/* 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 "dma.h" #include "spi.h" #include "queue.h" #include "kv_flash.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 */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ bool DB_init_flag = false; // 数据库初始化标志位 extern uint8_t dataReceive485[BUFFER_SIZE485]; // 485串口接收缓冲区 extern uint8_t dataReceivep[BUFFER_SIZEP]; // 调试串口接收buffer extern uint32_t uartIRQ_rx_len ; // 485串口接收数据长度 sysmode Systemmode; extern bool erase_APP2; extern bool erase_APPdata_buffer; extern bool save_JsRoot_0100_flag; extern uint32_t expected_file_size; // 升级文件大小值 extern uint16_t upgrade_mode_subcode; // 记录使用的subcode（0x0100 或 0x0200） /*控制台打印信息控制符*/ volatile uint8_t debug_print_enabled = 0; // 默认关闭调试打印 volatile uint8_t fdc_print_enabled = 0; // 默认关闭电容打印 volatile uint8_t ads_print_enabled = 0; // 默认关闭ADS打印 volatile uint8_t kv_print_enabled = 0; // 默认关闭KV数据库打印 /*阀杆相关参数定义*/ volatile float ADS_v0 = 0.0f; // ads1256 通道0原始电压值 volatile float ADS_v0_offset = 0.008f; // ads1256 通道0电压偏移 0.008 volatile float filtered_ADS_v0 = 0.0f; // 滤波之后的阀杆压力值（kpa） volatile float MPXV_P0 = 0.0f; // 电压转换后的阀杆压力值（kpa） volatile float Value_open_mm = 0.0f; // 阀杆行程毫米 volatile float Value_open_percent = 0.0f; // 阀杆开行程百分比 //volatile float // 阀杆压力值滤波滑动窗口大小 /*油水相关参数定义*/ // 多线程环境修改的共享变量 volatile float oil_para_indu = 18.0f; // 并联电感值 volatile float oil_para_cap = 33.0f; // 并联电容值 volatile float oil_cap = 0.0f;// 软件IIC 1号（PB10PB11）测得电容值 volatile float oil_cap_offset = 0.0f;// 油水电容偏移值 43.1f volatile float filtered_oil_cap = 0.0f; // 滤波之后的油水电容值 volatile float oil_percent = 0.0f; // 油水百分比 //volatile float // 油水电容值滤波滑动窗口大小 /*余油相关参数定义*/ volatile float res_oil_para_indu = 18.0f; // 并联电感值 volatile float res_oil_para_cap = 33.0f; // 并联电容值 volatile float res_oil_cap = 0.0f; // // 软件IIC 2号（PB10PB11）测得电容值 volatile float res_oil_cap_offset = 0.0f;// 余油电容偏移值 43.1f volatile float filtered_res_oil_cap = 0.0f; // 滤波之后的电容值 volatile float ADS_v1 = 0.0f; // ads1256 通道1原始电压值 volatile float ADS_v1_offset = 0.008f; // ads1256 通道1电压偏移值 volatile float filtered_ADS_v1 = 0.0f; // 滤波之后的余油电压值 volatile float MPXV_P1 = 0.0f; // 余油压力值（kpa） volatile float res_oil_height = 0.0f; // 余油高度值（mm） //volatile float // 余油压力值滤波滑动窗口大小 /*温度相关参数定义*/ volatile float ADS_v2 = 0.0f; // ads1256 通道2原始电压值 volatile float ADS_v2_offset = 0.0f; // ads1256 通道2电压偏移值 volatile float filtered_ADS_v2 = 0.0f; // 滤波之后的电压值 volatile float NTC_temp = 0.0f; // 电压查RT表转换后的温度值（℃） //volatile float // 温度滤波滑动窗口大小 /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN Variables */ extern IWDG_HandleTypeDef hiwdg; /* USER CODE END Variables */ /* Definitions for HighestTask */ osThreadId_t HighestTaskHandle; const osThreadAttr_t HighestTask_attributes = { .name = "HighestTask", .stack_size = 256 * 4, .priority = (osPriority_t) osPriorityRealtime, }; /* Definitions for ReadTask */ osThreadId_t