MCU_SWM221/Middleware/FreeRTOS/APP/main.c

#include "SWM221.h"

#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

QueueHandle_t queueADC;

void TaskADC(void *arg);
void TaskPWM(void *arg);
void SerialInit(void);

int main(void)
{
 	SystemInit();
	
	SerialInit();
	
	xTaskCreate(TaskADC, (const char *)"ADC", 128, NULL, 2, NULL);
	xTaskCreate(TaskPWM, (const char *)"PWM", 128, NULL, 3, NULL);
	
	queueADC = xQueueCreate(16, 2);
	
	vTaskStartScheduler();
}

/****************************************************************************************************************************************** 
* 函数名称:	TaskADC()
* 功能说明: 启动ADC采集任务
* 输    入: void *arg
* 输    出: 无
* 注意事项: 无
******************************************************************************************************************************************/
void TaskADC(void *arg)
{
	ADC_InitStructure ADC_initStruct;
	ADC_SEQ_InitStructure ADC_SEQ_initStruct;
	
	PORT_Init(PORTA, PIN14, PORTA_PIN14_ADC0_CH0, 0);		//PA.14 => ADC0.CH0
	PORT_Init(PORTA, PIN11, PORTA_PIN11_ADC0_CH1, 0);		//PA.11 => ADC0.CH1，注意：此通道只在 ADC 参考源为 ADC_REF_VDD 时可用
	PORT_Init(PORTA, PIN8,  PORTA_PIN8_ADC0_CH2,  0);		//PA.8  => ADC0.CH2
	PORT_Init(PORTB, PIN6,  PORTB_PIN6_ADC0_CH5,  0);		//PB.6  => ADC0.CH5
	PORT_Init(PORTB, PIN5,  PORTB_PIN5_ADC0_CH6,  0);		//PB.5  => ADC0.CH6
	PORT_Init(PORTB, PIN4,  PORTB_PIN4_ADC0_CH7,  0);		//PB.4  => ADC0.CH7
	PORT_Init(PORTB, PIN2,  PORTB_PIN2_ADC0_CH8,  0);		//PB.2  => ADC0.CH8
	
	ADC_initStruct.clkdiv = 4;
	ADC_initStruct.refsrc = ADC_REF_VDD;
	ADC_initStruct.samplAvg = ADC_AVG_SAMPLE1;
	ADC_Init(ADC0, &ADC_initStruct);
	
	ADC_SEQ_initStruct.trig_src = ADC_TRIGGER_SW;
	ADC_SEQ_initStruct.samp_tim = 6;
	ADC_SEQ_initStruct.conv_cnt = 1;
	ADC_SEQ_initStruct.EOCIntEn = 1;
	ADC_SEQ_initStruct.channels = (uint8_t []){ ADC_CH0, 0xF };
	ADC_SEQ_Init(ADC0, ADC_SEQ0, &ADC_SEQ_initStruct);
		
	NVIC_SetPriority(ADC_IRQn, 2);
	
	ADC_Open(ADC0);
	
	GPIO_Init(GPIOA, PIN5, 1, 0, 0, 0);					//调试指示信号
	
	while(1)
	{
		ADC_Start(ADC_SEQ0, 0);
		
		vTaskDelay(200);
	}
}


void ADC_Handler(void)
{
	uint16_t val;
	
	if(ADC_INTStat(ADC0, ADC_SEQ0, ADC_IT_EOC))
	{
		ADC_INTClr(ADC0, ADC_SEQ0, ADC_IT_EOC);
		
		val = ADC_Read(ADC0, ADC_CH0);
		
		xQueueSendFromISR(queueADC, &val, 0);
		
		GPIO_InvBit(GPIOA, PIN5);
	}
}


/****************************************************************************************************************************************** 
* 函数名称:	TaskPWM()
* 功能说明: 等待ADC转换结果，根据ADC转换结果设置PWM占空比
* 输    入: void *arg
* 输    出: 无
* 注意事项: 无
******************************************************************************************************************************************/
void TaskPWM(void *arg)
{
	uint16_t duty;
	PWM_InitStructure  PWM_initStruct;
	
