/* 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"
#include "lan8742.h"
#include "ad7124_test.h"

// 声明外部变量
extern ad7124_analog_t ad7124_analog[AD7124_CHANNEL_EN_MAX];
/* 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;
osThreadId ad7124_test_taskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
extern float current_buff[2];
extern struct netif gnetif;
extern ETH_HandleTypeDef heth;

extern struct tcp_pcb *server_pcb_hart1;
extern struct tcp_pcb *server_pcb_hart2;
extern struct tcp_pcb *server_pcb_ble1;
extern struct tcp_pcb *server_pcb_ble2;
extern struct tcp_pcb *server_pcb_control;

extern void tcp_abort(struct tcp_pcb *pcb);
/* 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);
void start_ad7124_test_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);

  /* definition and creation of ad7124_test_task */
  osThreadDef(ad7124_test_task, start_ad7124_test_task, osPriorityNormal, 0, 512);
  ad7124_test_taskHandle = osThreadCreate(osThread(ad7124_test_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 (;;)
  {
    uint32_t phyreg = 0;
    HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg);
    if (((phyreg >> 2) & 0x1) != 0x1)
    {
      /* When the netif link is down this function must be called */

      netif_set_link_down(&gnetif);
      netif_set_down(&gnetif); // 热插拔下线时调用
      if (tcp_echo_flags_hart1 == 1)
      {
        tcp_abort(server_pcb_hart1); // 热插拔下线时调用
        tcp_echo_flags_hart1 = 0;
      }
      if (tcp_echo_flags_hart2 == 1)
      {
        tcp_abort(server_pcb_hart2); // 热插拔下线时调用
        tcp_echo_flags_hart2 = 0;
      }
#if (BLE2_USART6 == 1)

      if (tcp_echo_flags_ble1 == 1)
      {
        tcp_abort(server_pcb_ble1); // 热插拔下线时调用
        tcp_echo_flags_ble1 = 0;
      }
#endif
      if (tcp_echo_flags_ble2 == 1)
      {
        tcp_abort(server_pcb_ble2); // 热插拔下线时调用
        tcp_echo_flags_ble2 = 0;
      }
      if (tcp_echo_flags_control == 1)
      {
        tcp_abort(server_pcb_control); // 热插拔下线时调用
        tcp_echo_flags_control = 0;
      }
    }
    else
    {
      /* When the netif is fully configured this function must be called */
      netif_set_link_up(&gnetif);
      netif_set_up(&gnetif); // 热插拔上线时调用
      // if (tcp_echo_flags_ble1 == 2)
      // {
      //   tcp_echo_init(); // 热插拔上线时调用
      //   // uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
      //   tcp_echo_flags_ble1 = 0;
      // }
    }

    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();
    uart_forwarding_tcp();
    vTaskDelay(10);
  }
  /* USER CODE END start_ec11_task */
}

/* USER CODE BEGIN Header_start_ad7124_test_task */
/**
 * @brief Function implementing the ad7124_test_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_ad7124_test_task */

// 添加全局变量用于Watch窗口观察
volatile int32_t g_adc_data = 0;
volatile int32_t g_adc_error = 0;
volatile uint8_t g_adc_state = 0;  // 0:初始化 1:配置通道 2:等待转换 3:读取数据 4:组包 5:发送
volatile uint16_t g_channel_config = 0;  // 用于观察通道配置值
volatile uint16_t g_channel_status = 0;  // 用于观察通道状态
volatile uint16_t g_adc_control = 0;     // 用于观察ADC控制寄存器
volatile uint16_t g_config_0 = 0;        // 用于观察配置寄存器0
volatile uint32_t g_filter_0 = 0;        // 用于观察滤波器配置
extern int32_t g_ad7124_id;

void start_ad7124_test_task(const void *argument)
{
    int32_t ret;
    
    // 等待系统稳定
    vTaskDelay(1000);
    g_adc_state = 0;
    
    // 初始化AD7124
    ret = ad7124_setup();
   
    
    // 读取关键寄存器值
    ret = ad7124_read_register(&ad7124_regs[AD7124_ADC_CONTROL]);
    if (ret >= 0) {
        g_adc_control = ad7124_regs[AD7124_ADC_CONTROL].value;
    }
    
    ret = ad7124_read_register(&ad7124_regs[AD7124_CONFIG_0]);
    if (ret >= 0) {
        g_config_0 = ad7124_regs[AD7124_CONFIG_0].value;
    }
    
    ret = ad7124_read_register(&ad7124_regs[AD7124_FILTER_0]);
    if (ret >= 0) {
        g_filter_0 = ad7124_regs[AD7124_FILTER_0].value;
    }
    
    // 只测试通道1
    uint8_t ch = 0; // 假设通道1索引为0，如有不同请调整
    
    while(1) 
    {
        // 配置通道1
        g_adc_state = 1;
        g_channel_config = ad7124_channel_regs[ch].value;  // 记录通道配置值
        ad7124_regs[AD7124_CHANNEL_0].value = ad7124_channel_regs[ch].value;
        ret = ad7124_write_register(&ad7124_regs[AD7124_CHANNEL_0]);
        if (ret < 0) {
            g_adc_error = ret;
            vTaskDelay(500);
            continue;
        }
        
        // 读取通道状态寄存器
        ret = ad7124_read_register(&ad7124_regs[AD7124_STATUS]);
        if (ret >= 0) {
            g_channel_status = ad7124_regs[AD7124_STATUS].value;
        }
        
        // 等待转换完成，设置较短的超时时间
        g_adc_state = 2;
        ret = ad7124_wait_for_conv_ready(100); // 100ms超时
        if (ret < 0) {
            g_adc_error = ret;
            vTaskDelay(500);
            continue;
        }
        
        // 读取数据
        g_adc_state = 3;
        g_adc_data = ad7124_read_data();
        g_adc_error = 0;  // 清除错误标志
        
        g_adc_state = 4;
        // 组包：4字节大端
        uint8_t tx_buf[4];
        tx_buf[0] = (g_adc_data >> 24) & 0xFF;
        tx_buf[1] = (g_adc_data >> 16) & 0xFF;
        tx_buf[2] = (g_adc_data >> 8) & 0xFF;
        tx_buf[3] = g_adc_data & 0xFF;
        
        g_adc_state = 5;
        // 发送数据
        //user_send_data_control(tx_buf, 4);
        
        // 固定延时
        vTaskDelay(500);
    }
}

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

/* USER CODE END Application */