ReadTaskHandle; const osThreadAttr_t ReadTask_attributes = { .name = "ReadTask", .stack_size = 256 * 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 = 512 * 4, .priority = (osPriority_t) osPriorityBelowNormal, }; /* Definitions for ReadTask02 */ osThreadId_t ReadTask02Handle; const osThreadAttr_t ReadTask02_attributes = { .name = "ReadTask02", .stack_size = 256 * 4, .priority = (osPriority_t) osPriorityNormal, }; /* Definitions for FilterTask */ osThreadId_t FilterTaskHandle; const osThreadAttr_t FilterTask_attributes = { .name = "FilterTask", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityAboveNormal, }; /* Definitions for uart485rxqueue */ osMessageQueueId_t uart485rxqueueHandle; uint8_t uart485queueBuffer[ 20 * 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) }; /* Definitions for printqueue */ osMessageQueueId_t printqueueHandle; uint8_t printqueueBuffer[ 32 * sizeof( Print_msg ) ]; osStaticMessageQDef_t printqueueControlBlock; const osMessageQueueAttr_t printqueue_attributes = { .name = "printqueue", .cb_mem = &printqueueControlBlock, .cb_size = sizeof(printqueueControlBlock), .mq_mem = &printqueueBuffer, .mq_size = sizeof(printqueueBuffer) }; /* Definitions for consolemsgqueue */ osMessageQueueId_t consolemsgqueueHandle; uint8_t consolemsgqueueBuffer[ 32 * sizeof( Console_msg ) ]; osStaticMessageQDef_t consolemsgqueueControlBlock; const osMessageQueueAttr_t consolemsgqueue_attributes = { .name = "consolemsgqueue", .cb_mem = &consolemsgqueueControlBlock, .cb_size = sizeof(consolemsgqueueControlBlock), .mq_mem = &consolemsgqueueBuffer, .mq_size = sizeof(consolemsgqueueBuffer) }; /* Definitions for filterqueue3 */ osMessageQueueId_t filterqueue3Handle; uint8_t filterqueue3Buffer[ 30 * sizeof( Filter_msg3 ) ]; osStaticMessageQDef_t filterqueue3ControlBlock; const osMessageQueueAttr_t filterqueue3_attributes = { .name = "filterqueue3", .cb_mem = &filterqueue3ControlBlock, .cb_size = sizeof(filterqueue3ControlBlock), .mq_mem = &filterqueue3Buffer, .mq_size = sizeof(filterqueue3Buffer) }; /* Definitions for filterqueue2 */ osMessageQueueId_t filterqueue2Handle; uint8_t filterqueue2Buffer[ 30 * sizeof( Filter_msg2 ) ]; osStaticMessageQDef_t filterqueue2ControlBlock; const osMessageQueueAttr_t filterqueue2_attributes = { .name = "filterqueue2", .cb_mem = &filterqueue2ControlBlock, .cb_size = sizeof(filterqueue2ControlBlock), .mq_mem = &filterqueue2Buffer, .mq_size = sizeof(filterqueue2Buffer) }; /* Definitions for filterqueue1 */ osMessageQueueId_t filterqueue1Handle; uint8_t filterqueue1Buffer[ 30 * sizeof( Filter_msg1 ) ]; osStaticMessageQDef_t filterqueue1ControlBlock; const osMessageQueueAttr_t filterqueue1_attributes = { .name = "filterqueue1", .cb_mem = &filterqueue1ControlBlock, .cb_size = sizeof(filterqueue1ControlBlock), .mq_mem = &filterqueue1Buffer, .mq_size = sizeof(filterqueue1Buffer) }; /* Definitions for filterqueue4 */ osMessageQueueId_t filterqueue4Handle; uint8_t filterqueue4Buffer[ 30 * sizeof( Filter_msg4 ) ]; osStaticMessageQDef_t filterqueue4ControlBlock; const osMessageQueueAttr_t filterqueue4_attributes = { .name = "filterqueue4", .cb_mem = &filterqueue4ControlBlock, .cb_size = sizeof(filterqueue4ControlBlock), .mq_mem = &filterqueue4Buffer, .mq_size = sizeof(filterqueue4Buffer) }; /* Definitions for filterqueue5 */ osMessageQueueId_t filterqueue5Handle; uint8_t filterqueue5Buffer[ 30 * sizeof( Filter_msg5 ) ]; osStaticMessageQDef_t filterqueue5ControlBlock; const osMessageQueueAttr_t filterqueue5_attributes = { .name = "filterqueue5", .cb_mem = &filterqueue5ControlBlock, .cb_size = sizeof(filterqueue5ControlBlock), .mq_mem = &filterqueue5Buffer, .mq_size = sizeof(filterqueue5Buffer) }; /* Private function prototypes -----------------------------------------------*/ /* USER CODE BEGIN FunctionPrototypes */ void pack_filtered_cap(void); // float filtered_cap --> uint32_t uint_filtered_cap void UART1_Watchdog_Check(void); osStatus_t QueuePutOverwrite(osMessageQueueId_t queue_id, const void *msg_ptr, uint8_t priority, uint32_t timeout); void ProcessFDC2214( uint8_t* init_ready_flag, uint8_t* valid_flag, uint8_t channel, uint8_t inductor, uint8_t par_capacitor, float zeroValue, uint8_t device_index); void CheckFDC2214_ID(uint8_t device_index, uint8_t* init_ready_flag, uint8_t* deviceValid); void TProcessFDC2214( uint8_t* init_ready_flag, uint8_t* valid_flag, uint8_t channel, uint8_t inductor, uint8_t par_capacitor, float zeroValue, uint8_t device_index); void TCheckFDC2214_ID(uint8_t device_index, uint8_t* init_ready_flag, uint8_t* deviceValid); /* USER CODE END FunctionPrototypes */ void HighestLEDTask(void *argument); void ReaddataTask(void *argument); void DealcallbackTask(void *argument); void CommonPrintTask(void *argument); void ReaddataTask02(void *argument); void FilterdataTask(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 */ Systemmode = Debugmode; // Debugmode releasemode // 发布模式 IAPbootloader // 升级模式 Set_485_Baudrate(JsRoot.baudrate); Restart_UART1_DMA(); Restart_UART2_DMA(); JsRoot.work = &JsWork; // JsRoot.addr = 0xFF; printf ("\r\n API_MUL app1 2025_08_20 \r\n"); /* 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 (20, sizeof(Uart485Rx_msg), &uart485rxqueue_attributes); /* creation of printqueue */ printqueueHandle = osMessageQueueNew (32, sizeof(Print_msg), &printqueue_attributes); /* creation of consolemsgqueue */ consolemsgqueueHandle = osMessageQueueNew (32, sizeof(Console_msg), &consolemsgqueue_attributes); /* creation of filterqueue3 */ filterqueue3Handle = osMessageQueueNew (30, sizeof(Filter_msg3), &filterqueue3_attributes); /* creation of filterqueue2 */ filterqueue2Handle = osMessageQueueNew (30, sizeof(Filter_msg2), &filterqueue2_attributes); /* creation of filterqueue1 */ filterqueue1Handle = osMessageQueueNew (30, sizeof(Filter_msg1), &filterqueue1_attributes); /* creation of filterqueue4 */ filterqueue4Handle = osMessageQueueNew (30, sizeof(Filter_msg4), &filterqueue4_attributes); /* creation of filterqueue5 */ filterqueue5Handle = osMessageQueueNew (30, sizeof(Filter_msg5), &filterqueue5_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 ReadTask02 */ ReadTask02Handle = osThreadNew(ReaddataTask02, NULL, &ReadTask02_attributes); /* creation of FilterTask */ FilterTaskHandle = osThreadNew(FilterdataTask, NULL, &FilterTask_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(;;) { HAL_IWDG_Refresh(&hiwdg); if(Systemmode == releasemode) current_status = LED_COMM; if(Systemmode == Debugmode) // Debugmode current_status = LED_WARNING_2; 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_red, &led_green); LED_FlashHandler(&led_green, &led_red); if(runtimecount > 100) { runtimecount = 0; JsRoot.age ++ ; if(JsRoot.age > 65535) JsRoot.age = 0; } runtimecount++; osDelay(2); } /* 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 */ /*----------------ADS1256读取电压值----------------*/ Filter_msg3 msg3; Filter_msg4 msg4; Filter_msg5 msg5; static int dropped_cnt1,dropped_cnt2,dropped_cnt3 = 0; // 监测未消费数据丢弃计数器 ADS1256_Init(&hspi1); static uint8_t ads_channel_index = 0; for(;;) { if (HAL_GPIO_ReadPin(ADS_DRDY_GPIO_Port, ADS_DRDY_Pin) == GPIO_PIN_RESET) { int32_t adc_value = ADS1256_ReadChannel(ads_channel_index); // int32_t adc_value = ADS1256_Readdata(); // Vin ---- R1 ----（Vout）---- R2 ---- GND R1 = 3.3kΩ R2 = 2.2kΩ // Vout = Vin × 2.2k / (3.3k + 2.2k) = Vin × 2.2 / 5.5 = Vin × 0.4 float voltage = ADS1256_ConvertToVoltage(adc_value, 2.5f, 1); // VREF=2.5V，PGA=1 switch (ads_channel_index) { case 0: /*----------通道0用于阀杆压力-------------*/ voltage = voltage / 0.4f; ADS_v0 = voltage + ADS_v0_offset; // ADS_v0_offset = 0.008f; msg3.data = ADS_v0; ADS_PRINTF("ADS_v0 %.5f \r\n",ADS_v0); if (QueuePutOverwrite(filterqueue3Handle, &msg3, 0, 0) != osOK) { // 将数据放入队列 dropped_cnt1++; ADS_PRINTF("\r\nQueue full, MPXV_P0=%.3f not sent. Dropped=%d", MPXV_P0, dropped_cnt1); } break; case 1: /*----------通道1用于余油压力-------------*/ voltage = voltage / 0.4f; ADS_v1 = voltage - ADS_v1_offset; // ADS_v1_offset = 0.008f; msg4.data = ADS_v1; ADS_PRINTF("ADS_v1 %.5f \r\n",ADS_v1); if (QueuePutOverwrite(filterqueue4Handle, &msg4, 0, 0) != osOK) { // 将数据放入队列 dropped_cnt2++; ADS_PRINTF("\r\nQueue full, MPXV_P1=%.3f not sent. Dropped=%d", MPXV_P1, dropped_cnt2); } break; case 2: /*----------通道2用于温度-------------*/ ADS_v2 = voltage - ADS_v2_offset ; // ADS_v0_offset = 0.000f; msg5.data = ADS_v2; ADS_PRINTF("ADS_v2 %.5f \r\n",ADS_v2); if (QueuePutOverwrite(filterqueue5Handle, &msg5, 0, 0) != osOK) { // 将数据放入队列 dropped_cnt3++; ADS_PRINTF("\r\nQueue