404 lines
14 KiB
C
404 lines
14 KiB
C
/* app_loop.c - FreeRTOS 任务调度封装
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*
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* 任务划分（裸机主循环轮询项拆分而来）：
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* net_task(优先级3, 栈3KB) - 网络状态机 NET_process：4G/WiFi 建链、收发、OTA 下载
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* app_task(优先级2, 栈2KB) - 业务：继电器命令/反馈状态机、投喂秤、状态上报、OTA 确认
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* sys_task(优先级1, 栈1KB) - 系统：LED、电量、蓝牙调试命令、运行时长打印
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* idle 钩子 - 喂 IWDG（只要调度器正常，看门狗就不会断粮；
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* 有任务死循环占 CPU 时 idle 饿死 → 复位，正是想要的行为）
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*
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* 共享资源互斥：
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* g_net_at_mutex - NET_publish_* 与长 AT 会话（建链/重连）互斥，拿锁失败直接丢弃
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* s_storage_mutex - EEPROM(软件I2C) / W25Q64(软件SPI) 跨任务访问互斥（storage_lock）
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* log 输出 - log.c 内部互斥，多任务日志不交织
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*/
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#include "app_loop.h"
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#include "app_common.h"
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#include "user_cmd.h"
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#include "relay.h"
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#include "network.h"
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#include "led.h"
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#include "adc.h"
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#include "feed_scale.h"
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#include "iic.h"
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#include "24c02.h"
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#include "uart.h"
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#include "log_cn.h"
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#include "ble_at.h"
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#include "hlw8032.h"
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#include "oled.h"
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#include "reset_log.h"
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#include "../W25Q64/w25q64.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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/*==== 存储总线互斥锁（EEPROM/W25Q64 共用一把递归锁）====*/
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static SemaphoreHandle_t s_storage_mutex = NULL;
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void storage_lock_init(void)
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{
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s_storage_mutex = xSemaphoreCreateRecursiveMutex();
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}
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void storage_lock(void)
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{
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if (s_storage_mutex && xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {
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xSemaphoreTakeRecursive(s_storage_mutex, portMAX_DELAY);
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}
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}
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void storage_unlock(void)
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{
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if (s_storage_mutex && xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {
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xSemaphoreGiveRecursive(s_storage_mutex);
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}
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}
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/*==== 业务模块初始化（调度器启动前调用，与裸机版一致）====*/
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void app_init(void)
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{
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log_info("");
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log_info("* * * * * * * * * * * * * * * * * *");
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log_info("* 版本: %s (RTOS) *", FIRMWARE_VERSION_STR);
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log_info("* * * * * * * By Helei * * * *");
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/* EEPROM 中的 MQTT/版本配置 */
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iicInit();
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eepromReadInfo();
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log_load_level(); /* 恢复保存的日志等级 */
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log_info("> 服务器: %s:%d", MqttInfoStr.ServerIP, MqttInfoStr.ServerPort);
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log_info("> 客户端ID: %s", MqttInfoStr.ClientID);
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log_info("> 用户名: %s", MqttInfoStr.Username);
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log_info("> 版本序号: %u", MqttInfoStr.Ver);
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/* W25Q64 外部 Flash，用于 OTA 固件暂存 */
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W25Q64_Init();
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/* 生成本次重启记录（原因+上轮运行时长）并打印最近 10 条 */
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reset_log_boot();
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/* 继电器 GPIO（控制输出 + 反馈输入） */
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relayInit();
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/* 产品模式（带秤/无秤，EEPROM 可切，默认跟编译宏） */
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feed_scale_load_mode();
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/* RS485 喂料秤控制模块 */
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feedScaleInit();
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/* LED（LED2 心跳同时兼任外部看门狗 TPL5010 喂狗） */
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ledInit();
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/* ADC 电量检测 */
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adcInit();
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update_batter();
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/* HLW8032 电能计量（UART5 PD2，只累计电量） */
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hlw8032_init();
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/* OLED 屏幕（128x64 + GB2312 字库 IC） */
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oled_init();
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if (g_feed_scale_on) { oled_locate(1, 1); oled_print("智能水产投料机"); }