	PORT_Init(PORTA, PIN3, PORTA_PIN3_PWM0A,  0);
	PORT_Init(PORTA, PIN2, PORTA_PIN2_PWM0AN, 0);
	PORT_Init(PORTA, PIN6, PORTA_PIN6_PWM0B,  0);
	PORT_Init(PORTA, PIN7, PORTA_PIN7_PWM0BN, 0);
	
	PWM_initStruct.Mode = PWM_EDGE_ALIGNED;
	PWM_initStruct.Clkdiv = 6;					//F_PWM = 30M/6 = 5M	
	PWM_initStruct.Period = 10000;				//5M/10000 = 500Hz，中心对称模式下频率降低到250Hz
	PWM_initStruct.HdutyA =  2500;				//2500/10000 = 25%
	PWM_initStruct.DeadzoneA = 50;				//50/5M = 10us
	PWM_initStruct.IdleLevelA = 0;
	PWM_initStruct.IdleLevelAN= 0;
	PWM_initStruct.OutputInvA = 0;
	PWM_initStruct.OutputInvAN= 0;
	PWM_initStruct.HdutyB =  7500;				//5000/10000 = 50%
	PWM_initStruct.DeadzoneB = 50;				//50/5M = 10us
	PWM_initStruct.IdleLevelB = 0;
	PWM_initStruct.IdleLevelBN= 0;
	PWM_initStruct.OutputInvB = 0;
	PWM_initStruct.OutputInvBN= 0;
	PWM_initStruct.UpOvfIE    = 0;
	PWM_initStruct.DownOvfIE  = 0;
	PWM_initStruct.UpCmpAIE   = 0;
	PWM_initStruct.DownCmpAIE = 0;
	PWM_initStruct.UpCmpBIE   = 0;
	PWM_initStruct.DownCmpBIE = 0;
	PWM_Init(PWM0, &PWM_initStruct);
	PWM_Init(PWM1, &PWM_initStruct);
	
	PWM_Start(PWM0_MSK);
	
	while(1)
	{
		if(xQueueReceive(queueADC, &duty, 10) == pdTRUE)
		{
			printf("%d,", duty);
			if(duty <  100) duty =  100;
			if(duty > 4000) duty = 4000;
			
			PWM_SetHDuty(PWM0, PWM_CH_A, 10000 * duty / 4095);
			PWM_SetHDuty(PWM0, PWM_CH_B, 10000 - PWM_GetHDuty(PWM0, PWM_CH_A));
		}
	}
}


void SerialInit(void)
{
	UART_InitStructure UART_initStruct;
	
	PORT_Init(PORTA, PIN0, PORTA_PIN0_UART0_RX, 1);	//GPIOA.0配置为UART0 RXD
	PORT_Init(PORTA, PIN1, PORTA_PIN1_UART0_TX, 0);	//GPIOA.1配置为UART0 TXD
 	
 	UART_initStruct.Baudrate = 57600;
 	UART_initStruct.DataBits = UART_DATA_8BIT;
	UART_initStruct.Parity = UART_PARITY_NONE;
	UART_initStruct.StopBits = UART_STOP_1BIT;
	UART_initStruct.RXThreshold = 3;
	UART_initStruct.RXThresholdIEn = 0;
	UART_initStruct.TXThreshold = 3;
	UART_initStruct.TXThresholdIEn = 0;
	UART_initStruct.TimeoutTime = 10;
	UART_initStruct.TimeoutIEn = 0;
 	UART_Init(UART0, &UART_initStruct);
	UART_Open(UART0);
}

/****************************************************************************************************************************************** 
* 函数名称: fputc()
* 功能说明: printf()使用此函数完成实际的串口打印动作
* 输    入: int ch		要打印的字符
*			FILE *f		文件句柄
* 输    出: 无
* 注意事项: 无
******************************************************************************************************************************************/
int fputc(int ch, FILE *f)
{
 	while(UART_IsTXFIFOFull(UART0));
	
	UART_WriteByte(UART0, ch);
 	
	return ch;
}