full, ADS_v2=%.3f not sent. Dropped=%d", ADS_v2, dropped_cnt3); } break; } // 切换到下一个通道 ads_channel_index++; if (ads_channel_index > 2) ads_channel_index = 0; } osDelay(10); } /* 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_Consolecallback(); // 处理控制台命令 Process_Uart485callback(); // 处理485指令应答 osDelay(10); if(erase_APP2){ Flash_ErasePages(APP2_ADDR, APP_SIZE / 4); // 擦除整个 APP2 区域（80KB）擦除 40 页 erase_APP2 = false; } if(erase_APPdata_buffer){ // Flash_ErasePages(IAPDataBuffer_ADDR, APP_SIZE / 4); // 擦除整个 IAPDataBuffer 区域（80KB）擦除 40 页 erase_APPdata_buffer = false; } if(save_JsRoot_0100_flag){ JsRoot.subcode = upgrade_mode_subcode; DB_SaveUInt(DB_ID_SNAPSHOT, KV_KEY_IAP_SUBCODE , JsRoot.subcode ); // 存入到SNAPSHOT数据库 JsRoot.iapSize = expected_file_size; // 文件大小存到缓存区 DB_SaveUInt(DB_ID_SNAPSHOT, KV_KEY_IAP_SIZE , JsRoot.iapSize ); // 存入到SNAPSHOT数据库 save_JsRoot_0100_flag = false; } if(JsRoot.iapLoadStatus == 300 && DB_init_flag == true) // 已完成APP数据缓存区的下载，接下来开始复制到APP2区 { Flash_ErasePages(APP2_ADDR, APP_SIZE / 4); // 擦除整个 APP2 区域（80KB）擦除 40 页（2048字节/页） osDelay(100); Flash_Write64(APP2_ADDR, (uint64_t*)IAPDataBuffer_ADDR, APP_SIZE / 8); // 将APP缓存区的数据复制到APP2 osDelay(100); printf("\r\n Copy IAPDataBuffer to APP2"); uint8_t APP2_md5_bytes[4]; // 将结构体里 char 型的MD5码转成 uint8_t for (int i = 0; i < 4; i++) { sscanf(&JsRoot.iapMd5[i*2], "%2hhx", &APP2_md5_bytes[i]); } printf("\r\n Read FlashMd5 Complete"); // 再验一遍MD5 uint8_t cal_app2_md5[16]; MD5_CTX context; MD5Init(&context); if( JsRoot.subcode == 0x0200 ){ MD5Update(&context, (uint8_t*)APP2_ADDR, JsRoot.iapSize); // 0200 -0 }else{ MD5Update(&context, (uint8_t*)APP2_ADDR, JsRoot.iapSize - 16); // 0100 -16 } MD5Final(cal_app2_md5, &context); // 计算APP2区的MD5码 printf("\r\n Calculate Md5 Complete"); printf("APP2_md5_bytes : "); for(int i = 0; i < 4; i++) { printf("%02X ", APP2_md5_bytes[i]); } printf("\n"); printf("cal_app2_md5 : "); for(int i = 0; i < 4; i++) { printf("%02X ", cal_app2_md5[i]); } printf("\n"); // 比较md5结果 if (memcmp(cal_app2_md5, APP2_md5_bytes, 4) == 0) //验证复制后的APP2的MD5码和APP缓存区存入到数据库的MD5是否一致 { printf("\r\n Copy IAPDataBuffer to APP2 success "); JsRoot.iapLoadStatus = 2; // 代表程序在APP2区运行 JsRoot.ubootback = 0; // 跟随JsRoot.iapLoadStatus = 2 先置为0 DB_SaveUInt(DB_ID_SNAPSHOT, KV_KEY_UBOOTBACK , JsRoot.ubootback ); // bootloader 状态码存入到SNAPSHOT数据库 DB_SaveUInt(DB_ID_SNAPSHOT, KV_KEY_IAP_LOAD , JsRoot.iapLoadStatus ); // 装载状态存入到SNAPSHOT数据库 osDelay(300); NVIC_SystemReset(); }else{ printf("\r\nCopy IAPDataBuffer to APP2 Failed!!! "); JsRoot.ubootback = 401; // 代表APP2区文件完整性校验错误 JsRoot.iapLoadStatus = 0; // 代表程序在APP1区运行 DB_SaveUInt(DB_ID_SNAPSHOT, KV_KEY_UBOOTBACK , JsRoot.ubootback ); // bootloader 状态码存入到SNAPSHOT数据库 DB_SaveUInt(DB_ID_SNAPSHOT, KV_KEY_IAP_LOAD , JsRoot.iapLoadStatus ); // 装载状态存入到SNAPSHOT数据库 send_upgrade_end_response(0x42, 0xAABB, 0x05, 0x0000); //MD5校验错误 } } // 如果检测到APP2区文件完整性错误，再尝试3次将APP缓存区复制到APP2区 // if(JsRoot.ubootback == 401) // { // // 复制flash // } check_upgrade_data4001_timeout(); } /* 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 */ Print_msg Printmsg; for(;;) { if(printqueueHandle == NULL){ printf("Failed to create print queue!\n"); osDelay(1); continue; } osStatus_t status = osMessageQueueGet(printqueueHandle, &Printmsg, NULL, 0); if ( status== osOK) { printf("%s", Printmsg.msg); } else if (status == osErrorParameter) { printf("[CRITICAL] Queue corruption detected! Reinit...\n"); osMessageQueueDelete(printqueueHandle); printqueueHandle = osMessageQueueNew(32, sizeof(Print_msg), NULL); } else{ // printf("[ERROR] Failed to read from print queue: %d\n", (int)status); } if(DB_init_flag == false) { DB_InitAllConfigs(); // 数据库初始化 DB_init_flag= true; } osDelay(15); } /* USER CODE END CommonPrintTask */ } /* USER CODE BEGIN Header_ReaddataTask02 */ /** * @brief Function implementing the ReadTask02 thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_ReaddataTask02 */ void ReaddataTask02(void *argument) { /* USER CODE BEGIN ReaddataTask02 */ /* Infinite loop */ uint8_t fdc2214_initready1, fdc2214_initready2 = 0; uint8_t device1IDValid, device2IDValid = 0; // 设备ID是否有效的标志 uint32_t lastCheck1Time, lastCheck2Time = 0; // 记录上次检查时间 const uint32_t checkInterval = 5000; // 5秒检查间隔（毫秒） for(;;) { uint32_t now = HAL_GetTick(); // 检查设备1 if ((now - lastCheck1Time) >= checkInterval) { lastCheck1Time = now; CheckFDC2214_ID(1, &fdc2214_initready1,&device1IDValid); } if (device1IDValid) { /*--------------1号电容用于测量油水电容--------------*/ ProcessFDC2214(&fdc2214_initready1, &device1IDValid, 0, oil_para_indu, oil_para_cap, oil_cap_offset, 1); } // 检查设备2 if ((now - lastCheck2Time) >= checkInterval) { lastCheck2Time = now; TCheckFDC2214_ID(2, &fdc2214_initready2, &device2IDValid); } if (device2IDValid) { /*--------------2号电容用于测量余油电容--------------*/ TProcessFDC2214(&fdc2214_initready2, &device2IDValid, 0, res_oil_para_indu, res_oil_para_cap, res_oil_cap_offset, 2); } osDelay(10); } /* USER CODE END ReaddataTask02 */ } /* USER CODE BEGIN Header_FilterdataTask */ /** * @brief Function implementing the FilterTask thread. * @param argument: Not used * @retval None */ /* USER CODE END Header_FilterdataTask */ void FilterdataTask(void *argument) { /* USER CODE BEGIN FilterdataTask */ /* Infinite loop */ SlidingWindowFilter filter1, filter2, filter3, filter4, filter5; SlidingFilter_Init(&filter1); // 初始化滑动窗口 SlidingFilter_Init(&filter2); SlidingFilter_Init(&filter3); SlidingFilter_Init(&filter4); SlidingFilter_Init(&filter5); Filter_msg1 msg1; Filter_msg2 msg2; Filter_msg3 msg3; Filter_msg4 msg4; Filter_msg5 msg5; for(;;) { if (filterqueue1Handle != NULL) { /*---------油水电容值滤波----------*/ osStatus_t status = osMessageQueueGet(filterqueue1Handle, &msg1, 0, 0); if (status == osOK) { filtered_oil_cap = SlidingFilter_Update(&filter1, msg1.data); // 滤波 oil_percent = Estimate_Percentage_piecewise(filtered_oil_cap); // CommonPrintf("filtered_oil_cap=[%.5f], oil_percent=[%.1f%%]\r\n", filtered_oil_cap, oil_percent); } } if (filterqueue2Handle != NULL) { /*---------余油电容值滤波----------*/ osStatus_t status = osMessageQueueGet(filterqueue2Handle, &msg2, 0, 0); if (status == osOK) { filtered_res_oil_cap = SlidingFilter_Update(&filter2, msg2.data); // CommonPrintf("filtered_res_oil_cap=[%.5f]\r\n", filtered_res_oil_cap); } } if (filterqueue3Handle != NULL) { /*---------阀杆压力值滤波----------*/ osStatus_t status = osMessageQueueGet(filterqueue3Handle, &msg3, 0, 0); if (status == osOK) { filtered_ADS_v0 = SlidingFilter_Update(&filter3, msg3.data); MPXV_P0 = ((filtered_ADS_v0 - 2.5f) / 2.0f) * 7.0f; // kPa // CommonPrintf("P0 raw=%.3f, filtered=%.3f\r\n", msg3.data, filtered_MPXV_P0); } } if (filterqueue4Handle != NULL) { /*---------余油压力值滤波----------*/ osStatus_t status = osMessageQueueGet(filterqueue4Handle, &msg4, 0, 0); if (status == osOK) { filtered_ADS_v1 = SlidingFilter_Update(&filter4, msg4.data); MPXV_P1 = ((filtered_ADS_v1 - 2.5f) / 2.0f) * 7.0f; // kPa // CommonPrintf("P1 raw=%.3f, filtered=%.3f\r\n", msg4.data, filtered_MPXV_P1); } } if (filterqueue5Handle != NULL) { /*---------温度值滤波----------*/ osStatus_t status = osMessageQueueGet(filterqueue5Handle, &msg5, 0, 0); if (status == osOK) { filtered_ADS_v2 = SlidingFilter_Update(&filter5, msg5.data); // 滤波 float r_ntc = NTC_CalculateResistance(filtered_ADS_v2, 3.3f, 49.9f); // 电压, ADC基准, 分压电阻 NTC_temp = NTC_GetTemperature(r_ntc); // 查RT表得出温度值 } } osDelay(5); } /* USER CODE END FilterdataTask */ } /* Private application code --------------------------------------------------*/ /* USER CODE BEGIN Application */ void pack_filtered_cap(void) // float filtered_cap --> uint32_t uint_filtered_cap { // float filtered_value = filtered_cap1; // memcpy(&uint_filtered_cap, &filtered_value, sizeof(float)); // float --> uint32_t } // 队列安全写入（满时覆盖最旧数据） osStatus_t QueuePutOverwrite(osMessageQueueId_t queue_id, const void *msg_ptr, uint8_t priority, uint32_t timeout) { osStatus_t status; // 先尝试直接放入 status = osMessageQueuePut(queue_id, msg_ptr, priority, timeout); if (status == osOK) { return osOK; // 成功 } // 如果队列已满，先取出最旧数据（非阻塞方式） if (status == osErrorResource) { uint8_t temp_buffer[MAX_FRAME_SIZE]; // 临时存储被丢弃的数据 osMessageQueueGet(queue_id, temp_buffer, NULL, 0); // 0 表示立即返回 // 再尝试放入 printf("[QueuePutOverwrite] full \r\n"); return osMessageQueuePut(queue_id, msg_ptr, priority, timeout); } printf("[QueuePutOverwrite] error \r\n"); // 其他错误直接返回 return status; } void ProcessFDC2214( uint8_t* init_ready_flag, uint8_t* valid_flag, uint8_t channel, uint8_t inductor, uint8_t par_capacitor, float zeroValue, uint8_t device_index) { Filter_msg1 msg1; if (!