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else { oled_locate(1, 1); oled_print("继电器控制终端"); }
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oled_locate(2, 2); oled_print("V" FIRMWARE_VERSION_STR " RTOS");
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log_info("> OLED: 初始化完成");
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/* 网络模块初始化：按 EEPROM 记忆的上次成功方式优先（4G 或 WiFi） */
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NET_init();
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/* 启动各路串口接收 */
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USART2_StartRx(); /* RS485 喂料秤 */
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USART3_StartRx(); /* 4G MQTT 消息，DMA+IDLE */
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USART1_StartRx(); /* 蓝牙调试命令 */
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/* 上电把 HLK-B40 蓝牙名称设置为 MQTT ClientID，多台设备可区分 */
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ble_at_init();
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ble_setup_name();
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}
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/*==== net_task：网络状态机（4G/WiFi 建链、收发、OTA）====*/
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static void net_task(void *arg)
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{
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(void)arg;
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for (;;) {
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NET_process();
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vTaskDelay(5);
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}
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}
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/*==== app_task：业务逻辑（继电器/秤/上报/OTA 确认）====*/
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static void app_task(void *arg)
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{
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(void)arg;
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/* 主循环状态变量 */
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static uint8_t ota_confirmed = 0;
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static uint8_t ota_simulate_fail = 0; /* =1测试：模拟 OTA 确认失败（验证回退） */
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static uint8_t ota_fail_logged = 0;
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static uint32_t ota_confirm_tick = 0;
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static uint32_t mqtt_ready_tick = 0;
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static uint8_t mqtt_ready_recorded = 0;
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static uint8_t mqtt_first_status_reported = 0;
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for (;;) {
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/* 记录 MQTT 首次就绪时刻 */
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if (!mqtt_ready_recorded && g_net_mqtt_ready) {
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mqtt_ready_recorded = 1;
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mqtt_ready_tick = HAL_GetTick();
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}
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/* MQTT 首次就绪后：先按 EEPROM 恢复继电器上次状态（断电记忆），
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* 再上报一次完整状态，让平台刷新为真实状态 */
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if (g_net_mqtt_ready && !mqtt_first_status_reported) {
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mqtt_first_status_reported = 1;
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relayRestoreState();
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relayStatueUpdata();
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log_info("> Main: MQTT Ready 后首次状态上报");
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ota_confirm_tick = HAL_GetTick();
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}
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/* 首次发布成功后延迟 3s 再 OTA 确认 */
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if (!ota_confirmed && g_net_mqtt_ready && g_net_first_publish_ok &&
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(HAL_GetTick() - ota_confirm_tick) > 3000) {
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if (ota_simulate_fail) {
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if (!ota_fail_logged) {
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ota_fail_logged = 1;
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log_info("> OTA 确认跳过（模拟失败，用于回退测试）");
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}
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/* 不置位 ota_confirmed，让 1 分钟健康超时触发复位 */
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} else {
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ota_confirmed = 1;
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NET_ota_confirm();
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log_info("> OTA 已确认（MQTT Ready + 首次发布成功 + 延迟3s）");
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}
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}
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/* MQTT 就绪后 1 分钟仍未首次 MPUB，主动复位 */
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if (!ota_confirmed && mqtt_ready_recorded &&
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(HAL_GetTick() - mqtt_ready_tick) > OTA_HEALTH_TIMEOUT_MS) {
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log_warn("> OTA 健康超时: MQTT Ready 但 1 分钟内无 MPUB，复位");
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reset_log_mark(RSN_OTA_HEALTH);
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W25Q64_OTA_IncTrial(); /* 软件复位 BL 不计次，这里自行消耗一次试错 */
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HAL_Delay(100);
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NVIC_SystemReset();
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}
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/* 继电器命令响应状态机 */
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relayCmdProcess();
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/* 延迟状态上报 */
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if (relay_report_pending && (HAL_GetTick() - relay_report_tick) > 100) {
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relay_report_pending = 0;
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relayStatueUpdata();
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}
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/* 喂料秤轮询与投喂保护 */
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feedScaleProcess();
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vTaskDelay(10);
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}
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}
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/*==== OLED 界面刷新（1s 一次）
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* 已联网：电压电流/功率电能/开关状态/网络+运行时间
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* 未联网：按 g_net_ui_phase 显示 4G/WiFi 联网进度（WiFi 带倒计时）
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* 防烧屏：每 10s 内容整体右移 0/2/4px 轮换 ====*/
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static void oled_home_refresh(uint32_t up_ms);
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/* 调度器启动前的阻塞建链阶段（app_init 里的 4G 初始化），
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* sys_task 还没跑，由 bg_delay 每 500ms 调一次刷新联网进度页 */
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void app_oled_presched_tick(void)
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{
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static uint32_t last = 0;
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if (HAL_GetTick() - last < 500) return;
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last = HAL_GetTick();
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oled_home_refresh(0);
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}
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static void oled_home_refresh(uint32_t up_ms)
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{
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char buf[24];
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/* 防烧屏：每 10s 换一档水平偏移（0/2/4px） */
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uint8_t xoff = (uint8_t)((HAL_GetTick() / 10000u) % 3u) * 2u;
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if (g_net_mqtt_ready) {
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/*---- 已联网界面 ----*/
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/* R0: 网络 + 运行时间（天:时:分） */
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uint32_t mins = up_ms / 60000u;
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const char *nt = (NET_GetActiveBackend() == NET_BACKEND_WIFI) ? "WiFi" : "4G";
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snprintf(buf, sizeof(buf), "%s %02u:%02u:%02u", nt,
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(unsigned)(mins / 1440u),
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(unsigned)((mins % 1440u) / 60u),
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(unsigned)(mins % 60u));
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oled_locate(0, 0); oled_xoff(xoff); oled_print_line(buf);
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/* R1/R2: 电能参数 */
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if (hlw8032_online()) {
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snprintf(buf, sizeof(buf), "%.1fV %.2fA",
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(double)hlw8032_get_voltage_v(), (double)hlw8032_get_current_a());
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oled_locate(1, 0); oled_xoff(xoff); oled_print_line(buf);
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snprintf(buf, sizeof(buf), "%.1fW %.2fkWh",
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(double)hlw8032_get_power_w(), (double)hlw8032_get_energy_kwh());
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oled_locate(2, 0); oled_xoff(xoff); oled_print_line(buf);
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} else {
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oled_locate(1, 0); oled_xoff(xoff); oled_print_line("计量芯片离线");
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oled_locate(2, 0); oled_xoff(xoff); oled_print_line("");
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}
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/* R3: 开关状态 */
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snprintf(buf, sizeof(buf), "开关:%s%s%s%s",
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MqttInfoStr.Relay_State[1] ? "开" : "关",
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MqttInfoStr.Relay_State[2] ? "开" : "关",
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MqttInfoStr.Relay_State[3] ? "开" : "关",
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MqttInfoStr.Relay_State[4] ? "开" : "关");
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oled_locate(3, 0); oled_xoff(xoff); oled_print_line(buf);
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} else {
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/*---- 未联网界面：联网进度 ----*/
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net_ui_phase_t ph = g_net_ui_phase;
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oled_locate(0, 0); oled_xoff(xoff); oled_print_line("断网");
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if (ph == NET_UI_WIFI_FIXED || ph == NET_UI_WIFI_SMART ||
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NET_GetActiveBackend() == NET_BACKEND_WIFI) {
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if (ph == NET_UI_WIFI_FIXED) {
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oled_locate(1, 0); oled_xoff(xoff); oled_print_line("WiFi固定模式");
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oled_locate(2, 0); oled_xoff(xoff); oled_print_line("正在搜索热点");
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} else if (ph == NET_UI_WIFI_SMART) {
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oled_locate(1, 0); oled_xoff(xoff); oled_print_line("智能配网");
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oled_locate(2, 0); oled_xoff(xoff); oled_print_line("请打开APP广播");
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} else {
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oled_locate(1, 0); oled_xoff(xoff); oled_print_line("WiFi模式");
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oled_locate(2, 0); oled_xoff(xoff); oled_print_line("初始化中...");
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}
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snprintf(buf, sizeof(buf), "剩余 %ds", g_net_ui_countdown);
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oled_locate(3, 0); oled_xoff(xoff); oled_print_line(g_net_ui_countdown > 0 ? buf : "");
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} else {
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/* 4G 进度：显示最近完成的阶段 */
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const char *step = "初始化中";
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switch (ph) {
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case NET_UI_4G_RESET: step = "模块复位成功"; break;
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case NET_UI_4G_AT: step = "AT指令成功"; break;
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case NET_UI_4G_SIM: step = "SIM卡检测成功"; break;
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case NET_UI_4G_ATTACH: step = "附着网络成功"; break;
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case NET_UI_4G_MQTT: step = "连接服务器中"; break;
