/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 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 "task_ec800_upload.h"
#include "task_communication.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for ec800_dataUploa */
osThreadId_t ec800_dataUploaHandle;
const osThreadAttr_t ec800_dataUploa_attributes = {
  .name = "ec800_dataUploa",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal,
};
/* Definitions for communication */
osThreadId_t communicationHandle;
const osThreadAttr_t communication_attributes = {
  .name = "communication",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal1,
};
/* Definitions for Time2_ */
osTimerId_t Time2_Handle;
const osTimerAttr_t Time2__attributes = {
  .name = "Time2_"
};
/* Definitions for mutex_rs485RecDate */
osMutexId_t mutex_rs485RecDateHandle;
const osMutexAttr_t mutex_rs485RecDate_attributes = {
  .name = "mutex_rs485RecDate"
};
/* Definitions for mutex_ec800Date */
osMutexId_t mutex_ec800DateHandle;
const osMutexAttr_t mutex_ec800Date_attributes = {
  .name = "mutex_ec800Date"
};
/* Definitions for s_messageDate_location */
osMutexId_t s_messageDate_locationHandle;
const osMutexAttr_t s_messageDate_location_attributes = {
  .name = "s_messageDate_location"
};
/* Definitions for semphore_ */
osSemaphoreId_t semphore_Handle;
const osSemaphoreAttr_t semphore__attributes = {
  .name = "semphore_"
};
/* Definitions for count_semphore_ */
osSemaphoreId_t count_semphore_Handle;
const osSemaphoreAttr_t count_semphore__attributes = {
  .name = "count_semphore_"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void Task_ec800_upload(void *argument);
void Task_communication(void *argument);
void Time2_Callback(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* Hook prototypes */
void configureTimerForRunTimeStats(void);
unsigned long getRunTimeCounterValue(void);

/* USER CODE BEGIN 1 */
/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
__weak void configureTimerForRunTimeStats(void)
{

}

__weak unsigned long getRunTimeCounterValue(void)
{
return 0;
}
/* USER CODE END 1 */

/* USER CODE BEGIN PREPOSTSLEEP */
__weak void PreSleepProcessing(uint32_t *ulExpectedIdleTime)
{
/* place for user code */
}

__weak void PostSleepProcessing(uint32_t *ulExpectedIdleTime)
{
/* place for user code */
}
/* USER CODE END PREPOSTSLEEP */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */
  /* Create the mutex(es) */
  /* creation of mutex_rs485RecDate */
  mutex_rs485RecDateHandle = osMutexNew(&mutex_rs485RecDate_attributes);

  /* creation of mutex_ec800Date */
  mutex_ec800DateHandle = osMutexNew(&mutex_ec800Date_attributes);

  /* creation of s_messageDate_location */
  s_messageDate_locationHandle = osMutexNew(&s_messageDate_location_attributes);

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* Create the semaphores(s) */
  /* creation of semphore_ */
  semphore_Handle = osSemaphoreNew(1, 1, &semphore__attributes);

  /* creation of count_semphore_ */
  count_semphore_Handle = osSemaphoreNew(1, 1, &count_semphore__attributes);

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* Create the timer(s) */
  /* creation of Time2_ */
  Time2_Handle = osTimerNew(Time2_Callback, osTimerPeriodic, NULL, &Time2__attributes);

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of ec800_dataUploa */
  ec800_dataUploaHandle = osThreadNew(Task_ec800_upload, NULL, &ec800_dataUploa_attributes);

  /* creation of communication */
  communicationHandle = osThreadNew(Task_communication, NULL, &communication_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_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_Task_ec800_upload */
/**
* @brief Function implementing the ec800_dataUploa thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task_ec800_upload */
void Task_ec800_upload(void *argument)
{
  /* USER CODE BEGIN Task_ec800_upload */
	uint8_t recBack = 0;

	recBack = atk_ms6050_init();
	if(recBack != 0){
		printf("ATK-MS6050 init failed!\r\n");
		BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
	}
	printf("ATK-MS6050 init\r\n");
	
	recBack = atk_ms6050_dmp_init();
	if(recBack != 0){
		printf("ATK-MS6050 DMP init failed!\r\n");
		BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
	}
	printf("ATK-MS6050 DMP init!\r\n");
  /* Infinite loop */
  for(;;)
  {
  	task_ec800_content();
    osDelay(1);
  }
  /* USER CODE END Task_ec800_upload */
}

/* USER CODE BEGIN Header_Task_communication */
/**
* @brief Function implementing the communication thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task_communication */
void Task_communication(void *argument)
{
  /* USER CODE BEGIN Task_communication */
  /* Infinite loop */
  for(;;)
  {
  	task_communication_content();
    osDelay(1);
  }
  /* USER CODE END Task_communication */
}

/* Time2_Callback function */
void Time2_Callback(void *argument)
{
  /* USER CODE BEGIN Time2_Callback */

  /* USER CODE END Time2_Callback */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */