Optimization of RP2040 C/C++SDK combined with FreeRTOS

SOFTWARE-FreeRTOS/CMakeLists.txt

@@ -39,6 +39,7 @@ target_Sources(main PRIVATE
         ${CMAKE_CURRENT_LIST_DIR}/Source/main.cpp
         ${CMAKE_CURRENT_LIST_DIR}/Source/DS18B20.cpp
         ${CMAKE_CURRENT_LIST_DIR}/Source/ZC13.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/Source/ZE07CO.cpp
         ${CMAKE_CURRENT_LIST_DIR}/Source/MHZ14B.cpp
     )
 

SOFTWARE-FreeRTOS/Source/DS18B20.cpp

@@ -3,9 +3,103 @@
 
 QueueHandle_t xQueue;
 
+
+#define MAX_TIMINGS 85
+
+void ds18b20_init() {
+    gpio_init(DS18B20_PIN);
+    gpio_set_dir(DS18B20_PIN, GPIO_OUT);
+    gpio_put(DS18B20_PIN, 1); // 上拉电阻
+}
+
+void ds18b20_write_bit(uint8_t bit) {
+    gpio_set_dir(DS18B20_PIN, GPIO_OUT);
+    gpio_put(DS18B20_PIN, 0);
+    sleep_us(bit ? 10 : 60);
+    gpio_put(DS18B20_PIN, 1);
+    sleep_us(bit ? 55 : 5);
+}
+
+uint8_t ds18b20_read_bit() {
+    uint8_t bit = 0;
+    gpio_set_dir(DS18B20_PIN, GPIO_OUT);
+    gpio_put(DS18B20_PIN, 0);
+    sleep_us(3);
+    gpio_set_dir(DS18B20_PIN, GPIO_IN);
+    sleep_us(10);
+    bit = gpio_get(DS18B20_PIN);
+    sleep_us(50);
+    return bit;
+}
+
+void ds18b20_write_byte(uint8_t byte) {
+    for (int i = 0; i < 8; i++) {
+        ds18b20_write_bit(byte & 0x01);
+        byte >>= 1;
+    }
+}
+
+uint8_t ds18b20_read_byte() {
+    uint8_t byte = 0;
+    for (int i = 0; i < 8; i++) {
+        byte >>= 1;
+        if (ds18b20_read_bit()) {
+            byte |= 0x80;
+        }
+    }
+    return byte;
+}
+
+int ds18b20_reset() {
+    gpio_set_dir(DS18B20_PIN, GPIO_OUT);
+    gpio_put(DS18B20_PIN, 0);
+    sleep_us(480);
+    gpio_put(DS18B20_PIN, 1);
+    gpio_set_dir(DS18B20_PIN, GPIO_IN);
+    sleep_us(70);
+    int presence = !gpio_get(DS18B20_PIN);
+    sleep_us(410);
+    return presence;
+}
+
+float ds18b20_read_temperature() {
+    if (!ds18b20_reset()) {
+        printf("DS18B20 not found\n");
+        return -1;
+    }
+
+    ds18b20_write_byte(0xCC); // 跳过ROM指令
+    ds18b20_write_byte(0x44); // 启动温度转换
+
+    sleep_ms(750); // 温度转换时间，具体时间请参考传感器数据手册
+
+    if (!ds18b20_reset()) {
+        printf("DS18B20 not found\n");
+        return -1;
+    }
+
+    ds18b20_write_byte(0xCC); // 跳过ROM指令
+    ds18b20_write_byte(0xBE); // 读取暂存器
+
+    uint8_t lsb = ds18b20_read_byte();
+    uint8_t msb = ds18b20_read_byte();
+    int16_t temp = (msb << 8) | lsb;
+
+    // 检查传感器数据有效性
+    if (temp == 0xFFFF) {
+        printf("Invalid temperature data\n");
+        return -1;
+    }
+
+    return temp / 16.0; // 转换为摄氏度
+}
+
+
 // 温度传感器
 void DS18B20(void *pvParameters)
 {
+    
+    // One_wire 第三方库方法
     float TEMPERATURE = -1;
 
     One_wire one_wire(DS18B20_PIN);
@@ -20,15 +114,31 @@ void DS18B20(void *pvParameters)
         one_wire.convert_temperature(address, true, false);
         TEMPERATURE = one_wire.temperature(address);
 
-        printf("Device Address: %02x%02x%02x%02x%02x%02x%02x%02x Temperature: %3.1f°C\n", address.rom[0], address.rom[1], address.rom[2], address.rom[3], address.rom[4], address.rom[5], address.rom[6], address.rom[7], one_wire.temperature(address));
+        printf("Device Address: %02x%02x%02x%02x%02x%02x%02x%02x DS18B20 Temperature: %3.1f°C\n", address.rom[0], address.rom[1], address.rom[2], address.rom[3], address.rom[4], address.rom[5], address.rom[6], address.rom[7], one_wire.temperature(address));
 
         // 发送数据到队列
         xQueueSend(xQueue, &TEMPERATURE, portMAX_DELAY);
         vTaskDelay(pdMS_TO_TICKS(1000));
 
         //_printTaskStackHighWaterMark("DS18B20");
-        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+        watchdog_update();                  // 喂狗
+        vTaskDelay(pdMS_TO_TICKS(3000));    // 非阻塞延时
     }
     
+    /*
+    ds18b20_init();
+
+    while (1) {
+        float temperature = ds18b20_read_temperature();
+        if (temperature != -1) {
+            printf("DS18B20 Temperature: %.2f°C\n", temperature);
+        } else {
+            printf("Failed to read temperature\n");
+        }
+        
+        watchdog_update();                  // 喂狗
+        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+    }
+    */
     return;
 }

SOFTWARE-FreeRTOS/Source/DS18B20.hpp

@@ -11,6 +11,7 @@
 #include <stdbool.h>
 #include "pico/stdlib.h"
 #include "hardware/gpio.h"
+#include "hardware/watchdog.h"
 #include "../../SOFTWARE/Lib/pico-onewire/api/one_wire.h"
 
 #define DS18B20_PIN 15          // DS18B20 引脚

SOFTWARE-FreeRTOS/Source/MHZ14B.cpp

@@ -57,14 +57,17 @@ void CO2(void *pvParameters)
     uint16_t CO2_DATA = -1;
     int MH_Z14B_DATA_IS_OK = 0;
     MH_Z14B_INIT();
-    _printTaskStackHighWaterMark("MH_Z14B");
+    _printTaskStackHighWaterMark("CO2");
 
     while (1) {
         CO2_DATA = MH_Z14B(&MH_Z14B_DATA_IS_OK);
         if (CO2_DATA != -1 && MH_Z14B_DATA_IS_OK == 1) {
             printf("CO2 Concentration: %d ppm\n", CO2_DATA);
         }
-        //_printTaskStackHighWaterMark("MH_Z14B");
+        //_printTaskStackHighWaterMark("CO2");
+        watchdog_update();                  // 喂狗
+        
         vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+        printf("\n");
     }
 }

SOFTWARE-FreeRTOS/Source/MHZ14B.hpp

@@ -17,6 +17,7 @@
 #include "hardware/pwm.h"
 #include "hardware/adc.h"
 
+
 #define UART1 uart1
 #define BAUD_RATE 9600
 #define DATA_BITS 8

SOFTWARE-FreeRTOS/Source/ZC13.cpp

@@ -110,6 +110,7 @@ void CH4(void *pvParameters)
 
         ZC13("ZC05");
         //_printTaskStackHighWaterMark("ZC13");
-        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+        watchdog_update();                  // 喂狗
+        vTaskDelay(pdMS_TO_TICKS(3000));    // 非阻塞延时
     }
 }

SOFTWARE-FreeRTOS/Source/ZC13.hpp

@@ -10,6 +10,7 @@
 #include <stdio.h>
 #include <strings.h>
 #include "pico/stdlib.h"
+#include "hardware/watchdog.h"
 #include "hardware/pio.h"
 #include "uart_tx.pio.h"
 #include "uart_rx.pio.h"

SOFTWARE-FreeRTOS/Source/ZE07CO.cpp

@@ -0,0 +1,81 @@
+#include "ZE07CO.hpp"
+#include "common.hpp"
+
+void ZE07CO_INIT()
+{
+    // 初始化UART
+    uart_init(UART0, BAUD_RATE);
+    gpio_set_function(UART0_TX_PIN, GPIO_FUNC_UART);
+    gpio_set_function(UART0_RX_PIN, GPIO_FUNC_UART);
+    uart_set_hw_flow(UART0, false, false);
+    uart_set_format(UART0, DATA_BITS, STOP_BITS, PARITY);
+}
+
+// CO
+static uint16_t ZE07CO(int ANSWER, int *ZE07_CO_DATA_IS_OK)
+{
+
+    if (ANSWER == 1) {
+        // 应答模式
+        static uint8_t _ANSWER[9] = { 0xFF, 0x01, 0x78, 0x41, 0x00, 0x00, 0x00, 0x00, 0x46 };
+        uart_write_blocking(UART0, _ANSWER, 9);
+        sleep_ms(100);
+    }
+    
+    if (ANSWER == 2) {
+        // 主动上传模式
+        static uint8_t _ANSWER[9] = { 0xFF, 0x01, 0x78, 0x40, 0x00, 0x00, 0x00, 0x00, 0x47 };
+        uart_write_blocking(UART0, _ANSWER, 9);
+        sleep_ms(100);
+    }
+    
+    // 读取
+    uint8_t CO_DATA[9] = { 0 };
+    uart_read_blocking(UART0, CO_DATA, 9);
+    sleep_ms(100);
+    
+    /*
+    for(int i=0; i<9; i++) {
+        printf("0X%X ", CO_DATA[i]);
+    }
+    printf("\n");
+    */
+
+    // CO 浓度
+    uint16_t CO_CONC = (256 * CO_DATA[4]) + CO_DATA[5];
+
+    // 校验
+    uint8_t CHECKSUM = (0xFF - (CO_DATA[1] + CO_DATA[2] + CO_DATA[3] + CO_DATA[4] + CO_DATA[5] + CO_DATA[6] + CO_DATA[7])) + 1;
+
+    if (CO_DATA[8] == CHECKSUM && CO_DATA[1] == 0x04) {
+        //printf("CHECKSUM: %X = %X\n", CO_DATA[8], CHECKSUM);
+        //printf("CO Concentration: %d ppm\n", CO_CONC);
+        *ZE07_CO_DATA_IS_OK = 1;
+    } else {
+        *ZE07_CO_DATA_IS_OK = 0;
+    }
+
+    return CO_CONC;
+}
+
+void CO(void *pvParameters)
+{
+    uint16_t CO_DATA = -1;
+    int ZE07_CO_DATA_IS_OK = 0;
+    _printTaskStackHighWaterMark("CO");
+    
+    while(1)
+    {
+        ZE07CO_INIT();
+        
+        CO_DATA = ZE07CO(2, &ZE07_CO_DATA_IS_OK);
+        if (CO_DATA != -1 && ZE07_CO_DATA_IS_OK == 1) {
+            printf("CO Concentration: %d ppm\n", CO_DATA);
+        }
+        //_printTaskStackHighWaterMark("CO");
+        watchdog_update();                  // 喂狗
+        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+    }
+    
+    return;
+}

SOFTWARE-FreeRTOS/Source/ZE07CO.hpp

@@ -0,0 +1,31 @@
+#ifndef ZE07CO_H
+#define ZE07CO_H
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+#include "queue.h"
+
+#include "pico/stdlib.h"
+#include "hardware/clocks.h"
+#include "hardware/watchdog.h"
+#include "pico/multicore.h"
+#include "hardware/i2c.h"
+#include "pico/binary_info.h"
+#include "hardware/uart.h"
+#include "hardware/pwm.h"
+#include "hardware/adc.h"
+
+
+#define UART0 uart0
+#define BAUD_RATE 9600
+#define DATA_BITS 8
+#define STOP_BITS 1
+#define PARITY    UART_PARITY_NONE
+#define UART0_TX_PIN 1          // T
+#define UART0_RX_PIN 0          // R
+
+extern void CO(void *pvParameters);
+
+#endif

SOFTWARE-FreeRTOS/Source/main.cpp

@@ -16,6 +16,7 @@
 #include "common.hpp"
 #include "ds18b20.hpp"
 #include "ZC13.hpp"
+#include "ZE07CO.hpp"
 #include "MHZ14B.hpp"
 
 #ifndef PICO_DEFAULT_LED_PIN
@@ -48,11 +49,10 @@ void Led_Blinky(void *pvParameters)
             printf("%f\n", TEMPERATURE);
         }
         //_printTaskStackHighWaterMark("Led_Blinky");
-
     }
 }
 
-void Read_Onboard_Temperature(void *pvParameters)
+void CPU(void *pvParameters)
 {
     (void)pvParameters;
 
@@ -68,11 +68,11 @@ void Read_Onboard_Temperature(void *pvParameters)
         float adc = (float)adc_read() * conversionFactor;
         float tempC = 27.0f - (adc - 0.706f) / 0.001721f;
 
-        printf("Onboard temperature %.02f°C %.02f°F\n", tempC, (tempC * 9 / 5 + 32));
+        printf("CPU temperature %.02f°C %.02f°F\n", tempC, (tempC * 9 / 5 + 32));
 
         //_printTaskStackHighWaterMark("Read_Onboard_Temperature");
 
-        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+        vTaskDelay(pdMS_TO_TICKS(3000));    // 非阻塞延时
     }
 }
 
@@ -82,31 +82,57 @@ int main(void)
     sleep_ms(3000);
     //set_sys_clock_khz(250000, true);
 
+    if (watchdog_caused_reboot()) { // 判断是否从看门狗启动或者正常启动
+        printf("Rebooted by Watchdog!\n");
+    } else {
+        printf("Clean boot\n");
+    }
+    watchdog_enable(8300, 1);   // 8秒检测是否重新加载看门狗计数器. (不更新计数器则重启硬件, 最高8秒)
+    watchdog_start_tick(12);
+
     // 创建队列
     xQueue = xQueueCreate(10, sizeof(long));
 
     // 创建任务
     BaseType_t xReturned;
+    TaskHandle_t CPU_xHandle = NULL;
     TaskHandle_t Led_Blinky_xHandle = NULL;
     TaskHandle_t DS18B20_xHandle = NULL;
     TaskHandle_t CH4_xHandle = NULL;
+    TaskHandle_t CO_xHandle = NULL;
     TaskHandle_t CO2_xHandle = NULL;
     
+
+    // 板载CPU温度
+    xReturned = xTaskCreate(CPU, "CPU task", 512, NULL, tskIDLE_PRIORITY, &CPU_xHandle);
+    if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
+        printf("CPU() Task Error!");
+    }
+
     // 板载LED闪烁
     xReturned = xTaskCreate(Led_Blinky, "Blinky task", 512, NULL, tskIDLE_PRIORITY, &Led_Blinky_xHandle);
     if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
-        printf("Blinky Task Error!");
+        printf("Blinky() Task Error!");
     }
+
     // DS18B20
     xReturned = xTaskCreate(DS18B20, "DS18B20 task", 1024, NULL, tskIDLE_PRIORITY, &DS18B20_xHandle);
     if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
         printf("DS18B20() Task Error!");
     }
+
     // CH4
     xReturned = xTaskCreate(CH4, "CH4 task", 1024, NULL, tskIDLE_PRIORITY, &CH4_xHandle);
     if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
         printf("CH4() Task Error!");
     }
+    
+    // CO
+    xReturned = xTaskCreate(CO, "CO task", 2048, NULL, tskIDLE_PRIORITY, &CO_xHandle);
+    if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
+        printf("CO() Task Error!");
+    }
+    
     // CO2
     xReturned = xTaskCreate(CO2, "CO2 task", 1024, NULL, tskIDLE_PRIORITY, &CO2_xHandle);
     if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
@@ -114,6 +140,6 @@ int main(void)
     }
 
     vTaskStartScheduler();
-
+    while (1) {};
     return 0;
 }