249 lines
7.1 KiB
C
249 lines
7.1 KiB
C
/**
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* @auther whlphlg
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* @brief sys.c用来定义有关控制系统，运行任务的函数
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* uwTick 变量可以通过 HAL_GetTick() 函数来获取，这里为了优化，直接用uwTick(只读)，不要随意改变uwTick的值！！！
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* uwTick 每隔1ms自增一次，只要#include "main.h"就能直接用uwTick，是hal库自带的！！！不是我声明和定义的！！！
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* @changedate 2020.09.13
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*/
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//用户include
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#include "at32a423.h"
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#include "systick.h"
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//下面的是作者写的，必须include！！！
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#include "sys.h"
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#include "task.h"
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typedef struct
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{
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uint8_t enable_flag; // 任务是否被开启，任务不被开启无法运行 (非0为任务已经开启)
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uint16_t interval_time; // 任务运行间隔时间 (单位ms)
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uint32_t last_time; // 任务上一次运行时间 (单位ms)
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uint8_t ready_flag; // 任务是否准备好运行 (非0为任务已经开启)
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uint32_t out_time; // 任务暂时停止运行多少时间 (单位ms)
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int32_t usage_tick; // 任务函数从开始到结束时，滴答定时器内VAL(CNT)自减次数 (详见sys.c里面的 System_RunTask())
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float usage_time; // 任务上一次运行时所需的时间，单位为us！单位为us！单位为us！ (计算方法见sys.c里面的 System_RunTask())
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float usage_percent; // 任务在1秒内占用cpu的百分比 (计算方法见sys.c里面的 System_RunTask())
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void (*f)(void); // 指向该任务需要运行的函数 (不知道怎么指见sys.c里面的 System_Init())
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}TaskStruct;
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TaskStruct task_structs[TASK_NUMBER]; //声明任务的结构体数组
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/**
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* @auther whlphlg
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* @brief 系统初始化，给每一个任务结构体里面的enable_flag,interval_time,task_priority,f赋初值，其他的元素单片机会默认是0
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* @changedate 2020.09.13
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*/
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void System_TaskInit()
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{
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task_structs[TASK1].enable_flag=1;
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task_structs[TASK1].interval_time=500;
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task_structs[TASK1].f=task1;
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task_structs[TASK2].enable_flag=1;
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task_structs[TASK2].interval_time=10000;
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task_structs[TASK2].f=task2;
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task_structs[TASK3].enable_flag=1;
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task_structs[TASK3].interval_time=500;
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task_structs[TASK3].f=task3;
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task_structs[TASK4].enable_flag=1;
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task_structs[TASK4].interval_time=5;
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task_structs[TASK4].f=task4;
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task_structs[TASK5].enable_flag=1;
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task_structs[TASK5].interval_time=5;
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task_structs[TASK5].f=task5;
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}
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/**
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* @auther whlphlg
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* @brief 运行任务并统计单个任务运行的 usage_time,usage_percent,和此函数运行一次的total_usage_time
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* @changedate 2020.09.13
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*/
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int32_t total_usage_tick; // 这个是此函数运行一次的总tick，这里声明成全局变量，方便debug
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float total_usage_time; // 这个是此函数运行一次的总时间(单位us)，这里声明成全局变量，方便debug
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int32_t total_usage_tick_max_in1s; // total_usage_tick 在某1秒内的最大值
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float total_usage_time_max_in1s; // total_usage_time 在某1秒内的最大值
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void System_TaskRun()
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{
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int64_t total_begin_tick = SysTick->VAL - get_system_tick()*(SysTick->LOAD+1); // 思路同计算 begin_tick
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for(uint8_t i=0;i<TASK_NUMBER;i++)
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{
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if(task_structs[i].ready_flag)
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{
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task_structs[i].ready_flag--;
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// 计算 begin_tick 的公式 = ↓ >0的整数 ↓ - ↓------ <0的整数-------↓ (begin_tick < 0)
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int64_t begin_tick = SysTick->VAL - get_system_tick()*(SysTick->LOAD+1);
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task_structs[i].f(); // 运行任务结构体对应的任务函数
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// 计算 usage_tick 的公式 = 开始的tick - ↓---------------现在的tick--------------↓(两个tick都是负整数，且 开始的tick > 现在的tick)
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task_structs[i].usage_tick = begin_tick - (SysTick->VAL - get_system_tick()*(SysTick->LOAD+1));
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// 计算 usage_time 的公式 = ↓-----------usage_tick----------↓ / ↓1ms内tick总数--↓ * 1000(单位换算，1ms换算成1000us)
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task_structs[i].usage_time = (float)task_structs[i].usage_tick / (SysTick->LOAD+1) * 1000.f;
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// 计算 usage_percent 的公式 = ↓-----任务每秒运行次数(单位Hz)-----↓ * ↓---任务单次运行所需时间(单位s)----↓ * 100(最后要变成%,所以*100)
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task_structs[i].usage_percent = 1000.f/task_structs[i].interval_time * task_structs[i].usage_time/1000000.f * 100;
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}
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}
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total_usage_tick = total_begin_tick - (SysTick->VAL - get_system_tick()*(SysTick->LOAD+1)); // 思路同计算 usage_tick
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total_usage_time = (float)total_usage_tick / (SysTick->LOAD+1) * 1000.f; // 思路同计算 usage_time
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if(total_usage_tick_max_in1s < total_usage_tick)
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{
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total_usage_tick_max_in1s = total_usage_tick;
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}
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if(total_usage_time_max_in1s < total_usage_time)
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{
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total_usage_time_max_in1s = total_usage_time;
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}
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}
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/**
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* @auther whlphlg
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* @brief 系统更新，每隔1ms从滴答定时器中断进入一次 (在stm32f4xx_it.c的 System_Update()里被调用)
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* 通过uwTick,enable_flag,stop_time的值来确定ready_flag并更新last_time,stop_time
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* 每隔1000ms重置一次 total_usage_tick_max_in1s 和 total_usage_time_max_in1s
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* @changedate 2020.09.15
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*/
