505 lines
16 KiB
C
505 lines
16 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* @file freertos.c
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "dac161s997.h"
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#include "ad7124.h"
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#include "usart.h"
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#include "communication_protocol.h"
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#include "tim.h"
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#include "gpio.h"
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#include "tcpserverc.h"
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#include "lwip.h"
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#include "uart_lcd.h"
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#include "user_gpio.h"
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#include "linear_encoder.h"
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#include "lan8742.h"
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#include "ad7124_test.h"
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// 声明外部变量
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extern ad7124_analog_t ad7124_analog[AD7124_CHANNEL_EN_MAX];
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* USER CODE END Variables */
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osThreadId lwip_taskHandle;
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osThreadId led_taskHandle;
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osThreadId dac_taskHandle;
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osThreadId adc_taskHandle;
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osThreadId gpio_di_do_taskHandle;
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osThreadId ec11_taskHandle;
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osThreadId ad7124_test_taskHandle;
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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extern float current_buff[2];
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extern struct netif gnetif;
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extern ETH_HandleTypeDef heth;
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extern struct tcp_pcb *server_pcb_hart1;
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extern struct tcp_pcb *server_pcb_hart2;
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extern struct tcp_pcb *server_pcb_ble1;
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extern struct tcp_pcb *server_pcb_ble2;
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extern struct tcp_pcb *server_pcb_control;
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extern void tcp_abort(struct tcp_pcb *pcb);
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/* USER CODE END FunctionPrototypes */
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void start_tcp_task(void const *argument);
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void start_led_toggle_task(void const *argument);
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void start_dac_task(void const *argument);
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void start_adc_task(void const *argument);
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void start_gpio_di_do_task(void const *argument);
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void start_ec11_task(void const *argument);
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void start_ad7124_test_task(void const *argument);
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void ad7124_multi_channel_init(uint8_t sample_rate);
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extern void MX_LWIP_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* GetIdleTaskMemory prototype (linked to static allocation support) */
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
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/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
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static StaticTask_t xIdleTaskTCBBuffer;
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static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
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{
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
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*ppxIdleTaskStackBuffer = &xIdleStack[0];
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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/* place for user code */
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}
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/* USER CODE END GET_IDLE_TASK_MEMORY */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void)
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{
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* definition and creation of lwip_task */
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osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512);
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lwip_taskHandle = osThreadCreate(osThread(lwip_task), NULL);
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/* definition and creation of led_task */
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// osThreadDef(led_task, start_led_toggle_task, osPriorityLow, 0, 128);
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// led_taskHandle = osThreadCreate(osThread(led_task), NULL);
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/* definition and creation of dac_task */
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// osThreadDef(dac_task, start_dac_task, osPriorityNormal, 0, 512);
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// dac_taskHandle = osThreadCreate(osThread(dac_task), NULL);
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/* definition and creation of adc_task */
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// osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
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// adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);
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/* definition and creation of gpio_di_do_task */
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// osThreadDef(gpio_di_do_task, start_gpio_di_do_task, osPriorityNormal, 0, 128);
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// gpio_di_do_taskHandle = osThreadCreate(osThread(gpio_di_do_task), NULL);
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/* definition and creation of ec11_task */
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// osThreadDef(ec11_task, start_ec11_task, osPriorityNormal, 0, 512);
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// ec11_taskHandle = osThreadCreate(osThread(ec11_task), NULL);
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/* definition and creation of ad7124_test_task */
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osThreadDef(ad7124_test_task, start_ad7124_test_task, osPriorityNormal, 0, 512);
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ad7124_test_taskHandle = osThreadCreate(osThread(ad7124_test_task), NULL);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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/* USER CODE END RTOS_THREADS */
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}
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/* USER CODE BEGIN Header_start_tcp_task */
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/**
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* @brief Function implementing the lwip_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_tcp_task */
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void start_tcp_task(void const *argument)
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{
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/* init code for LWIP */
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MX_LWIP_Init();
