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Add FreeRTOS and SPI mes and UART output

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This commit is contained in:
Максим Шишов
2022-01-30 16:10:23 +03:00
parent f6669027b2
commit 3add1da35f
42 changed files with 30631 additions and 73 deletions
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74
Core/Src/freertos.c Normal file
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@@ -0,0 +1,74 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2022 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"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
*ppxIdleTaskStackBuffer = &xIdleStack[0];
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
/* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */

134
Core/Src/main.c
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@@ -18,6 +18,7 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@@ -26,12 +27,12 @@
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#define CS1_ON() HAL_GPIO_WritePin(CS1_GPIO_Port, CS1_Pin, GPIO_PIN_SET)
#define CS1_OFF() HAL_GPIO_WritePin(CS1_GPIO_Port, CS1_Pin, GPIO_PIN_RESET)
#define CS2_ON() HAL_GPIO_WritePin(CS2_GPIO_Port, CS2_Pin, GPIO_PIN_SET)
#define CS2_OFF() HAL_GPIO_WritePin(CS2_GPIO_Port, CS2_Pin, GPIO_PIN_RESET)
#define CS3_ON() HAL_GPIO_WritePin(CS3_GPIO_Port, CS3_Pin, GPIO_PIN_SET)
#define CS3_OFF() HAL_GPIO_WritePin(CS3_GPIO_Port, CS3_Pin, GPIO_PIN_RESET)
#define CS1_OFF() HAL_GPIO_WritePin(CS1_GPIO_Port, CS1_Pin, GPIO_PIN_SET)
#define CS1_ON() HAL_GPIO_WritePin(CS1_GPIO_Port, CS1_Pin, GPIO_PIN_RESET)
#define CS2_OFF() HAL_GPIO_WritePin(CS2_GPIO_Port, CS2_Pin, GPIO_PIN_SET)
#define CS2_ON() HAL_GPIO_WritePin(CS2_GPIO_Port, CS2_Pin, GPIO_PIN_RESET)
#define CS3_OFF() HAL_GPIO_WritePin(CS3_GPIO_Port, CS3_Pin, GPIO_PIN_SET)
#define CS3_ON() HAL_GPIO_WritePin(CS3_GPIO_Port, CS3_Pin, GPIO_PIN_RESET)
#define RESET_ON() HAL_GPIO_WritePin(RESET_GPIO_Port, RESET_Pin, GPIO_PIN_SET)
#define RESET_OFF() HAL_GPIO_WritePin(RESET_GPIO_Port, RESET_Pin, GPIO_PIN_RESET)
/* USER CODE END PTD */
@@ -51,7 +52,9 @@ DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_tx;
osThreadId calcsUartTaskHandle;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
@@ -62,13 +65,20 @@ static void MX_GPIO_Init(void);
static void MX_SPI1_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
void StartCalcsUartTask(void const * argument);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t data_in[6] = {0};
uint8_t data_out[6] = {0};
uint8_t flag_receive = 0;
uint8_t flag_cs = 0;
xSemaphoreHandle mutex;
xSemaphoreHandle semaphoreBin;
/* USER CODE END 0 */
/**
@@ -104,12 +114,63 @@ int main(void)
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
RESET_ON();
HAL_Delay(100);
/* USER CODE END 2 */
/* 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 */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(calcsUartTask, StartCalcsUartTask, osPriorityNormal, 0, 128);
calcsUartTaskHandle = osThreadCreate(osThread(calcsUartTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
mutex = xSemaphoreCreateMutex();
vSemaphoreCreateBinary(semaphoreBin);
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
flag_cs = 1;
CS1_ON();
HAL_SPI_Transmit_DMA(&hspi1, data_in, sizeof(data_in));
while(!flag_receive) {
}
CS1_OFF();
flag_receive = 0;
flag_cs = 2;
CS2_ON();
HAL_SPI_Transmit_DMA(&hspi1, data_in, sizeof(data_in));
while(!flag_receive) {
}
CS2_OFF();
flag_receive = 0;
flag_cs = 3;
CS3_ON();
HAL_SPI_Transmit_DMA(&hspi1, data_in, sizeof(data_in));
while(!flag_receive) {
}
flag_receive = 0;
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
@@ -245,11 +306,14 @@ static void MX_DMA_Init(void)
/* DMA interrupt init */
/* DMA1_Channel2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
/* DMA1_Channel3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
/* DMA1_Channel4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
}
@@ -289,9 +353,59 @@ static void MX_GPIO_Init(void)
}
/* USER CODE BEGIN 4 */
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
{
if(hspi == &hspi1)
{
HAL_SPI_Receive_DMA(&hspi1, data_out, sizeof(data_out));
flag_receive = 1;
static portBASE_TYPE xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(semaphoreBin, &xHigherPriorityTaskWoken);
}
}
/* USER CODE END 4 */
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartCalcsUartTask(void const * argument)
{
/* USER CODE BEGIN 5 */
/* Infinite loop */
for(;;)
{
xSemaphoreTake(semaphoreBin, portMAX_DELAY);
if(flag_cs == 1) {
if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE) {
//ЗАПИСЬ ДЛЯ ПЕРВОГО ГИРОСКОПА
HAL_UART_Transmit_DMA(&huart1, data_in, sizeof(data_in));
}
xSemaphoreGive(mutex);
}
else if(flag_cs == 2) {
if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE ) {
//ЗАПИСЬ ДЛЯ ВТОРОГО ГИРОСКОПА
HAL_UART_Transmit_DMA(&huart1, data_in, sizeof(data_in));
}
xSemaphoreGive(mutex);
}
else if(flag_cs == 3) {
if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE ) {
//ЗАПИСЬ ДЛЯ ВТОРОГО ГИРОСКОПА
HAL_UART_Transmit_DMA(&huart1, data_in, sizeof(data_in));
}
xSemaphoreGive(mutex);
}
osDelay(1);
}
/* USER CODE END 5 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None

