  TMC2240A_A_EN_H();
  TMC2240A_B_EN_H();
  TMC2240A_RST_H();
  fun_ini_tmc2240a(&motor_A);
  vTaskDelay(10);
  fun_ini_tmc2240a(&motor_B);
  //motor_X = FlashRead(0x08040000);
  /* Infinite loop */
  for (;;)
  {
    if (motor_X == MOTOR_A)
    {
      motor_B.en = FALSE;
      fun_set_motor(&motor_B);
      fun_get_encoder(&htim3, &encoder_A);
      fun_ctr_motor(&motor_A);
    }
    else if (motor_X == MOTOR_B)
    {
      motor_A.en = FALSE;
      fun_set_motor(&motor_A);
      fun_get_encoder(&htim1, &encoder_B);
      fun_ctr_motor(&motor_B);
    }
    fun_ctr_bldc(&bldc_A);
    fun_ctr_beep(500);
    osDelay(10);
  }
  /* USER CODE END start_task_ctr_motor */
}

/* USER CODE BEGIN Header_start_task_disp_result */
/**
 * @brief Function implementing the task_display_re thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_task_disp_result */
void start_task_disp_result(void const * argument)
{
  /* USER CODE BEGIN start_task_disp_result */
  fun_ini_bus_port(&bus_port_A);
  fun_ini_bus_port(&bus_port_B);
  fun_ini_ds18b20(&ds18b20_A);
  fun_ini_ds18b20(&ds18b20_B);

  fun_ini_595_display(&hc595display_A);
  fun_ini_595_display(&hc595display_B);
  /* Infinite loop */
  for (;;)
  {
    ds18b20_read_temperature_cb(&bus_port_A, &ds18b20_A);
    ds18b20_read_temperature_cb(&bus_port_B, &ds18b20_B);
    fun_ctr_595_display(&hc595display_A);
    fun_ctr_595_display(&hc595display_B);
    osDelay(1000);
  }
  /* USER CODE END start_task_disp_result */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
static void fun_get_switch_pwr_vol()
{
  prox_swith_pwr_A.voltage_pv = prox_switch_A_vol[0];
  prox_swith_pwr_B.voltage_pv = prox_switch_B_vol[0];
}
/* USER CODE END Application */