incubator_embeded/myfreertos/myfreertos.c

#include "myfreertos.h"

char pubTopic[512] = "/sys/hp8oQhMZJ67/Device1/thing/event/property/post";	// Publish topic
char subTopic[512] = "/sys/hp8oQhMZJ67/Device1/thing/service/property/set"; // Subscribe topic

#define MQTT_SOCK 5

// task priority
#define START_TASK_PRIO 0
// Task stack size
#define START_STK_SIZE 128
// task handle
TaskHandle_t StartTask_Handler;
// task function
void start_task(void *pvParameters);

// task priority
#define Sensor_Communication_TASK_PRIO 1 // Communication with sensors
// Task stack size
#define Sensor_Communication_STK_SIZE 512
// task handle
TaskHandle_t Sensor_CommunicationTask_Handler;
// task function
void Sensor_Communication_task(void *pvParameters);

void Host_Computer_Communication(void);

int isZeros(u8 arr[]);
u8 RS485_RX_BUF_COPY[128] = {0};
u8 cnt_flag = 0, sub_flag = 0, pub_flag = 0;
u16 time = 0;		// Record the time of pinging the server
char wet_temp[256]; // Cache area for subscription and publication of messages
u8 store_stage = 1; // Write the stage number of the flash, and after a power outage and restart, it can run immediately following the previous stage and status
extern PID pid;
extern float kd;
extern float ki;
u8 batch_sync_buf[11]; // Array obtained by single synchronous cutting
u8 ins_1 = 0;
int diff = 0;
u8 gpio_state = 0x00;  // relay status
u8 NUM = 1;			   // 批量同步发送的阶段号
u8 n;				   // 阶段号
u16 i;				   // 序列号
u8 chour;			   // 已运行小时数
u8 cminute;			   // 运行分钟数
u8 hot_clod_flag = 0;  // 加热制冷标志位。hot_clod_flag=0, 不加热不制冷；hot_clod_flag=2,加热；hot_clod_flag=1,制冷
u8 humidity_flag = 0;  // 加湿除湿标志位。 humidity_flag=0，不加湿不除湿； humidity_flag=2,加湿； humidity_flag=1，除湿
u8 ALARM = 0;		   // 报警标志位。ALARM=0,不报警；ALARM=1,报警
u16 tick = 0;		   // tick大于600，触发报警条件会报警；小于600则不报警
u8 Feed_Dog_Count = 0; // Feeding dog timing
u8 now_stage = 1;	   // Current operational phase
u16 tem, hum, red, blue, white;
u8 hour, min;
u8 change_stage_rev1 = 0;
u8 change_stage_rev2 = 0;
u8 change_stage_rev3 = 0;
u8 rs485buf[8] = {0x02, 0x03, 0x00, 0x01, 0x00, 0x09, 0xD4, 0x3F}; // Sensor exchange data
u16 sync_cnt = 0;												   // 同步环境控制参数的计数器，到0同步
int T = 0, H = 0, C = 0, G = 0, current_T = 0;
extern u8 total[];
float Humidity = 0;
float temperature = 0;

// u8 RS485_RX_BUF[64];

/*********************
**********************
entry function
**********************
*********************/
void os_init(void)
{
	// printf("Entry function call successful\r\n");
	xTaskCreate((TaskFunction_t)start_task,
				(char *)"start_task",
				(uint16_t)START_STK_SIZE,
				(void *)NULL,
				(UBaseType_t)START_TASK_PRIO,
				(TaskHandle_t *)&StartTask_Handler);
	vTaskStartScheduler();
}

/*********************
**********************
Create handles for tasks, queues, signal sets, etc., which can also be tested using
**********************
*********************/
BaseType_t handler = 0;
BaseType_t handler1 = 0;
BaseType_t handler2 = 0;
BaseType_t handler3 = 0;
BaseType_t handler4 = 0;
BaseType_t handler5 = 0;
BaseType_t handler6 = 0;
BaseType_t handler7 = 0;
BaseType_t handler8 = 0;
BaseType_t handler9 = 0;
BaseType_t handler10 = 0;
BaseType_t handler11 = 0;

/*

Start function: Create other functions and timers

*/

void start_task(void *pvParameters)
{

	taskENTER_CRITICAL(); // 进入临界区

	// 创建与传感器通信任务
	handler = xTaskCreate((TaskFunction_t)Sensor_Communication_task,
						  (const char *)"Sensor_Communication_task",
						  (uint16_t)Sensor_Communication_STK_SIZE,
						  (void *)NULL,
						  (UBaseType_t)Sensor_Communication_TASK_PRIO,
						  (TaskHandle_t *)&Sensor_CommunicationTask_Handler);
	//			if(handler==pdPASS){printf("与传感器通信任务创建成功\r\n");}
	//	    else{printf("与传感器通信任务创建失败\r\n");}

