254 lines
8.0 KiB
C
254 lines
8.0 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 "../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("* Version: 1.4.0 (RTOS) *");
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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_info("> Server: %s:%d", MqttInfoStr.ServerIP, MqttInfoStr.ServerPort);
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log_info("> Client: %s", MqttInfoStr.ClientID);
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log_info("> User : %s", MqttInfoStr.Username);
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log_info("> Firmware Ver: %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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/* 继电器 GPIO（控制输出 + 反馈输入） */
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relayInit();
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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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/* 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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}
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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 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: first status report after MQTT ready");
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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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ota_confirmed = 1;
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NET_ota_confirm();
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log_info("> OTA confirmed (MQTT ready + first publish ok + 3s delay)");
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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 health timeout: MQTT ready but no MPUB in 1min, reset");
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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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/*==== 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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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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}
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/* 运行时长心跳：每 30s 串口输出一次（天/时/分），
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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 >= 30000) {
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up_print = now;
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uint32_t mins = (uint32_t)(up_ms / 60000);
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log_info("> Uptime: %uday %02uh:%02um\r\n",
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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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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 failed (heap exhausted)");
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taskDISABLE_INTERRUPTS();
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for (;;) { }
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}
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void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
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{
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(void)xTask;
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log_error("> RTOS: stack overflow in task %s", pcTaskName);
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taskDISABLE_INTERRUPTS();
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for (;;) { }
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}
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/*==== 任务创建与调度器启动（main 调用，不再返回）====*/
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void app_rtos_start(void)
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{
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/* 互斥锁先于任务创建 */
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log_lock_init();
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storage_lock_init();
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NET_LockInit();
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xTaskCreate(net_task, "net", 768, NULL, 3, NULL); /* 栈 3KB：AT/OTA 有大的 sprintf 缓冲 */
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xTaskCreate(app_task, "app", 512, NULL, 2, NULL); /* 栈 2KB */
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xTaskCreate(sys_task, "sys", 256, NULL, 1, NULL); /* 栈 1KB */
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vTaskStartScheduler();
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/* 不会走到这里（堆不足创建失败才会） */
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log_error("> RTOS: scheduler failed to start");
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for (;;) { }
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}
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