/* 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);
void ad7124_multi_channel_init(uint8_t sample_rate);
void start_adc_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);
  osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
  adc_taskHandle = osThreadCreate(osThread(adc_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 = AI_IN0_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
    {
      ad7124_get_analog(ch);
    }
    //communication_reset_hart();
    //osThreadResume(dac_taskHandle);
    vTaskDelay(100);
  }
  /* 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)
// {
//     vTaskDelay(1000);
    
//     // 初始化AD7124
//     ad7124_setup();
//     vTaskDelay(100);
    
//     while(1) 
//     {
//         // 遍历所有启用的通道
//         for(uint8_t ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
//         {
//             // 1. 将ADC设置为掉电模式
//             ad7124_regs[AD7124_ADC_CONTROL].value = 0x0600;  // Power-down mode
//             ad7124_write_register(&ad7124_regs[AD7124_ADC_CONTROL]);
//             vTaskDelay(1);
            
//             // 2. 配置当前通道
//             ad7124_regs[AD7124_CHANNEL_0].value = ad7124_channel_regs[ch].value;
//             ad7124_write_register(&ad7124_regs[AD7124_CHANNEL_0]);
            
//             // 3. 读取并保存通道配置状态
//             ad7124_read_register(&ad7124_regs[AD7124_CHANNEL_0]);
//             g_channel_config = ad7124_regs[AD7124_CHANNEL_0].value;
            
//             // 4. 设置为单次转换模式并启动转换
//             ad7124_regs[AD7124_ADC_CONTROL].value = 0x0684;  // Single conversion mode
//             ad7124_write_register(&ad7124_regs[AD7124_ADC_CONTROL]);
            
//             // 5. 立即读取状态寄存器确认转换开始
//             ad7124_read_register(&ad7124_regs[AD7124_STATUS]);
//             g_channel_status = ad7124_regs[AD7124_STATUS].value;
            
//             // 6. 等待转换完成
//             uint16_t timeout = 1000;
//             while(timeout--) {
//                 int32_t ret = ad7124_read_register(&ad7124_regs[AD7124_STATUS]);
//                 if(ret >= 0) {
//                     g_channel_status = ad7124_regs[AD7124_STATUS].value;
//                     if(!(g_channel_status & AD7124_STATUS_REG_RDY)) {
//                         // 转换完成，立即读取数据
//                         g_adc_data = ad7124_read_data();
//                         break;
//                     }
//                 }
//                 vTaskDelay(1);
//             }
            
//             // 7. 读取错误寄存器检查是否有错误
//             ad7124_read_register(&ad7124_regs[AD7124_ERROR]);
//             g_adc_error = ad7124_regs[AD7124_ERROR].value;
            
//             // 8. 保存最终的控制寄存器状态
//             ad7124_read_register(&ad7124_regs[AD7124_ADC_CONTROL]);
//             g_adc_control = ad7124_regs[AD7124_ADC_CONTROL].value;
            
//             // 9. 如果发生错误，重置ADC
//             if(g_adc_error != 0) {
//                 ad7124_reset();
//                 vTaskDelay(100);
//                 ad7124_setup();
//                 vTaskDelay(10);
//             }
            
//             // 10. 如果超时或出错，增加延时方便调试
//             if(timeout == 0 || g_adc_error != 0) {
//                 vTaskDelay(100);
//             }
//         }
        
//         vTaskDelay(pdMS_TO_TICKS(10));
//     }
// }

/**
 * @brief  Initialize AD7124 with multiple channels
 * @param  sample_rate: Sample rate selection (2Hz to 1kHz)
 * @retval None
 */
// void ad7124_multi_channel_init(uint8_t sample_rate)
// {
//     // Reset AD7124
//     ad7124_reset();
//     vTaskDelay(pdMS_TO_TICKS(100)); // 复位后延时
    
//     // 配置ADC控制寄存器
//     ad7124_regs[AD7124_ADC_CONTROL].value = 
//         AD7124_ADC_CTRL_REG_DATA_STATUS |  // Enable status register
//         AD7124_ADC_CTRL_REG_CS_EN |       // Enable chip select
//         AD7124_ADC_CTRL_REG_REF_EN |      // Enable internal reference
//         AD7124_ADC_CTRL_REG_POWER_MODE(3); // Full power mode
//     ad7124_write_register(&ad7124_regs[AD7124_ADC_CONTROL]);
    
//     // 配置Setup 0
//     ad7124_regs[AD7124_CONFIG_0].value =
//         AD7124_CFG_REG_BIPOLAR |    // Bipolar mode
//         AD7124_CFG_REG_BURNOUT(0) | // Burnout current source off
//         AD7124_CFG_REG_REF_BUFP |   // Reference buffer positive enabled
//         AD7124_CFG_REG_REF_BUFM |   // Reference buffer negative enabled
//         AD7124_CFG_REG_AIN_BUFP |   // Enable positive input buffer
//         AD7124_CFG_REG_AINN_BUFM |  // Enable negative input buffer
//         AD7124_CFG_REG_REF_SEL(2) | // Use internal reference
//         AD7124_CFG_REG_PGA(0);      // Gain = 1
//     ad7124_write_register(&ad7124_regs[AD7124_CONFIG_0]);
    
//     // 初始禁用所有通道
//     for(uint8_t ch = 0; ch < AD7124_CHANNEL_EN_MAX; ch++) {
//         ad7124_regs[AD7124_CHANNEL_0 + ch].value = 0;
//         ad7124_write_register(&ad7124_regs[AD7124_CHANNEL_0 + ch]);
//     }
    
//     // 配置滤波器
//     ad7124_regs[AD7124_FILTER_0].value = 
//         AD7124_FILT_REG_FILTER(0) |      // SINC4 filter
//         AD7124_FILT_REG_REJ60 |          // Enable 60Hz rejection
//         AD7124_FILT_REG_POST_FILTER(3) | // Post filter enabled
//         AD7124_FILT_REG_FS(1);           // Output data rate
//     ad7124_write_register(&ad7124_regs[AD7124_FILTER_0]);
// }

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