336 lines
11 KiB
C
336 lines
11 KiB
C
////////////////////////////////////////////////////////////////////////////////
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/// main文件
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///
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///
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/// 包含操作系统、设备驱动初始化及任务的创建
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/// @file app.c
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/// @author gkl
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/// @date 2017-05-25
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/// @version v0.1
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////////////////////////////////////////////////////////////////////////////////
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// 包含的头文件
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#include <includes.h>
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#include "gd32f4xx.h"
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#include "service_autoreturn.h"
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#include "agent_hyt.h"
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#include "enet_to_udp.h"
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#include "pdebug.h"
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#include "Lan8720.h"
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#include "device_adc_collect.h"
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#include "service_areascan.h"
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#include "service_presetbitscan.h"
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#include "service_selfcheck.h"
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#include "service_statusmonitor.h"
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#include "service_update.h"
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#include "ptz_struct.h"
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#include "Usart.h"
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#include "w25q128.h"
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#include "device_interrupt.h"
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#include "l6235d.h"
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#include "device_dac_out.h"
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#include "get_angle.h"
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#include "speed_to_bldc.h"
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#include "device_photoelectricswitch.h"
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#include "device_adc_collect.h"
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#include "rotate_bldc.h"
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#include "angle_poweroffsave.h"
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#include "device_wdog.h"
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#include "comm_cfginfo.h"
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#include "Restore_factory_set.h"
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#include "ptz_struct.h"
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#include "ptz_global_variable.h"
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#include "beep.h"
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#include "rotate_step.h"
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#include "speed_to_step.h"
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#include "systick.h"
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#include "service_error_count.h"
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//
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/// 起始任务
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///
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/// 初始化硬件及相关模块
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/// @param none
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/// @param none
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/// @return none
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/// @note 修改日志
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/// gkl于2017-05-27创建
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//uint32_t ck_f = 0U;
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static void task_start (void *p_arg)
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{
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(void)p_arg;
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BSP_Init();
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// 初始化系统tick
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BSP_Tick_Init();
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systick_config();
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#if (OS_TASK_STAT_EN > 0)
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OSStatInit();
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#endif
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rcu_periph_clock_enable(RCU_SYSCFG);//将系统时钟使能放最前面
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//看门狗初始化
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init_wdog_module();
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//初始化终端串口
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init_term_uart();
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term_printf("\n\n/**********************************************\r\n");
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term_printf("\n Hello HYT Terminal \r\n\r\n");
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term_printf("* @ Build: %s %s\r\n",__DATE__,__TIME__);
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term_printf("* @ Version: v2.0\r\n");
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term_printf("* @ Copyright: Huiyuan \r\n");
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term_printf("**********************************************/\r\n\r\n");
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//默认打开回复
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g_ptz.cmd_reply_switch = CMD_REPLY;
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g_ptz.hori_repeat_locate_switch = 1;//重复定位打开
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g_ptz.vert_repeat_locate_switch = 1;//重复定位打开
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// /*临时调试*/
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// g_ptz.hori_self_check = 255;
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// g_ptz.vert_self_check = 255;
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//
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// g_ptz.hori_angleP.angle_allow_max = 360.0;
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// g_ptz.hori_angleP.angle_allow_min = 0.0;
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//
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// g_ptz.vert_angleP.angle_allow_max = 90.0;
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// g_ptz.vert_angleP.angle_allow_min = -90.0;
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// g_ptz.vert_ps_sw1_state = 1;
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// g_ptz.vert_ps_sw2_state = 1;
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// /**********/
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//蜂鸣器初始化
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beep_init();
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term_printf("\n beep init \r\n\r\n");
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// ck_f=rcu_clock_freq_get(CK_APB1);