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case NET_UI_4G_NOSIM: step = "无SIM卡!"; break;
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default: break;
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}
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oled_locate(1, 0); oled_xoff(xoff); oled_print_line("正在等待4G联网");
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oled_locate(2, 0); oled_xoff(xoff); oled_print_line(step);
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oled_locate(3, 0); oled_xoff(xoff); oled_print_line("");
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}
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}
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}
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/* 电能日志/上报间隔：想改频率就改这个宏（单位 ms） */
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#define ENERGY_REPORT_INTERVAL_MS 10000u
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/*==== sys_task：系统辅助（LED/电量/蓝牙命令/运行时长）====*/
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static void sys_task(void *arg)
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{
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(void)arg;
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uint32_t batt_tick = HAL_GetTick();
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uint32_t up_last = HAL_GetTick();
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uint32_t up_print = HAL_GetTick();
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uint32_t en_print = HAL_GetTick();
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uint64_t up_ms = 0;
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for (;;) {
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/* 蓝牙调试命令 */
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process_usart1_command();
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/* 联网指示：连接中闪烁，连上常亮（led.c activeEvents 据此控制 PA1） */
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g_net_led_connected = g_net_mqtt_ready ? 1 : 0;
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/* LED 心跳/联网指示 */
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activeEvents();
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/* 电量 1s 节流更新 */
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if (HAL_GetTick() - batt_tick >= 1000) {
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batt_tick = HAL_GetTick();
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update_batter();
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hlw8032_tick(); /* 攒够约 0.1kWh 写一次 EEPROM */
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oled_home_refresh(up_ms); /* OLED 界面 1s 刷新 */
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reset_log_tick((uint32_t)(up_ms / 1000)); /* 共享 RAM 更新运行秒数，热复位不丢 */
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}
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/* 运行时长心跳：联网后每 60s 串口输出一次（天/时/分）；
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* 未联网（配网/重连中）不打印，避免干扰配网倒计时日志。
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* 64 位累计，HAL_GetTick 约 49 天回绕也不受影响 */
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{
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uint32_t now = HAL_GetTick();
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up_ms += (uint32_t)(now - up_last); /* 32位差值天然容忍回绕 */
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up_last = now;
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if (now - up_print >= 60000) {
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up_print = now;
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if (g_net_mqtt_ready) {
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uint32_t mins = (uint32_t)(up_ms / 60000);
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log_info(FMT_UPTIME,
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(unsigned)(mins / 1440),
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(unsigned)((mins % 1440) / 60),
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(unsigned)(mins % 60));
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}
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}
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}
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/* 电能日志+上报：联网且计量芯片在线时每 ENERGY_REPORT_INTERVAL_MS 一条 */
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if (g_net_mqtt_ready && hlw8032_online() &&
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(HAL_GetTick() - en_print) >= ENERGY_REPORT_INTERVAL_MS) {
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en_print = HAL_GetTick();
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float kwh = hlw8032_get_energy_kwh();
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NET_publish_energy(kwh);
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log_info(FMT_ENERGY, (double)kwh,
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(double)hlw8032_get_voltage_v(),
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(double)hlw8032_get_current_a(),
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(double)hlw8032_get_power_w());
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}
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vTaskDelay(20);
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}
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}
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/*==== FreeRTOS 钩子 ====*/
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/* idle 钩子：喂独立看门狗。有任务死循环占 CPU 时 idle 饿死 → IWDG 复位 */
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void vApplicationIdleHook(void)
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{
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IWDG_Feed();
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}
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void vApplicationMallocFailedHook(void)
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{
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log_error("> RTOS: malloc 失败（堆耗尽）");
|
||
taskDISABLE_INTERRUPTS();
|
||
for (;;) { }
|
||
}
|
||
|
||
void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
|
||
{
|
||
(void)xTask;
|
||
log_error("> RTOS: 任务 %s 栈溢出", pcTaskName);
|
||
taskDISABLE_INTERRUPTS();
|
||
for (;;) { }
|
||
}
|
||
|
||
/*==== 任务创建与调度器启动（main 调用，不再返回）====*/
|
||
void app_rtos_start(void)
|
||
{
|
||
/* 互斥锁先于任务创建 */
|
||
log_lock_init();
|
||
storage_lock_init();
|
||
NET_LockInit();
|
||
|
||
xTaskCreate(net_task, "net", 768, NULL, 3, NULL); /* 栈 3KB：AT/OTA 有大的 sprintf 缓冲 */
|
||
xTaskCreate(app_task, "app", 512, NULL, 2, NULL); /* 栈 2KB */
|
||
xTaskCreate(sys_task, "sys", 512, NULL, 1, NULL); /* 栈 2KB：电能日志一行 4 个浮点格式化很吃栈 */
|
||
|
||
vTaskStartScheduler();
|
||
|
||
/* 不会走到这里（堆不足创建失败才会） */
|
||
log_error("> RTOS: 调度器启动失败");
|
||
for (;;) { }
|
||
}
|