	//	//创建控灯任务
	//			handler4=xTaskCreate((TaskFunction_t )led_task,
	//                (const char*    )"led_task",
	//                (uint16_t       )LED_STK_SIZE,
	//                (void*          )NULL,
	//                (UBaseType_t    )LED_TASK_PRIO,
	//                (TaskHandle_t*  )&LEDTask_Handler);
	//			if(handler4==pdPASS){printf("控灯任务创建成功\r\n");}
	//	    else{printf("控灯任务创建失败\r\n");}
	vTaskDelete(StartTask_Handler); // 删除开始任务
	taskEXIT_CRITICAL();			// 退出临界区
}

void Sensor_Communication_task(void *pvParameters)
{

	while (1)
	{

		//	cnt_flag=do_mqtt(MQTT_SOCK,NET_CONFIG.rip,1883,5500);
		//			Humidity=H*0.1;
		//			temperature=T*0.1;
		//			delay_ms(50);
		//			sprintf(wet_temp,"{\"method\":\"thing.event.property.post\",\"params\":{\"Humidity\":%.2f,\"temperature\":%.2f,\"CO2\":%d,\"red_light\":%d,\"white_light\":%d,\"blue_light\":%d},\"version\":\"1.0.0\"}",Humidity,temperature,C,red/10,white/10,blue/10);  //构建数据
		//			//sprintf(wet_temp,"{\"method\":\"thing.event.property.post\",\"params\":{\"Humidity\":%.2f,\"temperature\":%.2f,\"CO2\":%d},\"version\":\"1.0.0\"}",Humidity,temperature,C);  //构建数据
		//			if(cnt_flag==0){sub_flag=0;pub_flag=0;time=0;}
		//			if(cnt_flag&&sub_flag==0)sub_flag=!subscribMqtt(MQTT_SOCK,subTopic);
		//			if(cnt_flag&&sub_flag&&pub_flag==0)pub_flag=!publishMqtt(MQTT_SOCK,pubTopic,wet_temp);
		//			if(cnt_flag)time++;
		//			if(time==50){
		//				time=0;
		//				pingMqtt(MQTT_SOCK);
		//			}
		now_stage = timelong_Compare(); //
		// printf("%d  %d\r\n",chour,cminute);
		Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // 更新对应阶段号的参数
		// printf("current stage: %d\r\n",now_stage);
		RS485_1_Send_Data_1(rs485buf, 8); //(RS485_RX_CNT=0已被注释)
		// printf("send finish\r\n");
		delay_xms(200);
		// RX_BUF_Printf(128);
		if (sync_cnt <= 0)
		{
			RS485_1_Send_Data_3();
			sync_cnt = 600;
		}
		else
		{
			sync_cnt--;
		}
		delay_xms(200);
		// RX_BUF_Printf(128);
		bufcut_Init(RS485_RX_BUF_COPY, RS485_RX_BUF, 0, 128);
		RS485_RX_CNT = 0;
		// HC595_Send_Byte(0x00); // close all
		while ((isAllZeros(RS485_RX_BUF_COPY, 128) == 0))
		{

			if (RS485_RX_BUF_COPY[0] == 0x02 && RS485_RX_BUF_COPY[1] == 0x03) // 判断是否校验成功
			{
				// -21
				// RS485_RX_BUF_COPY[3] = 0xFF;
				// RS485_RX_BUF_COPY[4] = 0xB1;

				T = RS485_RX_BUF_COPY[3];
				T = T << 8 | RS485_RX_BUF_COPY[4];
				// 支持负数温度
				if (T & 0x8000)
				{
					T = ((~T + 1) & 0xFFFF);
				}

				H = RS485_RX_BUF_COPY[5];
				H = H << 8 | RS485_RX_BUF_COPY[6];

				C = RS485_RX_BUF_COPY[19];
				C = C << 8 | RS485_RX_BUF_COPY[20];

				/*GPIO1->报警铃 GPIO3->加热棒 GPIO4—>新风风扇 GPIO5->加湿器 GPIO6->压缩机  */

				if ((T < (tem - 20) || T > (tem + 20) || H < (hum - 100) || H > (hum + 100)) && (tick > 600)) // 温度偏差2℃报警，湿度偏差10报警
				{
					HC595_Send_Byte(gpio_state |= 0x01); // 打开报警铃 GPIO1->PB1		|=0000 0001   0x01
					ALARM = 1;
				}
				else
				{
					HC595_Send_Byte(gpio_state &= 0xFE); // 关闭报警铃			      &=1111 1110   0xFE
					ALARM = 0;
				}
				if (T < 600 && T > -400)
				{
					diff = current_T - T;
					if (diff < 0)
						diff = -diff;
					if (diff < 3 || current_T == 0) // 最近两次温差相差0.3℃,消除传感器感应出错的影响
					{
						pid.set_tem = tem / 10.0;
						pid.now_tem = T / 10.0;
						PID_Calc();
						// send sign to 485
						// out: 0-200