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OSTimeDlyHMSM(0u, 0u, 0u, 100u);
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//蜂鸣器开，初始化开始
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beep_enable();
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//flash引脚初始化
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Flash_GPIO_Init();
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//获取配置文件
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get_system_config_from_file();
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//顶部开关引脚初始化
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ptz_aux_switch_init();
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term_printf("\n ptz aux switch init \r\n\r\n");
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//以太网初始化
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init_udp_module();
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term_printf("\n udp init \r\n\r\n");
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OSTimeDlyHMSM(0u, 0u, 0u, 100u);
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//DAC输出初始化
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init_dac_out_module();
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term_printf("\n dac out init \r\n\r\n");
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OSTimeDlyHMSM(0u, 0u, 0u, 50u);
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//光电开关初始化
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init_photoelectric_switch_module();
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term_printf("\n photoelectric switch init \r\n\r\n");
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//转动控制模块初始化
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init_rotate_monitor_module();
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term_printf("\n rotate mode init \r\n\r\n");
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OSTimeDlyHMSM(0u, 0u, 0u, 100u);
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//速度计算初始化
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init_speed_module();
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term_printf("\n speed init \r\n\r\n");
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//区域扫描模块初始化
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init_area_scan_module();
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term_printf("\n area scan init \r\n\r\n");
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//预置位扫描模块初始化
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init_preset_bit_scan_module();
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term_printf("\n preset bit init \r\n\r\n");
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//状态检测模块初始化
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init_status_monitor_module();
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term_printf("\n status init \r\n\r\n");
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//软件更新模块初始化
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init_update_module();
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term_printf("\n update init \r\n\r\n");
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OSTimeDlyHMSM(0u, 0u, 0u, 100u);
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//按键恢复出厂设置
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init_reset_module();
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term_printf("\n reset init \r\n\r\n");
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//初始化自动回传模块
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init_auto_return_module();
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term_printf("\n auto return init \r\n\r\n");
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OSTimeDlyHMSM(0u, 0u, 0u, 50u);
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//代理层初始化
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init_agent_module();
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term_printf("\n agent init \r\n\r\n");
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//继电器开关初始化
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init_relay_module();
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//外部中断初始化
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EXTI_IRQ_init();
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term_printf("\n exti irq init \r\n\r\n");
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//掉电保护初始化
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init_power_off_module();
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term_printf("\n power off init \r\n\r\n");
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//数据采集初始化电压、电流、温度
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init_data_collect_module();
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term_printf("\n data collect init \r\n\r\n");
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OSTimeDlyHMSM(0u, 0u, 0u, 500u);
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v_tmc2160_power_on();//为了不让驱动器的两个电容同时上电，驱动器初始化分别进行
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OSTimeDlyHMSM(0u, 0u, 0u, 500u);
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#ifdef PTZ_PHOTOELECTRIC_SWITCH
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g_ptz.vert_ps_sw1_down_fall = 0;
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g_ptz.vert_ps_sw1_up_rise = 0;
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g_ptz.vert_ps_sw2_up_fall = 0;
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g_ptz.vert_ps_sw2_down_rise = 0;
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g_ptz.hori_ps_sw3_right_fall = 0;
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g_ptz.hori_ps_sw3_right_rise = 0;
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g_ptz.hori_ps_sw3_left_fall = 0;
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g_ptz.hori_ps_sw3_left_rise = 0;
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#endif
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//角度计算模块初始化
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init_angle_module();
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term_printf("\n angle init \r\n\r\n");
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//自检模块初始化
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init_self_check_module();
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term_printf("\n self check bit init \r\n\r\n");
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init_error_count_task();//创建误差计算任务
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//蜂鸣器关，初始化结束
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beep_disable();
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while (DEF_TRUE) {
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OSTimeDlyHMSM(0u, 0u, 1u, 0u);
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OSTaskDel(OS_PRIO_SELF);
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}
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}
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/// 主函数
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///
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/// 创建第一个任务，由该任务再创建其他功能任务
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/// @param none
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/// @param none
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/// @return none
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/// @note 修改日志+
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/// gkl于2017-05-26创建
