/* USER CODE BEGIN Header */ /** ****************************************************************************** * File Name : freertos.c * Description : Code for freertos applications ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "FreeRTOS.h" #include "task.h" #include "main.h" #include "cmsis_os.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "adc.h" #include "dma.h" #include "i2c.h" #include "tim.h" #include "queue.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ typedef StaticQueue_t osStaticMessageQDef_t; /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ typedef enum { Close_output, Close_input, Open1_input, Open2_input, default_Hall } hallADC; hallADC Hallmode; DeviceParams_t g_deviceParams; /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ //ADC变量定义 uint16_t AD_Value[5] = {0}; uint16_t AD1, AD2, AD3, AD4, AD5 = 0; int i,adc; float AD1_Vol,AD2_Vol,AD3_Vol,AD4_Vol,AD5_Vol,AD5_I; extern uint16_t Valve_status; // 阀状态0000关0001开 float pid_output = 0.0f; extern uint16_t Running_time; // 运行时长 extern uint32_t Motor_speed; // 电机转速 extern uint32_t Motor_current; // 电机电流 extern uint32_t Magnetic_angle; // 磁角度 extern uint32_t hall_data[4]; // 霍尔1到4的数据 extern uint8_t dataReceive485[BUFFER_SIZE485]; // 485串口接收缓冲区 extern uint16_t uartIRQ_rx_len ; // 485串口接收数据长度 float Motor_cur = 0.0f; // 电机电流 float Motor_spe = 0.0f; // 电机转速 extern float delta_time; // 读取角度间隔时间（毫秒） extern int32_t freq; // 定时器1频率 uint32_t period_buffer[CAPTURE_DEPTH]; // PWM周期 uint32_t high_buffer[CAPTURE_DEPTH]; // PWM高电平时间 sysmode Systemmode; /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN Variables */ /* USER CODE END Variables */ /* Definitions for HighestTask */ osThreadId_t HighestTaskHandle; const osThreadAttr_t HighestTask_attributes = { .name = "HighestTask", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityRealtime, }; /* Definitions for ReadTask */ osThreadId_t ReadTaskHandle; const osThreadAttr_t ReadTask_attributes = { .name = "ReadTask", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityNormal, }; /* Definitions for DealTask */ osThreadId_t DealTaskHandle; const osThreadAttr_t DealTask_attributes = { .name = "DealTask", .stack_size = 512 * 4, .priority = (osPriority_t) osPriorityNormal, }; /* Definitions for CommonTask */ osThreadId_t CommonTaskHandle; const osThreadAttr_t CommonTask_attributes = { .name = "CommonTask", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityBelowNormal, }; /* Definitions for MotorTask */ osThreadId_t MotorTaskHandle; const osThreadAttr_t MotorTask_attributes = { .name = "MotorTask", .stack_size = 256 * 4, .priority = (osPriority_t) osPriorityNormal, }; /* Definitions for uart485rxqueue */ osMessageQueueId_t uart485rxqueueHandle; uint8_t uart485queueBuffer[ 16 * sizeof( Uart485Rx_msg ) ]; osStaticMessageQDef_t uart485queueControlBlock; const osMessageQueueAttr_t uart485rxqueue_attributes = { .name = "uart485rxqueue", .cb_mem = &uart485queueControlBlock, .cb_size = sizeof(uart485queueControlBlock), .mq_mem = &uart485queueBuffer, .mq_size = sizeof(uart485queueBuffer) }; /* Private function prototypes -----------------------------------------------*/ /* USER CODE BEGIN FunctionPrototypes */ //void uart_enable(void); //void Restart_UART1_DMA(void); float Read_MT6813_Angle(void); void pack_hall_data(void) ; void pack_Magnetic_angle(void); void pack_Motor_current(void); // 电机电流 void pack_Motor_speed(void); // 电机转速 /* USER CODE END FunctionPrototypes */ void HighestLEDTask(void *argument); void