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/* USER CODE BEGIN start_tcp_task */
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tcp_echo_init();
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uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
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/* Infinite loop */
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for (;;)
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{
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uint32_t phyreg = 0;
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HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg);
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if (((phyreg >> 2) & 0x1) != 0x1)
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{
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/* When the netif link is down this function must be called */
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netif_set_link_down(&gnetif);
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netif_set_down(&gnetif); // 热插拔下线时调用
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if (tcp_echo_flags_hart1 == 1)
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{
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tcp_abort(server_pcb_hart1); // 热插拔下线时调用
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tcp_echo_flags_hart1 = 0;
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}
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if (tcp_echo_flags_hart2 == 1)
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{
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tcp_abort(server_pcb_hart2); // 热插拔下线时调用
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tcp_echo_flags_hart2 = 0;
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}
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#if (BLE2_USART6 == 1)
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if (tcp_echo_flags_ble1 == 1)
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{
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tcp_abort(server_pcb_ble1); // 热插拔下线时调用
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tcp_echo_flags_ble1 = 0;
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}
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#endif
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if (tcp_echo_flags_ble2 == 1)
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{
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tcp_abort(server_pcb_ble2); // 热插拔下线时调用
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tcp_echo_flags_ble2 = 0;
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}
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if (tcp_echo_flags_control == 1)
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{
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tcp_abort(server_pcb_control); // 热插拔下线时调用
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tcp_echo_flags_control = 0;
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}
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}
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else
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{
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/* When the netif is fully configured this function must be called */
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netif_set_link_up(&gnetif);
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netif_set_up(&gnetif); // 热插拔上线时调用
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// if (tcp_echo_flags_ble1 == 2)
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// {
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// tcp_echo_init(); // 热插拔上线时调用
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// // uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
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// tcp_echo_flags_ble1 = 0;
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// }
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}
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vTaskDelay(1000);
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// osThreadTerminate(NULL);
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}
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/* USER CODE END start_tcp_task */
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}
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/* USER CODE BEGIN Header_start_led_toggle_task */
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/**
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* @brief Function implementing the led_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_led_toggle_task */
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void start_led_toggle_task(void const *argument)
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{
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/* USER CODE BEGIN start_led_toggle_task */
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/* Infinite loop */
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for (;;)
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{
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HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
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uart_lcd_ecll_control_current_out();
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vTaskDelay(500);
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}
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/* USER CODE END start_led_toggle_task */
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}
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/* USER CODE BEGIN Header_start_dac_task */
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/**
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* @brief Function implementing the dac_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_dac_task */
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void start_dac_task(void const *argument)
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{
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/* USER CODE BEGIN start_dac_task */
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dac161s997_init();
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/* Infinite loop */
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for (;;)
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{
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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????????
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dac161s997_output(DAC161S997_1, current_buff[0]);
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dac161s997_output(DAC161S997_2, current_buff[1]);
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osThreadResume(adc_taskHandle);
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vTaskDelay(100);
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}
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/* USER CODE END start_dac_task */
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}
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/* USER CODE BEGIN Header_start_adc_task */
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/**
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* @brief Function implementing the adc_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_adc_task */
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void start_adc_task(void const *argument)
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{
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/* USER CODE BEGIN start_adc_task */
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ad7124_setup();
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/* Infinite loop */
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for (;;)
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{
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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????????