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void System_TaskUpdate()
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{
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for(uint8_t i=0;i<TASK_NUMBER;i++)
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{
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if(task_structs[i].out_time != 0)
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{
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if(task_structs[i].out_time == 1)
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{
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Task_InCallback(i); // 有任务从暂停中恢复，恢复前触发对应的回调函数
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}
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task_structs[i].out_time--; //更新 out_time
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}
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// 只有下面3个都达到条件才确定 ready_flag 并更新 last_time
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if(task_structs[i].enable_flag &&
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task_structs[i].out_time == 0 &&
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task_structs[i].interval_time<=(get_system_tick()-task_structs[i].last_time))
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{
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task_structs[i].ready_flag++;
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task_structs[i].last_time=get_system_tick();
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}
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}
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if(get_system_tick()%1000 == 0) // 每隔1000ms重置一次 total_usage_tick_max_in1s 和 total_usage_time_max_in1s
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{
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total_usage_tick_max_in1s = total_usage_tick;
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total_usage_time_max_in1s = total_usage_time;
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}
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}
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/**
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* @auther whlphlg
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* @brief 让指定任务暂停一段时间，并触发对应的回调函数
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* @changedate 2020.09.13
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*/
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void System_TaskOut(uint8_t task_number,uint32_t stop_time)
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{
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task_structs[task_number].out_time = stop_time;
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Task_OutCallback(task_number);
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}
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/**
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* @auther whlphlg
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* @brief 让指定任务关闭，并触发对应的回调函数
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* @changedate 2020.09.13
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*/
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void System_TaskDisable(uint8_t task_number)
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{
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task_structs[task_number].enable_flag = 0;
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Task_DisableCallback(task_number);
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}
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/**
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* @auther whlphlg
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* @brief 让指定任务开启，并触发对应的回调函数
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* @changedate 2020.09.13
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*/
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void System_TaskEnable(uint8_t task_number)
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{
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task_structs[task_number].enable_flag = 1;
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Task_EnableCallback(task_number);
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}
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/**
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* @auther whlphlg
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* @brief 系统强制停机
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* @changedate 2020.09.14
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*/
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void System_AllTaskDisable()
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{
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while(1)
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{
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for(uint8_t i=0;i<TASK_NUMBER;i++)
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{
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task_structs[i].enable_flag = 0;
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}
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}
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}
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/**
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* @auther whlphlg
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* @brief 软件看门狗初始化
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* @changedate 2021.04.15
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*/
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void System_SoftWatchDogInit(SoftWatchDogStruct *dog,uint32_t time_load,uint8_t default_state)
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{
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dog->state = default_state;
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dog->time_load = time_load;
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dog->time_cnt = dog->time_load;
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}
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/**
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* @auther whlphlg
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* @brief 软件看门狗喂狗
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* @changedate 2021.04.15
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*/
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void System_SoftWatchDogFeed(SoftWatchDogStruct *dog)
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{
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dog->state = 1;
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dog->time_cnt = dog->time_load;
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}
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/**
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* @auther whlphlg
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* @brief 更新软件看门狗状态
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* @changedate 2021.04.15
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*/
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void System_SoftWatchDogUpdate(SoftWatchDogStruct *dog)
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{
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if(dog->time_cnt > 0)
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{
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dog->time_cnt--;
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dog->state = 1;
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}
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else
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{
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dog->time_cnt = 0;
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dog->state = 0;
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}
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}
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/**
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* @auther whlphlg
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* @brief 获取软件看门狗状态
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* @changedate 2021.04.15
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*/
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uint8_t System_GetSoftWatchDogState(SoftWatchDogStruct *dog)
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{
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return dog->state;
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}
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