						// num=(((pid.OUT*400)/pid.pwmcycle)-1);//请问这个pid.OUT与pwm占空比的值是如何换算过来的
						// TIM_SetCompare3(TIM3,num);
						// TIM_SetCompare3(TIM3,0.845*num);
						// printf("%d\r\n",num);
						// 0-200对应0-100%，如果pid.out=50,占空比就是25%，//num=50*400/200=100，100/400=25%
						// printf("%d  ,%d   ,%d   ,%d   ,%f   ,%f  ,%f  ,%f  ,%f  ,%f  ,%f  ,%.3f\r\n",T,H,C,num,(pid.set_tem*10),pid.Kp,ki,kd,pid.Pout,pid.Iout,pid.Dout,num/399.0);
						current_T = T;
					}
				}

				if (H > (hum + 50)) // 湿度高于设定值5，打开新风风扇  GPIO4->PD1
				{
					HC595_Send_Byte(gpio_state |= 0x08); // 打开新风风扇		 |=0000 1000         0x08
					HC595_Send_Byte(gpio_state &= 0xEF); // 关闭加湿器		 &=1110 1111		     0xEF
					humidity_flag = 1;					 // 除湿
				}
				if (H < (hum - 50)) // 湿度低于设定值5，打开加湿器   GPIO5->PD0
				{
					HC595_Send_Byte(gpio_state |= 0x10); // 启动加湿器     |=0001 0000           0x10
					HC595_Send_Byte(gpio_state &= 0xF7); // 关闭风扇     &=1111 0111						0xF7
					humidity_flag = 2;
				}

				if (humidity_flag == 1 && H <= hum)
				{
					HC595_Send_Byte(gpio_state &= 0xE7); // 关闭风扇	关闭加湿器		&=1110 0111           0xE7
					humidity_flag = 0;
				}

				if (humidity_flag == 2 && H >= hum)
				{
					HC595_Send_Byte(gpio_state &= 0xE7); // 关闭加湿器	关闭风扇	&=1110 0111            0xE7
					humidity_flag = 0;
				}
				RS485_1_Send_Data_2(); // 上传参数
				delay_xms(200);
				RX_BUF_Transfer(0, 23);
			}

			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB6 && RS485_RX_BUF_COPY[2] == 0x03)
			{
				Analysis(&n, &i, RS485_RX_BUF_COPY);
				Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // 更新对应阶段号的参数
				Write_Init();
				RX_BUF_Transfer(0, 11);
			}
			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB6 && RS485_RX_BUF_COPY[2] == 0x04)
			{
				change_stage_rev1 = RS485_RX_BUF_COPY[3];
				RTC_synchronization_ins(2023, 9, 1, 0, 00, 00);
				now_stage = change_stage_rev1;
				store_stage = change_stage_rev1;
				Write_Init();
				RX_BUF_Transfer(0, 8);
			}
			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB6 && RS485_RX_BUF_COPY[2] == 0x01)
			{
				Batch_synchronization(&n, RS485_RX_BUF_COPY);
				Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // 更新对应阶段号的参数
				RX_BUF_Transfer(0, 20);
			}
			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB1 && RS485_RX_BUF_COPY[2] == 0x11 && RS485_RX_BUF_COPY[15] == 0xFF && RS485_RX_BUF[16] == 0xFF)
			{
				RX_BUF_Transfer(0, 17);
			}
			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB1 && RS485_RX_BUF_COPY[2] == 0x11 && RS485_RX_BUF_COPY[14] == 0xFF && RS485_RX_BUF[15] == 0xFF)
			{
				RX_BUF_Transfer(0, 16);
			}
			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB1 && RS485_RX_BUF_COPY[2] == 0x11 && RS485_RX_BUF_COPY[12] == 0xFF && RS485_RX_BUF[13] == 0xFF)
			{
				RX_BUF_Transfer(0, 14);
			}
			else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB1 && RS485_RX_BUF_COPY[2] == 0x01 && RS485_RX_BUF_COPY[7] == 0xFF && RS485_RX_BUF_COPY[8] == 0xFF)
			{
				RX_BUF_Transfer(0, 9);
			}
			else
			{
				int ZERO_Count = 0;
				// if()与while()的顺序不能变
				if ((RS485_RX_BUF_COPY[0] != 0x00)) // 不为0，处理掉
				{
					RX_BUF_Transfer(0, 1);
				}