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uint8_t ch = 0;
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for (ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
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{
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ad7124_get_analog(ch);
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}
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communication_reset_hart();
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osThreadResume(dac_taskHandle);
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vTaskDelay(10);
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}
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/* USER CODE END start_adc_task */
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}
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/* USER CODE BEGIN Header_start_gpio_di_do_task */
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/**
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* @brief Function implementing the gpio_di_do_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_gpio_di_do_task */
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void start_gpio_di_do_task(void const *argument)
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{
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/* USER CODE BEGIN start_gpio_di_do_task */
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/* Infinite loop */
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for (;;)
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{
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user_gpio_trigger();
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vTaskDelay(100);
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}
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/* USER CODE END start_gpio_di_do_task */
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}
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/* USER CODE BEGIN Header_start_ec11_task */
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/**
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* @brief Function implementing the ec11_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_ec11_task */
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void start_ec11_task(void const *argument)
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{
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/* USER CODE BEGIN start_ec11_task */
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/* Infinite loop */
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for (;;)
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{
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linear_encoder_get_data();
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uart_lcd_ec11_control_current();
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uart_forwarding_tcp();
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vTaskDelay(10);
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}
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/* USER CODE END start_ec11_task */
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}
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/* USER CODE BEGIN Header_start_ad7124_test_task */
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/**
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* @brief Function implementing the ad7124_test_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_ad7124_test_task */
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// 添加全局变量用于Watch窗口观察
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volatile int32_t g_adc_data = 0;
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volatile int32_t g_adc_error = 0;
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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
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volatile uint16_t g_channel_config = 0; // 用于观察通道配置值
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volatile uint16_t g_channel_status = 0; // 用于观察通道状态
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volatile uint16_t g_adc_control = 0; // 用于观察ADC控制寄存器
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volatile uint16_t g_config_0 = 0; // 用于观察配置寄存器0
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volatile uint32_t g_filter_0 = 0; // 用于观察滤波器配置
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extern int32_t g_ad7124_id;
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void start_ad7124_test_task(const void *argument)
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{
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vTaskDelay(1000);
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// 初始化AD7124
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ad7124_setup();
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vTaskDelay(100);
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while(1)
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{
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// 遍历所有启用的通道
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for(uint8_t ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
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{
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// 1. 将ADC设置为掉电模式
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ad7124_regs[AD7124_ADC_CONTROL].value = 0x0600; // Power-down mode
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ad7124_write_register(&ad7124_regs[AD7124_ADC_CONTROL]);
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vTaskDelay(1);
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// 2. 配置当前通道
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ad7124_regs[AD7124_CHANNEL_0].value = ad7124_channel_regs[ch].value;
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ad7124_write_register(&ad7124_regs[AD7124_CHANNEL_0]);
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// 3. 读取并保存通道配置状态
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ad7124_read_register(&ad7124_regs[AD7124_CHANNEL_0]);
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g_channel_config = ad7124_regs[AD7124_CHANNEL_0].value;
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// 4. 设置为单次转换模式并启动转换
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ad7124_regs[AD7124_ADC_CONTROL].value = 0x0684; // Single conversion mode
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ad7124_write_register(&ad7124_regs[AD7124_ADC_CONTROL]);
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// 5. 立即读取状态寄存器确认转换开始
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ad7124_read_register(&ad7124_regs[AD7124_STATUS]);
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g_channel_status = ad7124_regs[AD7124_STATUS].value;
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// 6. 等待转换完成
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uint16_t timeout = 1000;
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while(timeout--) {
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int32_t ret = ad7124_read_register(&ad7124_regs[AD7124_STATUS]);
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if(ret >= 0) {
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g_channel_status = ad7124_regs[AD7124_STATUS].value;
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if(!(g_channel_status & AD7124_STATUS_REG_RDY)) {
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// 转换完成，立即读取数据
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g_adc_data = ad7124_read_data();
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break;
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}
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}
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vTaskDelay(1);
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}
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// 7. 读取错误寄存器检查是否有错误
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ad7124_read_register(&ad7124_regs[AD7124_ERROR]);
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g_adc_error = ad7124_regs[AD7124_ERROR].value;
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// 8. 保存最终的控制寄存器状态
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ad7124_read_register(&ad7124_regs[AD7124_ADC_CONTROL]);
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g_adc_control = ad7124_regs[AD7124_ADC_CONTROL].value;
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// 9. 如果发生错误，重置ADC
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if(g_adc_error != 0) {
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ad7124_reset();
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vTaskDelay(100);
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ad7124_setup();
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vTaskDelay(10);
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}
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// 10. 如果超时或出错，增加延时方便调试
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if(timeout == 0 || g_adc_error != 0) {
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vTaskDelay(100);
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}
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}
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vTaskDelay(pdMS_TO_TICKS(10));
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}
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}
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/**
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* @brief Initialize AD7124 with multiple channels
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* @param sample_rate: Sample rate selection (2Hz to 1kHz)
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* @retval None
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*/
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void ad7124_multi_channel_init(uint8_t sample_rate)
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{
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// Reset AD7124
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ad7124_reset();
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vTaskDelay(pdMS_TO_TICKS(100)); // 复位后延时
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// 配置ADC控制寄存器
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ad7124_regs[AD7124_ADC_CONTROL].value =
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AD7124_ADC_CTRL_REG_DATA_STATUS | // Enable status register
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AD7124_ADC_CTRL_REG_CS_EN | // Enable chip select
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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 */
|
||
|
||
/* USER CODE END Application */
|