#include "cmsis_os2.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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#include "HIDO_Input.h"
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#include "HIDO_Timer.h"
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#include "GPS.h"
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#include "DBG.h"
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#include "Internet.h"
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#include "global_param.h"
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#include "MCUFlash.h"
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#include "HIDO_ATLite.h"
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#include "UDPClient.h"
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#include "bluetooth.h"
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#include "TCPClient.h"
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#include "SBUS.h"
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#include "pwm_ctrol.h"
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static osSemaphoreId_t g_semaphoreHandle = NULL;
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extern uint8_t restart_num;
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void IdleTask(void)
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{
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if(g_com_map[CNT_RESTART]==1)
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{
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g_com_map[CNT_RESTART]=0;
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// printf("%s URTRestart",__debug_info__);
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HAL_NVIC_SystemReset();
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}
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if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
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{
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// printf("%s URTRestart",__debug_info__);
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HAL_NVIC_SystemReset();
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// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //����λ�ص�bootloader
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}
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}
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void app_task(void *pvParameters)
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{
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Shell_Init();
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GPS_Init();
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Internet_Init();
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UDPClient_Init();
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TCPClient_Init();
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BT_Init();
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SBUS_Init();
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while (1)
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{
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//HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
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HIDO_UINT32 timeout = 100;
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if (xSemaphoreTake(g_semaphoreHandle, timeout / portTICK_PERIOD_MS) == pdTRUE)
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{
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}
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DBG_Poll();
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BT_Poll();
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SBUS_Poll();
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HIDO_ATLitePoll();
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Internet_Poll();
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GPS_Poll();
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UDPClient_Poll();
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TCPClient_Poll();
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IdleTask();
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HIDO_TimerPoll();
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}
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}
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void app_trigger_from_isr(void)
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{
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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if (g_semaphoreHandle != NULL)
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{
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BaseType_t result = xSemaphoreGiveFromISR(g_semaphoreHandle, &xHigherPriorityTaskWoken);
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if (xHigherPriorityTaskWoken == pdTRUE)
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{
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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}
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}
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}
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void app_trigger(void)
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{
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if (g_semaphoreHandle != NULL)
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{
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xSemaphoreGive(g_semaphoreHandle);
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}
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}
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void app_main(void)
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{
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MCUFlash_Init();
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parameter_init();
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{
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uint16_t dev_id = g_com_map[DEV_ID];
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uint16_t udp_port = g_com_map[UDP_PORT];
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uint16_t tcp_port = g_com_map[TCP_PORT];
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uint16_t ip0 = g_com_map[IP_0];
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uint16_t ip1 = g_com_map[IP_1];
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uint16_t ip2 = g_com_map[IP_2];
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uint16_t ip3 = g_com_map[IP_3];
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uint16_t tip0 = g_com_map[TCP_IP_0];
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uint16_t tip1 = g_com_map[TCP_IP_1];
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uint16_t tip2 = g_com_map[TCP_IP_2];
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uint16_t tip3 = g_com_map[TCP_IP_3];
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uint16_t version = g_com_map[VERSION];
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HIDO_Debug2("[BOOT] Version: %u\r\n", version);
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HIDO_Debug2("[BOOT] DeviceID: %u\r\n", dev_id);
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HIDO_Debug2("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port);
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HIDO_Debug2("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port);
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}
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TaskHandle_t xTaskHandle = NULL;
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osSemaphoreAttr_t semaphore_attr = {
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.name = "MySemaphore",
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.attr_bits = 0,
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.cb_mem = NULL,
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.cb_size = 0};
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//
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g_semaphoreHandle = osSemaphoreNew(1, 0, &semaphore_attr);
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xTaskCreate(
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app_task,
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"AppTask",
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2048,
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NULL,
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tskIDLE_PRIORITY + 1,
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&xTaskHandle);
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}
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