Add FreeRTOS

.gitignore

@@ -1,2 +1,3 @@
+build
 SOFTWARE/build
 SOFTWARE-FreeRTOS/build

.vscode/settings.json

@@ -0,0 +1,4 @@
+{
+    "cmake.sourceDirectory": "/mnt/c/Users/niuyuling/Desktop/raspberry-pico/Danger-alarm/SOFTWARE",
+    "C_Cpp.errorSquiggles": "disabled"
+}

SOFTWARE-FreeRTOS/CMakeLists.txt

@@ -35,9 +35,11 @@ pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/Source/uart_tx.pio)
 pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/Source/uart_rx.pio)
 
 target_Sources(main PRIVATE 
-        ${CMAKE_CURRENT_LIST_DIR}/Source/common.c
+        ${CMAKE_CURRENT_LIST_DIR}/Source/common.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/Source/main.c
+        ${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/MHZ14B.cpp
     )
 
 target_include_directories(main PRIVATE

SOFTWARE-FreeRTOS/Source/DS18B20.cpp

@@ -0,0 +1,36 @@
+#include "DS18B20.hpp"
+#include "common.hpp"
+
+QueueHandle_t xQueue;
+
+// 温度传感器
+void DS18B20(void *pvParameters)
+{
+    float TEMPERATURE = -1;
+
+    One_wire one_wire(DS18B20_PIN);
+    one_wire.init();
+    rom_address_t address {
+    };
+    
+    _printTaskStackHighWaterMark("DS18B20");
+
+    while (1)
+    {
+        one_wire.single_device_read_rom(address);
+        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));
+        
+        // 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
+    }
+    
+    return ;
+}

SOFTWARE-FreeRTOS/Source/DS18B20.hpp

@@ -0,0 +1,22 @@
+#ifndef DS18B20_H
+#define DS18B20_H
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+#include "queue.h"
+
+#include <cstdio>
+#include <stdbool.h>
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+#include "../../SOFTWARE/Lib/pico-onewire/api/one_wire.h"
+
+#define DS18B20_PIN 15          // DS18B20 引脚
+
+
+extern QueueHandle_t xQueue;
+extern void DS18B20(void *pvParameters);
+
+#endif

SOFTWARE-FreeRTOS/Source/DTH11.cpp

@@ -1,70 +0,0 @@
-#include "DTH11.hpp"
-
-typedef struct {
-    float humidity;
-    float temp_celsius;
-} dht_reading;
-
-void read_from_dht(dht_reading * result, int DHT_PIN)
-{
-    int data[5] = { 0, 0, 0, 0, 0 };
-    uint last = 1;
-    uint j = 0;
-
-    gpio_set_dir(DHT_PIN, GPIO_OUT);
-    gpio_put(DHT_PIN, 0);
-    sleep_ms(20);
-    gpio_set_dir(DHT_PIN, GPIO_IN);
-
-    for (uint i = 0; i < MAX_TIMINGS; i++) {
-        uint count = 0;
-        while (gpio_get(DHT_PIN) == last) {
-            count++;
-            sleep_us(1);
-            if (count == 255)
-                break;
-        }
-
-        last = gpio_get(DHT_PIN);
-        if (count == 255)
-            break;
-
-        if ((i >= 4) && (i % 2 == 0)) {
-            data[j / 8] <<= 1;
-            if (count > 16)
-                data[j / 8] |= 1;
-            j++;
-        }
-    }
-
-    if ((j >= 40) && (data[4] == ((data[0] + data[1] + data[2] + data[3]) & 0xFF))) {
-        result->humidity = (float)((data[0] << 8) + data[1]) / 10;
-        if (result->humidity > 100) {
-            result->humidity = data[0];
-        }
-        result->temp_celsius = (float)(((data[2] & 0x7F) << 8) + data[3]) / 10;
-        if (result->temp_celsius > 125) {
-            result->temp_celsius = data[2];
-        }
-        if (data[2] & 0x80) {
-            result->temp_celsius = -result->temp_celsius;
-        }
-    } else {
-        printf("Bad data\n");
-    }
-}
-
-int DTH11_(int DHT_PIN)
-{
-    stdio_init_all();
-    gpio_init(DHT_PIN);
-
-    dht_reading reading;
-    read_from_dht(&reading, DHT_PIN);
-    float fahrenheit = (reading.temp_celsius * 9 / 5) + 32;
-    printf("Humidity = %.1f%%, Temperature = %.1fC (%.1fF)\n", reading.humidity, reading.temp_celsius, fahrenheit);
-
-    sleep_ms(2000);
-
-    return 0;
-}

SOFTWARE-FreeRTOS/Source/DTH11.hpp

@@ -1,11 +0,0 @@
-#ifndef DTH11_H
-#define DTH11_H
-
-#include <stdio.h>
-#include <math.h>
-#include "pico/stdlib.h"
-#include "hardware/gpio.h"
-
-const uint MAX_TIMINGS = 85;
-
-#endif

SOFTWARE-FreeRTOS/Source/MHZ14B.cpp

@@ -0,0 +1,74 @@
+#include "MHZ14B.hpp"
+#include "common.hpp"
+
+
+void MH_Z14B_INIT()
+{
+    // 初始化UART
+    uart_init(UART1, BAUD_RATE);
+    gpio_set_function(UART1_TX_PIN, GPIO_FUNC_UART);
+    gpio_set_function(UART1_RX_PIN, GPIO_FUNC_UART);
+    uart_set_hw_flow(UART1, false, false);
+    uart_set_format(UART1, DATA_BITS, STOP_BITS, PARITY);
+}
+
+// CO2
+static uint16_t MH_Z14B(int *MH_Z14B_DATA_IS_OK)
+{
+
+
+    // 0x86 读气体浓度值
+    uint8_t CMD[9] = { 0xFF, 0x01, 0x86, 0x00, 0x00, 0x00, 0x00, 0x00, 0x79 };
+    uart_write_blocking(UART1, CMD, 9);
+    sleep_ms(200);
+
+    // 读取
+    uint8_t CO2_DATA[9] = { 0 };
+    uart_read_blocking(UART1, CO2_DATA, 9);
+
+    // CO2 浓度
+    uint16_t CO2_CONC = (256 * CO2_DATA[2]) + CO2_DATA[3];
+
+    // 校验
+    uint8_t CHECKSUM = (0xFF - (CO2_DATA[1] + CO2_DATA[2] + CO2_DATA[3] + CO2_DATA[4] + CO2_DATA[5] + CO2_DATA[6] + CO2_DATA[7])) + 1;
+
+    if (CO2_DATA[8] == CHECKSUM && CO2_DATA[1] == 0x86) {
+        //printf("CHECKSUM: %X = %X\n", CO2_DATA[8], CHECKSUM);
+        //printf("CO2 Concentration: %d ppm\n", CO2_CONC);
+        *MH_Z14B_DATA_IS_OK = 1;
+    } else {
+        // 校准传感器 零点 （ZERO）
+        uint8_t ZERO[] = { 0XFF, 0X01, 0X87, 0X00, 0X00, 0X00, 0X00, 0X00, 0X78 };
+        uart_write_blocking(UART1, ZERO, 9);
+        sleep_ms(200);
+
+        // 校准传感器 跨度点 （SPAN）
+        uint8_t SPAN[] = { 0XFF, 0X01, 0X88, 0X07, 0XD0, 0X00, 0X00, 0X00, 0XA0 };
+        uart_write_blocking(UART1, SPAN, 9);
+        sleep_ms(200);
+
+        *MH_Z14B_DATA_IS_OK = 0;
+        printf("CO2 concentration reading failed!\n");
+    }
+
+    return CO2_CONC;
+}
+
+void CO2(void *pvParameters)
+{
+    uint16_t CO2_DATA = -1;
+    int MH_Z14B_DATA_IS_OK = 0;
+    MH_Z14B_INIT();
+    _printTaskStackHighWaterMark("MH_Z14B");
+    
+    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");
+        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
+    }
+}

SOFTWARE-FreeRTOS/Source/MHZ14B.hpp

@@ -0,0 +1,30 @@
+#ifndef MHZ14B_H
+#define MHZ14B_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 UART1 uart1
+#define BAUD_RATE 9600
+#define DATA_BITS 8
+#define STOP_BITS 1
+#define PARITY    UART_PARITY_NONE
+#define UART1_TX_PIN 5          // MH-Z14B T
+#define UART1_RX_PIN 4          // MH-Z14B R
+
+extern void CO2(void *pvParameters);
+
+#endif

SOFTWARE-FreeRTOS/Source/ZC13.cpp

@@ -1,5 +1,5 @@
 #include "ZC13.hpp"
-#include "common.h"
+#include "common.hpp"
 
 int ZC13_INIT()
 {
@@ -100,72 +100,15 @@ int ZC13(const char *model)
     return -1;
 }
 
-/*
+void CH4(void *pvParameters)
-int ZC13(const char *model)
+{
+    ZC13_INIT();
+    _printTaskStackHighWaterMark("ZC13");
+    while(1)
     {
-    char CH4_DATA[9] = { 0 };
-    int CH4_DATA_index = 0;
         
-    // 发送指令
+        ZC13("ZC05");
-    char CH4_CMD[9] = { 0xFF, 0x01, 0x86, 0x00, 0x00, 0x00, 0x00, 0x00, 0x79 };
+        _printTaskStackHighWaterMark("ZC13");
-    for (int i = 0; i < 9; i++) {
+        vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
-        uart_tx_program_putc(ZC13_PIO, ZC13_PIO_SM_TX, CH4_CMD[i]);
-        sleep_ms(1);
-    }
-    sleep_ms(200);
-
-    // 接收数据，直到收到换行符或达到缓冲区大小限制
-    char c = '\0';
-    int timeout_ms = 100;       // 设置超时时间为100ms
-    int received_count = 0;
-
-    while (received_count < 9 && timeout_ms > 0) {
-        if (uart_rx_program_available(ZC13_PIO, ZC13_PIO_SM_RX)) {
-            c = uart_rx_program_getc(ZC13_PIO, ZC13_PIO_SM_RX);
-            CH4_DATA[CH4_DATA_index++] = c;
-            received_count++;
-            timeout_ms = 100;   // 重置超时时间
-        } else {
-            sleep_ms(1);
-            timeout_ms--;       // 减少超时时间
     }
 }
-
-    // 处理接收到的数据
-    for (int i = 0; i < 9; i++) {
-        printf("0x%X ", CH4_DATA[i]);
-    }
-    printf("\n");
-
-    uint8_t highByte = CH4_DATA[2]; // 假设这是气体浓度高位字节
-    uint8_t lowByte = CH4_DATA[3]; // 假设这是气体浓度高位字节
-
-    // 判断最高位是否为 1
-    if (highByte & 0x80) {
-        // 最高位是 1，表示传感器故障
-        printf("CH4 sensor malfunction!\n");
-    } else {
-        if (CH4_DATA[1] == 0X86) {
-			if ( 0 == strcasecmp(model, "ZC05")) {
-				// 计算气体浓度值
-				uint16_t gasConcentration = (highByte & 0x3F) * 256 + lowByte;
-				// 输出气体浓度值
-				printf("CH4 Concentration: %uppm\n", gasConcentration);
-			
-				return gasConcentration;
-			}
-			
-			if ( 0 == strcasecmp(model, "ZC13")) {
-				// 计算气体浓度值
-				uint16_t gasConcentration = (highByte & 0x1F) * 256 + lowByte;
-				// 输出气体浓度值
-				printf("CH4 Concentration: %uppm\n", gasConcentration);
-			
-				return gasConcentration;
-			}
-        }
-    }
-	
-    return -1;
-}
-*/

SOFTWARE-FreeRTOS/Source/ZC13.hpp

@@ -1,5 +1,11 @@
-#ifndef ZC13_HPP
+#ifndef ZC13_H
-#define ZC13_HPP
+#define ZC13_H
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+#include "queue.h"
 
 #include <stdio.h>
 #include <strings.h>
@@ -15,7 +21,6 @@
 #define ZC13_PIO_SM_RX 1
 #define ZC13_PIO_SERIAL_BAUD 9600
 
-extern int ZC13_INIT();
+extern void CH4(void *pvParameters);
-extern int ZC13(const char *model);
 
 #endif

SOFTWARE-FreeRTOS/Source/common.cpp

@@ -1,4 +1,4 @@
-#include "common.h"
+#include "common.hpp"
 
 void vApplicationMallocFailedHook(void)
 {
@@ -67,12 +67,12 @@ void vApplicationTickHook(void)
 }
 
 
-void _printTaskStackHighWaterMark(void)
+void _printTaskStackHighWaterMark(const char *task_name)
 {
     TaskHandle_t currentTask = xTaskGetCurrentTaskHandle();
     if (currentTask != NULL)
     {
-        printf("TASK STACK HIGH WATER MARK: %ld\n", uxTaskGetStackHighWaterMark(currentTask));
+        printf("%s TASK STACK HIGH WATER MARK: %ld\n", task_name, uxTaskGetStackHighWaterMark(currentTask));
     }
     else
     {

SOFTWARE-FreeRTOS/Source/common.hpp

@@ -5,6 +5,7 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "semphr.h"
+#include "queue.h"
 
 #include <stdio.h>
 #include "hardware/pio.h"
@@ -17,6 +18,6 @@ static inline bool uart_rx_program_available(PIO pio, uint sm)
     return !pio_sm_is_rx_fifo_empty(pio, sm);
 }
 
-extern void _printTaskStackHighWaterMark(void);
+extern void _printTaskStackHighWaterMark(const char *task_name);
 
 #endif

SOFTWARE-FreeRTOS/Source/main.cpp

@@ -2,6 +2,7 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "semphr.h"
+#include "queue.h"
 
 /* Standard demo includes. */
 #include "TimerDemo.h"
@@ -10,9 +11,12 @@
 #include "IntSemTest.h"
 #include "TaskNotify.h"
 
-#include "MAIN.h"
+#include "main.hpp"
 #include "lwipopts.h"
-#include "common.h"
+#include "common.hpp"
+#include "ds18b20.hpp"
+#include "ZC13.hpp"
+#include "MHZ14B.hpp"
 
 #ifndef PICO_DEFAULT_LED_PIN
     #warning pio/hello_pio example requires a board with a regular LED
@@ -27,7 +31,9 @@ void Led_Blinky(void *pvParameters)
     gpio_init(LED_PIN);
     gpio_set_dir(LED_PIN, GPIO_OUT);
     
-    _printTaskStackHighWaterMark();
+    _printTaskStackHighWaterMark("Led_Blinky");
+
+    float TEMPERATURE;
     
     while (1) {
         vTaskDelay(pdMS_TO_TICKS(500));
@@ -36,7 +42,14 @@ void Led_Blinky(void *pvParameters)
         vTaskDelay(pdMS_TO_TICKS(500));
         gpio_put(LED_PIN, 0);
         
-        _printTaskStackHighWaterMark();
+        // 从队列接收数据
+        if (xQueueReceive(xQueue, &TEMPERATURE, portMAX_DELAY) == pdPASS) {
+            // 处理接收到的数据
+            printf("%f\n", TEMPERATURE);
+        }
+        
+        //_printTaskStackHighWaterMark("Led_Blinky");
+
     }
 }
 
@@ -48,7 +61,7 @@ void Read_Onboard_Temperature(void *pvParameters)
     adc_set_temp_sensor_enabled(true);
     adc_select_input(4);        // Input 4 is the onboard temperature sensor.
     
-    //_printTaskStackHighWaterMark();
+    //_printTaskStackHighWaterMark("Read_Onboard_Temperature");
 
     while (1) {
         const float conversionFactor = 3.3f / (1 << 12);
@@ -58,7 +71,7 @@ void Read_Onboard_Temperature(void *pvParameters)
 
         printf("Onboard temperature %.02f°C %.02f°F\n", tempC, (tempC * 9 / 5 + 32));
         
-        //_printTaskStackHighWaterMark();
+        //_printTaskStackHighWaterMark("Read_Onboard_Temperature");
         
         vTaskDelay(pdMS_TO_TICKS(3000)); // 非阻塞延时
     }
@@ -67,11 +80,20 @@ void Read_Onboard_Temperature(void *pvParameters)
 int main(void)
 {
     stdio_init_all();
-    sleep_ms(1000);
+    sleep_ms(3000);
     //set_sys_clock_khz(250000, true);
     
+    
+    // 创建队列
+    xQueue = xQueueCreate(10, sizeof(long));
+    
+    
+    // 创建任务
     BaseType_t xReturned;
     TaskHandle_t Led_Blinky_xHandle = NULL;
+    TaskHandle_t DS18B20_xHandle = NULL;
+    TaskHandle_t CH4_xHandle = NULL;
+    TaskHandle_t CO2_xHandle = NULL;
 
     // 板载LED闪烁
     xReturned = xTaskCreate(Led_Blinky, "Blinky task", 512, NULL, tskIDLE_PRIORITY, &Led_Blinky_xHandle);
@@ -80,6 +102,26 @@ int main(void)
         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!");
+    }
+
+    // CO2
+    xReturned = xTaskCreate(CO2, "CO2 task", 1024, NULL, tskIDLE_PRIORITY, &CO2_xHandle);
+    if (xReturned == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY)
+    {
+        printf("CO2() Task Error!");
+    }
     vTaskStartScheduler();
 
     return 0;