(*init_ready_flag)) { *init_ready_flag = (FDC2214_Init() == 0) ? 1 : 0; if (!(*init_ready_flag)) { FDC_PRINTF("\r\nRetrying %d TFDC2214 init in 2s ...", device_index); msg1.data = 0; if (QueuePutOverwrite(filterqueue1Handle, &msg1, 0, 0) != osOK) { } osDelay(2000); return; } else { *valid_flag = 1; } } if (*valid_flag) { float cap = 0.0f ; cap = getcap(channel, inductor, par_capacitor) - zeroValue; // 采集数据 通道0,电感，电容 /* 并联 18uh - 13pf : 测量47pf , -30.6 , 并联 18uh - 33pf : 测量47pf , -43.1 */ oil_cap = cap; // 油水检测原始电容值 msg1.data = cap; FDC_PRINTF("msg1.data [%.5f] oil_cap [%.5f]\r\n",msg1.data, oil_cap); if (QueuePutOverwrite(filterqueue1Handle, &msg1, 0, 0) != osOK) { FDC_PRINTF("\r\nQueue full, cap=%.3f not sent", cap); } } } void CheckFDC2214_ID(uint8_t device_index, uint8_t* init_ready_flag, uint8_t* deviceValid) { Filter_msg1 msg1; uint16_t id = 0; id = FDC2214_Read16(TFDC2214_Addr, 0x7F); if (id == FDC2214_ID) { FDC_PRINTF("[TFDC2214-%d] ok: ID=0x%04X\r\n", device_index, id); *deviceValid = 1; } else { *deviceValid = 0; *init_ready_flag = 0; msg1.data = 0; res_oil_cap = 0; filtered_oil_cap = 0; oil_percent = 0; // 循环读取队列直到清空 while (osMessageQueueGet(filterqueue1Handle, &msg1, NULL, 0) == osOK) { // 读取成功，继续循环直到队列为空 } FDC_PRINTF("[TFDC2214-%d] error: ID=0x%04X\r\n", device_index, id); } } void TProcessFDC2214( uint8_t* init_ready_flag, uint8_t* valid_flag, uint8_t channel, uint8_t inductor, uint8_t par_capacitor, float zeroValue, uint8_t device_index) { Filter_msg2 msg2; if (!(*init_ready_flag)) { *init_ready_flag = (TFDC2214_Init() == 0) ? 1 : 0; if (!(*init_ready_flag)) { FDC_PRINTF("\r\nRetrying %d TFDC2214 init in 2s ...", device_index); msg2.data = 0; if (QueuePutOverwrite(filterqueue2Handle, &msg2, 0, 0) != osOK) { } osDelay(2000); return; } else { *valid_flag = 1; } } if (*valid_flag) { float cap = 0.0f ; cap = Tgetcap(channel, inductor, par_capacitor) - zeroValue; // 采集数据 通道0,电感，电容 /* 并联 18uh - 13pf : 测量47pf , -30.6 , 并联 18uh - 33pf : 测量47pf , -43.1 */ res_oil_cap = cap; // 余油检测原始电容值 msg2.data = cap; FDC_PRINTF("msg2.data [%.5f] res_oil_cap [%.5f]\r\n",msg2.data,res_oil_cap); if (QueuePutOverwrite(filterqueue2Handle, &msg2, 0, 0) != osOK) { FDC_PRINTF("\r\nQueue full, cap=%.3f not sent", cap); } } } void TCheckFDC2214_ID(uint8_t device_index, uint8_t* init_ready_flag, uint8_t* deviceValid) { Filter_msg2 msg2; uint16_t id = 0; id = TFDC2214_Read16(TFDC2214_Addr, 0x7F); if (id == TFDC2214_ID) { FDC_PRINTF("[TFDC2214-%d] ok: ID=0x%04X\r\n", device_index, id); *deviceValid = 1; } else { *deviceValid = 0; *init_ready_flag = 0; msg2.data = 0; if (QueuePutOverwrite(filterqueue2Handle, &msg2, 0, 0) != osOK) { } // 循环读取队列直到清空 while (osMessageQueueGet(filterqueue2Handle, &msg2, NULL, 0) == osOK) { // 读取成功，继续循环直到队列为空 } FDC_PRINTF("[TFDC2214-%d] error: ID=0x%04X\r\n", device_index, id); } } /* USER CODE END Application */