/* 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" #include // 添加string.h用于字符串操作 #include "ht1200m.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 */ osThreadId lwip_taskHandle; osThreadId led_taskHandle; osThreadId dac_taskHandle; osThreadId adc_taskHandle; osThreadId gpio_di_do_taskHandle; osThreadId ec11_taskHandle; osThreadId ad7124_test_taskHandle; osThreadId usart6_test_taskHandle; // 添加USART6测试任务句柄 // 添加RTS引脚监控变量 volatile GPIO_PinState rts_pin_state = GPIO_PIN_RESET; // RTS引脚当前状态 volatile GPIO_PinState rst_pin_state = GPIO_PIN_RESET; // RTS引脚当前状态 volatile uint32_t rts_pin_pull = 0; // RTS引脚上下拉配置 volatile uint32_t rts_pin_mode = 0; // RTS引脚模式 volatile uint32_t rts_pin_speed = 0; // RTS引脚速度 volatile uint32_t rts_pin_alternate = 0; // RTS引脚复用功能 /* USER CODE END Variables */ /* 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); void start_usart6_test_task(void const *argument); // 添加USART6测试任务函数声明 /* 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); void test_cs_pin(void); 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); /* HART测试任务 */ // osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityNormal, 0, 128); // usart6_test_taskHandle = osThreadCreate(osThread(usart6_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 ADC任务函数实现 * @param argument: 未使用 * @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 (;;) { uint8_t ch = 0; for (ch = AD7124_AIN0; ch < AD7124_CHANNEL_EN_MAX; ch++) { ad7124_get_analog(ch); } 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 */ } /** * @brief Initialize AD7124 with multiple channels * @param sample_rate: Sample rate selection (2Hz to 1kHz) * @retval None */ /* USER CODE END Application */ /** * @brief 测试CS引脚的功能 * * 这个函数将不断地尝试拉低和拉高CS引脚，并读取其状态。 * 它主要用于测试硬件连接和引脚操作的正确性。 * * @return 无返回值 */ void test_cs_pin(void) { while (1) { ad7124_cs_on(); // 尝试拉低 GPIO_PinState state = HAL_GPIO_ReadPin(SPI2_CS_GPIO_Port, SPI2_CS_Pin); // 打印或观察state值，应该是GPIO_PIN_RESET HAL_Delay(100); ad7124_cs_off(); // 尝试拉高 state = HAL_GPIO_ReadPin(SPI2_CS_GPIO_Port, SPI2_CS_Pin); // 打印或观察state值，应该是GPIO_PIN_SET HAL_Delay(100); } } /* USER CODE BEGIN Header_start_usart6_test_task */ /** * @brief Function implementing the usart6_test_task thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_start_usart6_test_task */ // 添加UART接收回调函数声明 static void UART6_RxCpltCallback(void); // 添加接收缓冲区 static uint8_t uart6_rx_buffer[1]; static volatile uint8_t uart6_rx_data = 0; static volatile uint8_t uart6_rx_flag = 0; // UART接收完成回调函数 static void UART6_RxCpltCallback(void) { uart6_rx_data = uart6_rx_buffer[0]; uart6_rx_flag = 1; // 重新启动接收 HAL_UART_Receive_IT(&huart6, uart6_rx_buffer, 1); } void start_usart6_test_task(void const *argument) { /* USER CODE BEGIN start_usart6_test_task */ uint8_t rx_buffer[1]; // 接收缓冲区 uint8_t tcp_tx_data[300] = {0}; // TCP发送缓冲区 uint16_t tx_data_len = 0; // 确保UART6已正确初始化 if (huart6.Instance == NULL) { Error_Handler(); } // 重新初始化UART6 HAL_UART_DeInit(&huart6); huart6.Init.BaudRate = 1200; huart6.Init.WordLength = UART_WORDLENGTH_8B; huart6.Init.StopBits = UART_STOPBITS_1; huart6.Init.Parity = UART_PARITY_NONE; huart6.Init.Mode = UART_MODE_TX_RX; huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart6.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart6) != HAL_OK) { Error_Handler(); } /* Infinite loop */ for(;;) { // 使用HAL库函数检查接收状态 if (HAL_UART_GetState(&huart6) == HAL_UART_STATE_READY) { // 尝试接收一个字节，超时时间设为0 if (HAL_UART_Receive(&huart6, rx_buffer, 1, 0) == HAL_OK) { // 检查TCP连接状态 if (server_pcb_control != NULL && tcp_echo_flags_control == 1) { // 构造帧头等 tcp_tx_data[0] = 0xD5; // 帧头1 tcp_tx_data[1] = 0xC8; // 帧头2 tcp_tx_data[2] = 0x00; // 帧长度高字节 (1 + 11 = 12) tcp_tx_data[3] = 0x0C; // 帧长度低字节 tcp_tx_data[4] = 0x01; // 源地址高 tcp_tx_data[5] = 0x02; // 源地址低 tcp_tx_data[6] = 0x0A; // 目标地址高 tcp_tx_data[7] = 0x0B; // 目标地址低 tcp_tx_data[8] = 0x88; // 报文类型(透传) // 复制接收到的数据 tcp_tx_data[9] = rx_buffer[0]; // 计算校验和 uint16_t checksum = 0; for (int i = 4; i < 10; i++) { checksum += tcp_tx_data[i]; } tcp_tx_data[10] = 0x00; // 校验和高字节 tcp_tx_data[11] = checksum & 0xFF; // 校验和低字节 // 发送数据 tx_data_len = 12; // 总长度 = 数据长度(1) + 帧头(2) + 帧长(2) + 源地址(2) + 目标地址(2) + 类型(1) + 校验(2) user_send_data_control(tcp_tx_data, tx_data_len); } } } vTaskDelay(1); // 给其他任务执行的机会 } /* USER CODE END start_usart6_test_task */ } void start_usart6_dma_test_task(void const *argument) { }