120 lines
3.5 KiB
C
120 lines
3.5 KiB
C
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/* add user code begin Header */
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/**
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******************************************************************************
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* File Name : freertos_app.h
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* Description : Code for freertos applications
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*/
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/* add user code end Header */
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#ifndef FREERTOS_APP_H
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#define FREERTOS_APP_H
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/* Includes ------------------------------------------------------------------*/
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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 "queue.h"
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#include "timers.h"
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#include "event_groups.h"
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#include "wk_system.h"
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#define MODBUS_ID_BRAKE 0 //刹车
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#define MODBUS_ID_STEERING 1 //转向
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#define MODBUS_ID_THROTTLE1 2 //油门1
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#define MODBUS_ID_THROTTLE2 3 //油门2
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#define MODBUS_ID_LIGHT 4 //信号灯
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#define MODBUS_ID_GEAR 5 //档位
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#define MODBUS_ID_SPEED1 6 //速度
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#define MODBUS_ID_SPEED2 7 //速度
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#define MODBUS_ID_TEMP1 8 //温度1
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#define MODBUS_ID_TEMP2 9 //温度2
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#define MODBUS_ID_VOLTAGE 10 //电压
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#define MODBUS_ID_CURRENT 11 //电流
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#define MODBUS_ID_BAT 12 //电量
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#define MODBUS_ID_MILEAGE 13 //里程
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#define MODBUS_ID_THROTTLE11 14 //自制CAN 油门1
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#define MODBUS_ID_THROTTLE21 15 //自制CAN 油门2
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#define MODBUS_ID_BRAKE_PARAMER 16 //油门参数
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typedef enum
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{
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LOOP_READ_IDLE, //回读状态：modbus 正常读取，can正常接收参数
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PARAM_SET, //参数设置状态：
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PARAM_ACK, //从机参数写入确认状态：
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PARAM_WRITE_ERR, //参数写入不成功
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SLAVE_PARAM_SET_CALLBACK//从机刹车参数变更回传给主机
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}brake_param_e;
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/* private includes -------------------------------------------------------------*/
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/* add user code begin private includes */
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/* add user code end private includes */
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/* exported types -------------------------------------------------------------*/
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/* add user code begin exported types */
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/* add user code end exported types */
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/* exported constants --------------------------------------------------------*/
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/* add user code begin exported constants */
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/* add user code end exported constants */
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/* exported macro ------------------------------------------------------------*/
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/* add user code begin exported macro */
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/* add user code end exported macro */
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/* task handler */
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extern TaskHandle_t my_task01_handle;
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/* declaration for task function */
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void run_task_func(void *pvParameters);
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void tmr_task_func(void *pvParameters);
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void rs485_task_func(void *pvParameters);
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void io_task_func(void *pvParameters);
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void modbustcp_slaver_task_func(void *pvParameters);
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void modbusrtu_master_task_func(void *pvParameters);
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void can1_master_task_func(void *pvParameters);
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void can2_master_task_func(void *pvParameters);
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void libmodbus_master_task_func(void *pvParameters);
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/* queue handler */
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extern QueueHandle_t my_queue01_handle;
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/* software timer handler */
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extern TimerHandle_t my_timer01_handle;
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/* software timer callback function */
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void timercallback01(void *argument);
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/* binary semaphore handler */
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extern SemaphoreHandle_t my_binary_sem01_handle;
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/* mutex handler */
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extern SemaphoreHandle_t my_mutex01_handle;
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/* event handler */
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extern EventGroupHandle_t my_event01_handle;
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/* add user code begin 0 */
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/* add user code end 0 */
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void freertos_task_create(void);
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void freertos_queue_create(void);
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void freertos_timer_create(void);
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void freertos_semaphore_create(void);
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void freertos_event_create(void);
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void wk_freertos_init(void);
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/* add user code begin 1 */
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/* add user code end 1 */
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#endif /* FREERTOS_APP_H */
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