				while (RS485_RX_BUF_COPY[ZERO_Count] == 0x00)
				{
					ZERO_Count++;
				}
				RX_BUF_Transfer(0, ZERO_Count);
			}
		}

		if (red <= 1000 && blue <= 1000)
		{

			PWM_SetCompare1((red / 100.0 * 3.5 + 28));	 // J9
			PWM_SetCompare2((blue / 100.0 * 3.5 + 28));	 // J11
			PWM_SetCompare4((white / 100.0 * 3.5 + 28)); // J10
		}
		RS485_RX_CNT = 0;
	}
}

// void Host_Computer_Communication(void)
//{
//	if(RS485_RX_BUF_COPY[0]==0xEE&&RS485_RX_BUF_COPY[1]==0xB6)
//	{
//		if(RS485_RX_BUF_COPY[2]==0x03)//单个同步
//		{
//			Analysis(&n,&i,RS485_RX_BUF_COPY);
//			//printf("B6 03 cmd: batch sync\r\n");
//			Array(&now_stage,&hour,&min,&tem,&hum,&red,&blue,&white);//更新对应阶段号的参数
//			Write_Init();
//			RX_BUF_Transfer(0,11);
//
//		}
//		if(RS485_RX_BUF_COPY[2]==0x04)//阶段切换
//		{
//			change_stage_rev1=RS485_RX_BUF_COPY[3];
//			//printf("B6 04 cmd: change stage\r\n");
//			RTC_synchronization_ins(2023,9,1,0,00,00);
//			now_stage=change_stage_rev1;
//			store_stage=change_stage_rev1;
//			Write_Init();
//			RX_BUF_Transfer(0,8);
//		}
//		if(RS485_RX_BUF_COPY[2]==0x01)//批量同步
//		{
//			Batch_synchronization(&n,RS485_RX_BUF_COPY);
//			//printf("B6 01 cmd: get one %d\r\n", n);
//			Array(&now_stage,&hour,&min,&tem,&hum,&red,&blue,&white);//更新对应阶段号的参数
//			//Write_Init();减少擦写的次数
//			RX_BUF_Transfer(0,20);
//		}
//	}
//	else if(RS485_RX_BUF_COPY[0]==0xEE&&RS485_RX_BUF_COPY[1]==0xB1)
//	{
//		if(RS485_RX_BUF_COPY[2]==0x11&&RS485_RX_BUF_COPY[15]==0xFF&&RS485_RX_BUF[16]==0xFF)//单个同步默认带的数据
//		{
//			//printf("cut overdata of B6 03 \r\n");
//			RX_BUF_Transfer(0,17);
//		}
//		if(RS485_RX_BUF_COPY[2]==0x11&&RS485_RX_BUF_COPY[14]==0xFF&&RS485_RX_BUF[15]==0xFF)//单个同步默认带的数据
//		{
//			//printf("cut overdata of B6 03 \r\n");
//			//RX_BUF_Printf(128);
//			RX_BUF_Transfer(0,16);
//			//RX_BUF_Printf(128);
//		}
//		if(RS485_RX_BUF_COPY[2]==0x11&&RS485_RX_BUF_COPY[12]==0xFF&&RS485_RX_BUF_COPY[13]==0xFF)//阶段切换默认带的数据
//		{
//			//printf("cut overdata of B6 04 \r\n");
//			//RX_BUF_Printf(128);
//			RX_BUF_Transfer(0,14);
//		}
//		if(RS485_RX_BUF_COPY[2]==0x01&&RS485_RX_BUF_COPY[7]==0xFF&&RS485_RX_BUF_COPY[8]==0xFF)//上位机默认带的数据
//		{
//		//printf("cut overdata of Upper computer \r\n");
//		//RX_BUF_Printf(128);
//		RX_BUF_Transfer(0,9);
//		//RX_BUF_Printf(128);
//
//		}
//	}
//	else
//	{
//		//int ZERO_Count=0;
//		//if()与while()的顺序不能变
////		if((RS485_RX_BUF_COPY[0]!=0x00))//不为0，处理掉
////		{
////			RX_BUF_Transfer(0,1);
////			//printf("the number is no zero\r\n");
////		}
////
////		while(RS485_RX_BUF_COPY[ZERO_Count]==0x00)
////		{
////				ZERO_Count++;
////		}
////		RX_BUF_Transfer(0,ZERO_Count);
//
//		RX_BUF_Transfer(0,1);
//		//printf("previous array cut\r\n");

//	}
//}