30
Core/Src/stm32l4xx_hal_msp.c
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@@ -27,6 +27,8 @@ extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern DMA_HandleTypeDef hdma_usart1_tx;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -73,6 +75,8 @@ void HAL_MspInit(void)
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
/* USER CODE BEGIN MspInit 1 */
@@ -144,6 +148,9 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
__HAL_LINKDMA(hspi,hdmatx,hdma_spi1_tx);
/* SPI1 interrupt Init */
HAL_NVIC_SetPriority(SPI1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(SPI1_IRQn);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
@@ -177,6 +184,9 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
/* SPI1 DMA DeInit */
HAL_DMA_DeInit(hspi->hdmarx);
HAL_DMA_DeInit(hspi->hdmatx);
/* SPI1 interrupt DeInit */
HAL_NVIC_DisableIRQ(SPI1_IRQn);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */
@@ -223,6 +233,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 DMA Init */
/* USART1_TX Init */
hdma_usart1_tx.Instance = DMA1_Channel4;
hdma_usart1_tx.Init.Request = DMA_REQUEST_2;
hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_tx.Init.Mode = DMA_NORMAL;
hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
@@ -252,6 +280,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USART1 DMA DeInit */
HAL_DMA_DeInit(huart->hdmatx);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */

66
Core/Src/stm32l4xx_it.c
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@@ -20,6 +20,8 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32l4xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -57,6 +59,8 @@
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern SPI_HandleTypeDef hspi1;
extern DMA_HandleTypeDef hdma_usart1_tx;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -139,19 +143,6 @@ void UsageFault_Handler(void)
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
@@ -165,19 +156,6 @@ void DebugMon_Handler(void)
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
@@ -187,6 +165,14 @@ void SysTick_Handler(void)
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
{
#endif /* INCLUDE_xTaskGetSchedulerState */
xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
@@ -227,6 +213,34 @@ void DMA1_Channel3_IRQHandler(void)
/* USER CODE END DMA1_Channel3_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel4 global interrupt.
*/
void DMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
/* USER CODE END DMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
/* USER CODE END DMA1_Channel4_IRQn 1 */
}
/**
* @brief This function handles SPI1 global interrupt.
*/
void SPI1_IRQHandler(void)
{
/* USER CODE BEGIN SPI1_IRQn 0 */
/* USER CODE END SPI1_IRQn 0 */
HAL_SPI_IRQHandler(&hspi1);
/* USER CODE BEGIN SPI1_IRQn 1 */
/* USER CODE END SPI1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */