227 lines
6.6 KiB
C
227 lines
6.6 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 "communication_protocol.h"
|
|
#include "tim.h"
|
|
#include "gpio.h"
|
|
#include "tcpserverc.h"
|
|
/* USER CODE END Includes */
|
|
|
|
/* Private typedef -----------------------------------------------------------*/
|
|
/* USER CODE BEGIN PTD */
|
|
|
|
/* USER CODE END PTD */
|
|
|
|
/* Private define ------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PD */
|
|
// extern UART_HandleTypeDef huart5;
|
|
/* 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 gpio_di_do_taskHandle;
|
|
osThreadId leds_taskHandle;
|
|
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
/* USER CODE BEGIN FunctionPrototypes */
|
|
uint8_t di_state_last[DI_MAX] = {0};
|
|
uint8_t di_state_now[DI_MAX] = {0};
|
|
extern uint8_t tcp_echo_flags_control;
|
|
extern uint8_t send_data_flag_cmd;
|
|
/* USER CODE END FunctionPrototypes */
|
|
|
|
void start_tcp_task(void const *argument);
|
|
void start_gpio_di_do_task(void const *argument);
|
|
void start_leds_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 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 leds_task */
|
|
osThreadDef(leds_task, start_leds_task, osPriorityIdle, 0, 128);
|
|
leds_taskHandle = osThreadCreate(osThread(leds_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();
|
|
/* Infinite loop */
|
|
for (;;)
|
|
{
|
|
// osThreadTerminate(NULL);
|
|
|
|
vTaskDelay(1);
|
|
}
|
|
/* USER CODE END start_tcp_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 (;;)
|
|
{
|
|
uint8_t di_ch = 0;
|
|
uint8_t tx_data_len = 7 + DI_MAX;
|
|
uint8_t tx_data[32] = {0};
|
|
tx_data[0] = FRAME_HEAD; // 帧头
|
|
tx_data[1] = COM_OK; // 状态
|
|
tx_data[2] = DEVICE_NUM; // 设备号
|
|
tx_data[3] = SEND_STATE_CMD; // 命令号
|
|
tx_data[4] = DI_MAX; // 数据长度
|
|
for (di_ch = 0; di_ch < DI_MAX; di_ch++)
|
|
{
|
|
di_state_now[di_ch] = gpio_di_test(di_ch);
|
|
if (di_state_last[di_ch] != di_state_now[di_ch])
|
|
{
|
|
di_state_last[di_ch] = di_state_now[di_ch];
|
|
send_data_flag_cmd = 1;
|
|
}
|
|
tx_data[5 + di_ch] = di_state_now[di_ch];
|
|
}
|
|
if ((send_data_flag_cmd != 0) && (1 == tcp_echo_flags_control))
|
|
{
|
|
tx_data[5 + DI_MAX] = xor_compute(tx_data + 1, tx_data_len - 3); // 异或校验
|
|
tx_data[6 + DI_MAX] = FRAME_TAIL; // 帧尾
|
|
user_send_data_control(tx_data, tx_data_len);
|
|
send_data_flag_cmd++;
|
|
if (send_data_flag_cmd > 3) // 连续三次上位机没有回应，则停止发送数据包
|
|
{
|
|
send_data_flag_cmd = 0;
|
|
}
|
|
}
|
|
vTaskDelay(100);
|
|
}
|
|
/* USER CODE END start_gpio_di_do_task */
|
|
}
|
|
|
|
/* USER CODE BEGIN Header_start_leds_task */
|
|
/**
|
|
* @brief Function implementing the leds_task thread.
|
|
* @param argument: Not used
|
|
* @retval None
|
|
*/
|
|
/* USER CODE END Header_start_leds_task */
|
|
void start_leds_task(void const *argument)
|
|
{
|
|
/* USER CODE BEGIN start_leds_task */
|
|
/* Infinite loop */
|
|
for (;;)
|
|
{
|
|
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
|
|
vTaskDelay(500);
|
|
}
|
|
/* USER CODE END start_leds_task */
|
|
}
|
|
|
|
/* Private application code --------------------------------------------------*/
|
|
/* USER CODE BEGIN Application */
|
|
|
|
/* USER CODE END Application */
|