512 lines
15 KiB
C
512 lines
15 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) 2026 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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* If no LICENSE file comes with this software, it is provided AS-IS.
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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 "usart.h"
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#include "adc.h"
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#include "tim.h"
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#include "motor_driver.h"
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#include "elog.h"
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#include <stdint.h>
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#include <stdio.h>
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#include "screen.h"
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#include <string.h>
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#include <sys/_intsup.h>
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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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#ifdef __GNUC__
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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#else
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#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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#endif
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PUTCHAR_PROTOTYPE {
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HAL_UART_Transmit(&huart5, (uint8_t *) &ch, 1, HAL_MAX_DELAY);
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return ch;
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}
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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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/* 按键状态位: bit0..bit3 分别对应 M__KEY, M__KEYC7, HOT_KEY, TIME_KEY, 为1表示按下 */
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volatile uint8_t key_state = 0;
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volatile uint8_t key_state_prev = 0; /* 上一次的按键状态，用于检测按键变化 */
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/* 设备状态标志：0表示关闭，1表示打开 */
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static uint8_t hot_state = 0; /* HOT 设备状态 */
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static uint8_t time_state = 0; /* TIME_KEY 时间状态 */
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/* USER CODE END Variables */
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for KeyTask */
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osThreadId_t KeyTaskHandle;
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const osThreadAttr_t KeyTask_attributes = {
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.name = "KeyTask",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityRealtime,
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};
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/* Definitions for Sensor_Task */
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osThreadId_t Sensor_TaskHandle;
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const osThreadAttr_t Sensor_Task_attributes = {
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.name = "Sensor_Task",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityHigh7,
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};
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/* Definitions for Temp_Task */
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osThreadId_t Temp_TaskHandle;
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const osThreadAttr_t Temp_Task_attributes = {
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.name = "Temp_Task",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for Motor_Task */
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osThreadId_t Motor_TaskHandle;
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const osThreadAttr_t Motor_Task_attributes = {
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.name = "Motor_Task",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal1,
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};
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/* Definitions for Screen_Tsak */
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osThreadId_t Screen_TsakHandle;
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const osThreadAttr_t Screen_Tsak_attributes = {
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.name = "Screen_Tsak",
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.stack_size = 1024 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void Key(void *argument);
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void Sensor(void *argument);
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void Temp(void *argument);
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void Motor(void *argument);
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void Screen(void *argument);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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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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/* USER CODE BEGIN Init */
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easylogger_init(); /* 初始化 EasyLogger */
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__enable_irq(); //开启全局中断
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elog_i("task_init", "任务初始！");
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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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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
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/* creation of KeyTask */
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KeyTaskHandle = osThreadNew(Key, NULL, &KeyTask_attributes);
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/* creation of Sensor_Task */
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Sensor_TaskHandle = osThreadNew(Sensor, NULL, &Sensor_Task_attributes);
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/* creation of Temp_Task */
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Temp_TaskHandle = osThreadNew(Temp, NULL, &Temp_Task_attributes);
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/* creation of Motor_Task */
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Motor_TaskHandle = osThreadNew(Motor, NULL, &Motor_Task_attributes);
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/* creation of Screen_Tsak */
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Screen_TsakHandle = osThreadNew(Screen, NULL, &Screen_Tsak_attributes);
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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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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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/**
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* @brief Function implementing the defaultTask 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_StartDefaultTask */
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void StartDefaultTask(void *argument)
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{
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/* USER CODE BEGIN StartDefaultTask */
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// 初始化命令
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uint8_t init_cmd1[] = {0x7E, 0xFF, 0x06, 0x06, 0x00, 0x00, 0x1E, 0xFE, 0xD7, 0xEF}; // 开启声音
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uint8_t init_cmd2[] = {0x7E, 0xFF, 0x06, 0x09, 0x00, 0x00, 0x02, 0xFE, 0xF0, 0xEF}; // 指定播放设备为TF卡
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// 定义测试指令数据
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uint8_t test_cmd[] = {0x7E, 0xFF, 0x06, 0x12, 0x00, 0x00, 0x01, 0xFE, 0xE8, 0xEF};
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// 先让模块稳定
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osDelay(2000);
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// 初始化：先发送开启声音指令，再发送指定播放设备指令
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HAL_UART_Transmit(&huart3, init_cmd1, sizeof(init_cmd1), 1000);
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osDelay(1500); // 重要：等待模块响应
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HAL_UART_Transmit(&huart3, init_cmd2, sizeof(init_cmd2), 1000);