ReaddataTask(void *argument); void DealcallbackTask(void *argument); void CommonPrintTask(void *argument); void MotorControlTask(void *argument); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ /** * @brief FreeRTOS initialization * @param None * @retval None */ void MX_FREERTOS_Init(void) { /* USER CODE BEGIN Init */ printf("API2_ELE 0612\r\n"); Systemmode = Debugmode; // 调试模式 load_params_from_flash(); // 从内部flash读取传感器参数 Set_485_Baudrate(g_deviceParams.Serial_baud_rate); Restart_UART1_DMA(); /* USER CODE END Init */ /* USER CODE BEGIN RTOS_MUTEX */ /* add mutexes, ... */ /* USER CODE END RTOS_MUTEX */ /* USER CODE BEGIN RTOS_SEMAPHORES */ /* add semaphores, ... */ /* USER CODE END RTOS_SEMAPHORES */ /* USER CODE BEGIN RTOS_TIMERS */ /* start timers, add new ones, ... */ /* USER CODE END RTOS_TIMERS */ /* Create the queue(s) */ /* creation of uart485rxqueue */ uart485rxqueueHandle = osMessageQueueNew (16, sizeof(Uart485Rx_msg), &uart485rxqueue_attributes); /* USER CODE BEGIN RTOS_QUEUES */ /* add queues, ... */ /* USER CODE END RTOS_QUEUES */ /* Create the thread(s) */ /* creation of HighestTask */ HighestTaskHandle = osThreadNew(HighestLEDTask, NULL, &HighestTask_attributes); /* creation of ReadTask */ ReadTaskHandle = osThreadNew(ReaddataTask, NULL, &ReadTask_attributes); /* creation of DealTask */ DealTaskHandle = osThreadNew(DealcallbackTask, NULL, &DealTask_attributes); /* creation of CommonTask */ CommonTaskHandle = osThreadNew(CommonPrintTask, NULL, &CommonTask_attributes); /* creation of MotorTask */ MotorTaskHandle = osThreadNew(MotorControlTask, NULL, &MotorTask_attributes); /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ /* USER CODE END RTOS_THREADS */ /* USER CODE BEGIN RTOS_EVENTS */ /* add events, ... */ /* USER CODE END RTOS_EVENTS */ } /* USER CODE BEGIN Header_HighestLEDTask */ /** * @brief Function implementing the HighestTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_HighestLEDTask */ void HighestLEDTask(void *argument) { /* USER CODE BEGIN HighestLEDTask */ /* Infinite loop */ LEDStatus_t current_status; uint8_t last_status = 0; uint32_t runtimecount = 0; for(;;) { if(Hallmode == Close_output) current_status = LED_WARNING_1; else if(Hallmode == Close_input) current_status = LED_WARNING_2; else if(Hallmode == Open1_input) current_status = LED_WARNING_3; else if(Hallmode == Open2_input) current_status = LED_WARNING_4; else current_status = LED_NORMAL; if(Motormode == MOTOR_OVERCURRENT) current_status = LED_WARNING_5; if(Systemmode == IAPbootloader) current_status = LED_IAP; // 只有当状态发生变化时才调用 if (current_status != last_status) { last_status = current_status; UpdateLEDStatus(current_status); } LED_FlashHandler(&led_green); LED_FlashHandler(&led_red); if(runtimecount > 100) { runtimecount = 0; Running_time ++ ; if(Running_time > 65535) Running_time = 0; } runtimecount++; osDelay(10); } /* USER CODE END HighestLEDTask */ } /* USER CODE BEGIN Header_ReaddataTask */ /** * @brief Function implementing the ReadTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_ReaddataTask */ void ReaddataTask(void *argument) { /* USER CODE BEGIN ReaddataTask */ /* Infinite loop */ /*角度PWM输入捕获*/ // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); // HAL_TIM_IC_Start(&htim1, TIM_CHANNEL_1); // HAL_TIM_IC_Start(&htim1, TIM_CHANNEL_2); HAL_TIM_IC_Start_DMA(&htim1, TIM_CHANNEL_1, period_buffer, CAPTURE_DEPTH); HAL_TIM_IC_Start_DMA(&htim1, TIM_CHANNEL_2, high_buffer, CAPTURE_DEPTH); /*ADC多通道读取*/ ADC_Enable (&hadc1); HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED); // 启动ADC校准（单端模式）消除ADC的偏移误差 ADC_DIFFERENTIAL_ENDED ADC_SINGLE_ENDED HAL_ADC_Start_DMA(&hadc1,(uint32_t *) AD_Value, 5); // 启动ADC并通过DMA搬运数据 for(;;) { // Read_MT6813_Angle(); // PWM中断读取角度 // read_angle(); // 硬件iic读取角度 pack_Magnetic_angle(); // 组包到 Magnetic_angle 用于MODBUS发送 pack_Motor_speed(); // 组包到 Motor_speed 用于MODBUS发送 AD1 = AD_Value[0]; AD2 = AD_Value[1]; AD3 = AD_Value[2]; AD4 = AD_Value[3]; AD5 = AD_Value[4]; AD1_Vol = (float) AD1 / 4096 * (float) 3.3; AD2_Vol = (float) AD2 / 4096 * (float) 3.3; AD3_Vol = (float) AD3 / 4096 * (float) 3.3; AD4_Vol = (float) AD4 / 4096 * (float) 3.3; AD5_Vol = (float) AD5 / 4096 * (float) 3.3; if( AD5_Vol > 3.3f ) AD5_Vol = 0.0f; AD5_I = AD5_Vol / 0.5f; Motor_cur = AD5_I; pack_hall_data(); // 组包到 hall_data 用于MODBUS发送 pack_Motor_current(); // 组包到 Motor_current 用于MODBUS发送 if(AD1_Vol > 1.6f && AD1_Vol < 2.0f && AD2_Vol > 2.5f && AD4_Vol > 1.1f && AD4_Vol < 1.5f) { // 拉杆关 电机伸出到位 Hallmode = Close_output; Valve_status = 0; } else if(AD1_Vol > 1.6f && AD1_Vol < 2.0f && AD2_Vol > 2.5f && AD4_Vol > 1.5f && AD4_Vol < 2.0f) { // 拉杆关 电机缩回到位 Hallmode = Close_input; Valve_status = 1; } else if(AD1_Vol < 1.0f && AD2_Vol > 1.0f && AD2_Vol < 1.4f && AD4_Vol > 1.6f && AD4_Vol < 2.0f) { // 拉杆开 电机缩回到位 Hallmode = Open1_input; Valve_status = 1; } else if(AD1_Vol > 1.2f && AD1_Vol < 1.6f && AD2_Vol > 0.9f && AD2_Vol < 1.3f && AD4_Vol > 1.6f && AD4_Vol < 2.0f) { // 拉杆开 电机缩回到位 Hallmode = Open2_input; Valve_status = 1; }else{ Hallmode = default_Hall; Valve_status = 1; } osDelay(5); } /* USER CODE END ReaddataTask */ } /* USER CODE BEGIN Header_DealcallbackTask */ /** * @brief Function implementing the DealTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_DealcallbackTask */ void DealcallbackTask(void *argument) { /* USER CODE BEGIN DealcallbackTask */ /* Infinite loop */ for(;;) { Process_Uart485callback(); // 处理485指令应答 osDelay(20); } /* USER CODE END DealcallbackTask */ } /* USER CODE BEGIN Header_CommonPrintTask */ /** * @brief Function implementing the CommonTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_CommonPrintTask */ void CommonPrintTask(void *argument) { /* USER CODE BEGIN CommonPrintTask */ /* Infinite loop */ for(;;) { target_angle_deg = pidMotor1Speed.target_val; diff_Angle = pidMotor1Speed.err; // printf("target=[%.2f] cur=[%.2f] diff=[%.2f] pid_output=[%.2f] Magnet:[%s] Motor_spe[%.2f] delta_time[%.2f]\r\n", // target_angle_deg, cur_angle_deg, diff_Angle ,pid_output ,no_mag_flag ? "NO" : "YES" ,Motor_spe ,delta_time); printf("cur_angle_deg=[%.2f] Motor_spe[%.2f] Motor_cur[%.3f]\r\n", cur_angle_deg,Motor_spe,Motor_cur); osDelay(200); // printf("AD1_Vol:[%.3f], AD2_Vol:[%.3f], AD3_Vol:[%.3f], AD4_Vol[%.3f], AD5_Vol[%.3f], Motor_cur[%.3f]\r\n", // AD1_Vol, AD2_Vol, AD3_Vol, AD4_Vol, AD5_Vol, Motor_cur); if(Hallmode == Close_output) { printf("Close output \r\n"); // 拉杆关 电机伸出到位 } if(Hallmode == Close_input) { printf("Close input \r\n"); // 拉杆关 电机收回到位 } if(Hallmode == Open1_input) { printf("Open1 input \r\n"); // 拉杆开一档 电机收回到位 } if(Hallmode == Open2_input) { printf("Open2 input \r\n"); // 拉杆开二挡 电机收回到位 } if(Hallmode == default_Hall) { printf("default_Hall \r\n"); // 拉杆开 电机收回到位 } } /* USER CODE END CommonPrintTask */ } /* USER CODE BEGIN Header_MotorControlTask */ /** * @brief Function implementing the MotorTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_MotorControlTask */ void MotorControlTask(void *argument) { /* USER CODE