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static OS_STK task_start_stk[TASK_START_STK_SIZE];
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int main (void)
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{
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// __enable_irq();
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// __disable_fault_irq();
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// __set_FAULTMASK(0);
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CPU_INT08U task_err;
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CPU_INT08U name_err;
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CPU_Init();// CPU底层初始化（时钟/寄存器等）
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Mem_Init();// 内存管理初始化
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Math_Init();// 数学库初始化
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BSP_IntDisAll();
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OSInit();
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// 创建启动任务
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task_err = OSTaskCreateExt((void (*)(void *)) task_start, // 任务函数指针
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(void *) 0, // 任务参数（此处为空）
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(OS_STK *)&task_start_stk[TASK_START_STK_SIZE - 1], // 栈顶指针（向下增长）
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(INT8U ) TASK_START_PRIO, // 任务优先级
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(INT16U ) TASK_START_PRIO, // 用于兼容性的ID（通常=优先级）
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(OS_STK *)&task_start_stk[0], // 栈底指针
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(INT32U ) TASK_START_STK_SIZE, //栈大小
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(void *) 0, // 附加数据段（未使用）
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(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR)); // 任务选项
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// 设置任务名称（可选）
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#if (OS_TASK_NAME_EN > 0)
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OSTaskNameSet(TASK_START_PRIO, "task start", &name_err);
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#endif
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// 检查任务创建状态
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if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
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pdebug(DEBUG_LEVEL_INFO,"create main success...\n\r");
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} else {
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pdebug(DEBUG_LEVEL_FATAL,"create main failed...\n\r");
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}
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OSStart();
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return (1);//OSCPUUsage
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}
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/*!
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\brief none 串口打印任务堆栈信息
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.10.26
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*/
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static void task_print()
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{
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OS_TCB *p_tcb;
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OS_STK_DATA stkDat;
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p_tcb = &OSTCBTbl[0];
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char cpuusage = OSCPUUsage;
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/* 优先级 堆使用数量 堆空闲数量 使用率 CPU使用率 任务名字 */
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term_printf(" Prio Used Free Per cpuusage TaskName\r\n");
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while(p_tcb != NULL)
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{
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OSTaskStkChk(p_tcb->OSTCBPrio, &stkDat);
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term_printf(" %2d %5d %5d %02d%% %d %s\r\n ",p_tcb->OSTCBPrio, stkDat.OSUsed, stkDat.OSFree, (stkDat.OSUsed * 100)/(stkDat.OSUsed + stkDat.OSFree), cpuusage, p_tcb->OSTCBTaskName);
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p_tcb = p_tcb->OSTCBPrev;
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}
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term_printf("\r\n");
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OSTimeDlyHMSM(0u, 0u, 1u, 0u);
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}
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static void task_print_task()
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{
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while(1)
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{
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task_print();
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}
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}
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/*!
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\brief none 打印任务创建
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.10.11
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*/
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static OS_STK task_printf_stk[TASK_PTZ_TASK_PRINTF_STK_SIZE];
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static void creat_task_printf(void)
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{
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CPU_INT08U task_err;
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CPU_INT08U name_err;
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task_err = OSTaskCreateExt((void (*)(void *)) task_print_task,
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(void *) 0,
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(OS_STK *)&task_printf_stk[TASK_PTZ_TASK_PRINTF_STK_SIZE - 1],
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(INT8U ) TASK_PTZ_TASK_PRINTF_PRIO,
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(INT16U ) TASK_PTZ_TASK_PRINTF_PRIO,
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(OS_STK *)&task_printf_stk[0],
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(INT32U ) TASK_PTZ_TASK_PRINTF_STK_SIZE,
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(void *) 0,
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(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
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#if (OS_TASK_NAME_EN > 0)
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OSTaskNameSet(TASK_PTZ_TASK_PRINTF_PRIO, "task_print_task", &name_err);
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#endif
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if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
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pdebug(DEBUG_LEVEL_INFO,"create task_print_task success...\n\r");
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} else {
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pdebug(DEBUG_LEVEL_FATAL,"create task_print_task failed...\n\r");
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}
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}
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void task_printf_init()
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{
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creat_task_printf();
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}
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