/* add user code begin Header */
/**
  ******************************************************************************
  * File Name          : freertos_app.h
  * Description        : Code for freertos applications
  */
/* add user code end Header */
  
#ifndef FREERTOS_APP_H
#define FREERTOS_APP_H

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "queue.h"
#include "timers.h"
#include "event_groups.h"
#include "wk_system.h"



#define MODBUS_ID_BRAKE     0   //刹车
#define MODBUS_ID_STEERING  1   //转向
#define MODBUS_ID_THROTTLE1 2   //油门1
#define MODBUS_ID_THROTTLE2 3   //油门2
#define MODBUS_ID_LIGHT     4   //信号灯
#define MODBUS_ID_GEAR      5   //档位
#define MODBUS_ID_SPEED1     6   //速度
#define MODBUS_ID_SPEED2     7   //速度


#define MODBUS_ID_TEMP1     8   //温度1
#define MODBUS_ID_TEMP2     9   //温度2
#define MODBUS_ID_VOLTAGE   10   //电压
#define MODBUS_ID_CURRENT   11  //电流
#define MODBUS_ID_BAT       12  //电量
#define MODBUS_ID_MILEAGE       13  //里程

#define MODBUS_ID_THROTTLE11 14   //自制CAN 油门1
#define MODBUS_ID_THROTTLE21 15   //自制CAN 油门2

#define MODBUS_ID_BRAKE_PARAMER       16  //油门参数

typedef enum
{
    LOOP_READ_IDLE, //回读状态：modbus 正常读取，can正常接收参数
    PARAM_SET,      //参数设置状态：
    PARAM_ACK,      //从机参数写入确认状态：
    PARAM_WRITE_ERR, //参数写入不成功
    SLAVE_PARAM_SET_CALLBACK//从机刹车参数变更回传给主机
}brake_param_e;

/* private includes -------------------------------------------------------------*/
/* add user code begin private includes */

/* add user code end private includes */

/* exported types -------------------------------------------------------------*/
/* add user code begin exported types */

/* add user code end exported types */

/* exported constants --------------------------------------------------------*/
/* add user code begin exported constants */

/* add user code end exported constants */

/* exported macro ------------------------------------------------------------*/
/* add user code begin exported macro */

/* add user code end exported macro */

/* task handler */
extern TaskHandle_t my_task01_handle;
/* declaration for task function */
void run_task_func(void *pvParameters);
void tmr_task_func(void *pvParameters);
void rs485_task_func(void *pvParameters);
void io_task_func(void *pvParameters);
void modbustcp_slaver_task_func(void *pvParameters);
void modbusrtu_master_task_func(void *pvParameters);

void can1_master_task_func(void *pvParameters);
void can2_master_task_func(void *pvParameters);
void libmodbus_master_task_func(void *pvParameters);
/* queue handler */
extern QueueHandle_t my_queue01_handle;

/* software timer handler */
extern TimerHandle_t my_timer01_handle;
/* software timer callback function */
void timercallback01(void *argument);

/* binary semaphore handler */
extern SemaphoreHandle_t my_binary_sem01_handle;

/* mutex handler */
extern SemaphoreHandle_t my_mutex01_handle;

/* event handler */
extern EventGroupHandle_t my_event01_handle;

/* add user code begin 0 */

/* add user code end 0 */

void freertos_task_create(void);
void freertos_queue_create(void);
void freertos_timer_create(void);
void freertos_semaphore_create(void);
void freertos_event_create(void);
void wk_freertos_init(void);

/* add user code begin 1 */

/* add user code end 1 */

#endif /* FREERTOS_APP_H */