BEGIN MotorControlTask */ /* Infinite loop */ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); // 启动电机 CH1 PWM（控制 IN1） HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); // 启动电机 CH2 PWM（控制 IN2） uint16_t overcurrent_timer_ms = 0; // 记录过流持续时间 PID_init(); for(;;) { // 电机角度 cur_angle_deg（0到360度） // 电机转速 Motor_spe （-400到+400） // 电机电流 Motor_cur （正常是0.01，堵转最高是到0.035） // 目标速度 target_speed // Motor_Angle_Current_PID_Control(); if(use_pid_control) { if (Motor_cur > 0.035f ) { if (overcurrent_timer_ms < 1500) { overcurrent_timer_ms += 10; // 每10ms调用一次 } else { // 过流超时，停转 Motormode = MOTOR_OVERCURRENT; __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0); } } else { // 电流恢复正常，清零计时器 overcurrent_timer_ms = 0; } // Motor_PID_Control(); // Motor_Angle_Current_PID_Control(); int16_t pwm_output = PID_Incremental_Calc(&pidMotor1Speed, pidMotor1Speed.target_speed, Motor_spe); // 起动门槛限制 if (abs(pwm_output) < 350 && pidMotor1Speed.target_speed != 0) pwm_output = (pwm_output > 0) ? 500 : -500; if (Motormode == MOTOR_FORWARD) Motor_Forward(pwm_output); if (Motormode == MOTOR_REVERSE) Motor_Reverse(pwm_output); if (Motormode == MOTOR_STOPPED) { __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0); } } // float pwm_Speed = PID_Incremental_Calc(&pidMotor1Speed,1000,Motor_spe); // __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, pwm_Speed); //电机正转 if(Hallmode != Close_output) __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0); if(Hallmode != Open1_input && Hallmode != Open2_input && Hallmode != Close_input) __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0); osDelay(10); } /* USER CODE END MotorControlTask */ } /* Private application code --------------------------------------------------*/ /* USER CODE BEGIN Application */ float Read_MT6813_Angle(void) { uint32_t high_time = HAL_TIM_ReadCapturedValue(&htim1, TIM_CHANNEL_2); // 高电平宽度 uint32_t period = HAL_TIM_ReadCapturedValue(&htim1, TIM_CHANNEL_1)+1; // 周期 if (period == 0) return 0.0f; float duty = (float)high_time / period; cur_angle_deg = duty * 360.0f; return angle; } void pack_hall_data(void) { memcpy(&hall_data[0], &AD1_Vol, sizeof(float)); // float --> uint32_t（IEEE754位一致） memcpy(&hall_data[1], &AD2_Vol, sizeof(float)); memcpy(&hall_data[2], &AD3_Vol, sizeof(float)); memcpy(&hall_data[3], &AD4_Vol, sizeof(float)); } void pack_Magnetic_angle(void) { memcpy(&Magnetic_angle, &cur_angle_deg, sizeof(float)); // float --> uint32_t } void pack_Motor_speed(void) // 电机转速 { memcpy(&Motor_speed, &Motor_spe, sizeof(float)); // float --> uint32_t } void pack_Motor_current(void) // 电机电流 { memcpy(&Motor_current, &Motor_cur, sizeof(float)); // float --> uint32_t } void JumpToBootloader(void) { uint32_t i; void (*SysMemBootJump)(void); uint32_t BootAddr = 0x1FFF0000; // STM32L431 系统 Bootloader 起始地址 /* 关闭全局中断 */ __disable_irq(); /* 关闭 SysTick */ SysTick->CTRL = 0; SysTick->LOAD = 0; SysTick->VAL = 0; /* 复位 RCC 时钟设置 */ HAL_RCC_DeInit(); /* 禁用所有 NVIC 中断 */ for (i = 0; i < 8; i++) { NVIC->ICER[i] = 0xFFFFFFFF; NVIC->ICPR[i] = 0xFFFFFFFF; } /* 重新允许中断（尽管之后马上跳转） */ __enable_irq(); /* 重新映射系统内存到 0x00000000 */ __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH(); /* 设置 MSP（Main Stack Pointer） */ __set_MSP(*((uint32_t *)BootAddr)); /* 设置 CONTROL 寄存器，切换为特权级、使用 MSP */ __set_CONTROL(0); /* 获取 Bootloader 的复位向量地址（入口地址） */ SysMemBootJump = (void (*)(void)) (*((uint32_t *)(BootAddr + 4))); /* 跳转到系统 Bootloader */ SysMemBootJump(); /* 此处不应再返回 */ while (1); } /* USER CODE END Application */