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osDelay(1500); // 重要：等待初始化完成
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/* Infinite loop */
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for(;;)
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{
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// 直接整包发送测试指令
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HAL_UART_Transmit(&huart3, test_cmd, sizeof(test_cmd), 1000);
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// 把发送的数据打印出来
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//elog_d("mp3_cmd","发送测试指令: %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X", test_cmd[0], test_cmd[1], test_cmd[2], test_cmd[3], test_cmd[4], test_cmd[5], test_cmd[6], test_cmd[7], test_cmd[8], test_cmd[9]);
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// 可选：等待发送完成
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// while(__HAL_UART_GET_FLAG(&huart3, UART_FLAG_TC) == RESET);
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HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);
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osDelay(1000); // 延时1秒
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}
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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_Key */
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/**
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* @brief Function implementing the KeyTask 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_Key */
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void Key(void *argument)
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{
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/* USER CODE BEGIN Key */
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/* 防抖轮询实现四个低电平有效按键检测 */
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GPIO_TypeDef* key_ports[4] = {M__KEY_GPIO_Port, M__KEYC7_GPIO_Port, HOT_KEY_GPIO_Port, TIME_KEY_GPIO_Port};
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const uint16_t key_pins[4] = {M__KEY_Pin, M__KEYC7_Pin, HOT_KEY_Pin, TIME_KEY_Pin};
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uint8_t press_count[4] = {0};
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uint8_t release_count[4] = {0};
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uint8_t pressed[4] = {0};
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const uint8_t THRESH = 3; /* 3 * 10ms = 30ms 防抖 */
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for(;;)
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{
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for (int i = 0; i < 4; i++) {
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GPIO_PinState level = HAL_GPIO_ReadPin(key_ports[i], key_pins[i]);
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if (level == GPIO_PIN_RESET) { /* 低电平有效 */
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press_count[i]++;
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release_count[i] = 0;
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if (!pressed[i] && press_count[i] >= THRESH) {
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pressed[i] = 1;
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key_state |= (1 << i); /* bit0..3 分别对应四个按键按下状态 */
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}
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} else {
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release_count[i]++;
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press_count[i] = 0;
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if (pressed[i] && release_count[i] >= THRESH) {
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pressed[i] = 0;
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key_state &= ~(1 << i);
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}
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}
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}
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osDelay(10); /* 10ms 轮询间隔 */
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}
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/* USER CODE END Key */
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}
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/* USER CODE BEGIN Header_Sensor */
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/**
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* @brief Function implementing the Sensor_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_Sensor */
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void Sensor(void *argument)
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{
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/* USER CODE BEGIN Sensor */
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/* 按键处理任务 - 按键状态切换控制 */
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/* Infinite loop */
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for(;;)
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{
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/* 检测新按下的按键 */
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uint8_t key_pressed = key_state & ~key_state_prev;
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key_state_prev = key_state;
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/* ===== M__KEY (bit0) 控制 ===== */
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if (key_pressed & (1 << 0)) {
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/* M__KEY 按下：加档（提高转速） */
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elog_i("Key", "M__KEY按下 - 加档");
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if (Motor_GetGear() == 0) {
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Motor_StartupBoost();
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} else {
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Motor_GearUp();
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}
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}
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/* ===== M__KEYC7 (bit1) 控制 ===== */
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if (key_pressed & (1 << 1)) {
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/* M__KEYC7 按下：降档（降低转速） */
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elog_i("Key", "M__KEYC7按下 - 降档");
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Motor_GearDown();
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}
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/* ===== HOT_KEY (bit2) 控制 ===== */
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if (key_pressed & (1 << 2)) {
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/* HOT_KEY 按下：切换热功能 */
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hot_state = !hot_state;
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HAL_GPIO_WritePin(HOT_GPIO_Port, HOT_Pin, hot_state ? GPIO_PIN_SET : GPIO_PIN_RESET);
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}
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/* ===== TIME_KEY (bit3) 控制 ===== */
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if (key_pressed & (1 << 3)) {
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/* TIME_KEY 按下：切换定时 */
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time_state = !time_state;
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if (time_state) {
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// TODO: 添加定时启动逻辑
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} else {
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// TODO: 添加定时关闭逻辑
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}
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}
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osDelay(20); /* 20ms 检查一次按键状态 */
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}
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/* USER CODE END Sensor */
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}
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/* USER CODE BEGIN Header_Temp */
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/**
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* @brief Function implementing the Temp_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_Temp */
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void Temp(void *argument)
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{
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/* USER CODE BEGIN Temp */
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#ifdef ENABLE_TEMP_SENSOR
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/* ADC采集参数 */
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uint32_t adc_raw = 0; /* ADC原始值 */
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uint32_t adc_sum = 0; /* 累加和（用于平均） */
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uint16_t sample_count = 32; /* 采样次数 */
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float voltage = 0.0f; /* 转换后的电压 */
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float temperature = 0.0f; /* 转换后的温度 */
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/* 电路参数 */
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const float VREF = 3.3f; /* 参考电压 */
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/* 一阶低通滤波器 */
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float adc_filtered = 0.0f; /* 滤波后的ADC值 */
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const float FILTER_ALPHA = 0.1f; /* 滤波系数 */
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/* NTC 10K 3950参数 */
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const float NTC_B_VALUE = 3950.0f; /* NTC B值 */
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const float NTC_R0 = 10000.0f; /* 25°C时电阻10K */
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const float NTC_T0 = 298.15f; /* 25°C对应的绝对温度(K) */
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const float R_FIXED = 10000.0f; /* 分压电阻10K */
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/* ADC校准 */
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HAL_ADCEx_Calibration_Start(&hadc1);
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/* 预热：先采集几次丢弃，稳定ADC */
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for (uint16_t i = 0; i < 10; i++) {
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HAL_ADC_Start(&hadc1);
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HAL_ADC_PollForConversion(&hadc1, 100);
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HAL_ADC_GetValue(&hadc1);
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HAL_ADC_Stop(&hadc1);
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osDelay(10);
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}
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/* Infinite loop */
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for(;;)
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{
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/* 采集多次求平均，提高精度 */
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adc_sum = 0;
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for (uint16_t i = 0; i < sample_count; i++) {
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HAL_ADC_Start(&hadc1);
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if (HAL_ADC_PollForConversion(&hadc1, 100) == HAL_OK) {
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adc_sum += HAL_ADC_GetValue(&hadc1);
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}
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HAL_ADC_Stop(&hadc1);
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osDelay(20);
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}
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/* 计算平均值 */
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adc_raw = adc_sum / sample_count;
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/* 一阶低通滤波 */
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if (adc_filtered == 0.0f) {
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adc_filtered = (float)adc_raw;
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} else {
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adc_filtered = FILTER_ALPHA * (float)adc_raw + (1.0f - FILTER_ALPHA) * adc_filtered;
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}
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adc_raw = (uint32_t)(adc_filtered + 0.5f);
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/* 转换为电压 */
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voltage = ((float)adc_raw / 4095.0f) * VREF;
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/* ==================== NTC 10K 3950 温度计算 ====================
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* 电路：3.3V ──[10K固定电阻]──┬── PA0 (ADC)
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* │
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* [NTC 10K]
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* │
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* GND
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*
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* Steinhart-Hart简化方程：
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* 1/T = 1/T0 + (1/B) * ln(R/R0)
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*/
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{
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/* 计算NTC电阻值 */
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float ntc_resistance = R_FIXED * voltage / (VREF - voltage);
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/* Steinhart-Hart方程计算温度(K) */
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float steinhart = logf(ntc_resistance / NTC_R0) / NTC_B_VALUE + 1.0f / NTC_T0;
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temperature = 1.0f / steinhart - 273.15f; /* 转换为摄氏度 */
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elog_i("Temp", "ADC:%lu 电压:%.3fV NTC:%.1fΩ 温度:%.1f°C",
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adc_raw, voltage, ntc_resistance, temperature);
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}
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osDelay(1000);
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}
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#else
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/* 温度传感器未启用，任务空转 */
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elog_i("Temp", "温度传感器未启用，等待NTC改装...");
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for(;;)
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{
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osDelay(5000);
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elog_i("Temp", "温度传感器未启用，等待NTC改装...");
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}
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#endif /* ENABLE_TEMP_SENSOR */
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/* USER CODE END Temp */
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}
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/* USER CODE BEGIN Header_Motor */
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/**
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* @brief Function implementing the Motor_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_Motor */
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void Motor(void *argument)
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{
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/* USER CODE BEGIN Motor */
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/* 电机驱动初始化 */
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Motor_Init();
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/* Infinite loop */
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for(;;)
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{
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/* 电机任务主要功能：
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* - 监控电机状态（超温保护、过流保护等）
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* - 定期打印状态信息
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||
* - 响应紧急停止信号
|
||
*/
|
||
|
||
/* 每1秒打印一次电机状态 */
|
||
uint8_t current_gear = Motor_GetGear();
|
||
elog_i("Motor", "当前档位: %u (0=停止,1=低,2=中,3=高)", current_gear);
|
||
|
||
osDelay(1000);
|
||
}
|
||
/* USER CODE END Motor */
|
||
}
|
||
|
||
/* USER CODE BEGIN Header_Screen */
|
||
/**
|
||
* @brief Function implementing the Screen_Tsak thread.
|
||
* @param argument: Not used
|
||
* @retval None
|
||
*/
|
||
/* USER CODE END Header_Screen */
|
||
void Screen(void *argument)
|
||
{
|
||
/* USER CODE BEGIN Screen */
|
||
char buf[100];
|
||
sprintf(buf, "CLR(1);\r\n");
|
||
//HAL_UART_Transmit(&huart1, (uint8_t *)buf, strlen(buf), HAL_MAX_DELAY);
|
||
/* Infinite loop */
|
||
for(;;)
|
||
{
|
||
HAL_UART_Transmit(&huart1, (uint8_t *)buf, strlen(buf), HAL_MAX_DELAY);
|
||
|
||
osDelay(2000);
|
||
}
|
||
/* USER CODE END Screen */
|
||
}
|
||
|
||
/* Private application code --------------------------------------------------*/
|
||
/* USER CODE BEGIN Application */
|
||
|
||
/* USER CODE END Application */
|
||
|