/* FreeRTOS多任务调度——LED控制与串口通信示例 */
/* 开发环境：STM32CubeIDE + FreeRTOS CMSIS_V2 */

#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "cmsis_os2.h"

/* 任务句柄 */
TaskHandle_t ledTaskHandle = NULL;
TaskHandle_t uartTaskHandle = NULL;
TaskHandle_t keyTaskHandle = NULL;

/* 消息队列句柄——用于任务间通信 */
QueueHandle_t msgQueue = NULL;

/* LED控制结构体——通过队列传递的消息类型 */
typedef struct {
    uint8_t ledId;      /* 0=LED1, 1=LED2 */
    uint8_t state;      /* 0=灭, 1=亮 */
    uint16_t duration;  /* 保持时间(ms) */
} LedCommand_t;

/* 任务1：LED控制任务——接收队列指令控制LED */
void LedTask(void *argument) {
    LedCommand_t cmd;
    BaseType_t ret;

    /* 初始化GPIO：PA0、PA1推挽输出 */
    GPIO_InitTypeDef gpio = {0};
    __HAL_RCC_GPIOA_CLK_ENABLE();
    gpio.Pin = GPIO_PIN_0 | GPIO_PIN_1;
    gpio.Mode = GPIO_MODE_OUTPUT_PP;
    gpio.Pull = GPIO_NOPULL;
    gpio.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &gpio);

    while (1) {
        /* 从队列接收消息，阻塞等待 */
        ret = xQueueReceive(msgQueue, &cmd, portMAX_DELAY);
        if (ret == pdPASS) {
            /* 根据指令控制对应LED */
            uint16_t pin = (cmd.ledId == 0) ? GPIO_PIN_0 : GPIO_PIN_1;
            HAL_GPIO_WritePin(GPIOA, pin,
                (cmd.state) ? GPIO_PIN_SET : GPIO_PIN_RESET);
            vTaskDelay(pdMS_TO_TICKS(cmd.duration));
        }
    }
}

/* 任务2：按键扫描任务——检测按键并发送队列消息 */
void KeyTask(void *argument) {
    GPIO_InitTypeDef gpio = {0};
    __HAL_RCC_GPIOA_CLK_ENABLE();
    gpio.Pin = GPIO_PIN_2;
    gpio.Mode = GPIO_MODE_INPUT;
    gpio.Pull = GPIO_PULLDOWN;
    HAL_GPIO_Init(GPIOA, &gpio);

    LedCommand_t cmd;
    uint8_t lastState = 0;

    while (1) {
        uint8_t curState = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
        /* 检测上升沿（按键按下） */
        if (curState == 1 && lastState == 0) {
            cmd.ledId = 0;       /* 控制蓝色LED */
            cmd.state = 1;        /* 点亮 */
            cmd.duration = 500;   /* 保持500ms */
            xQueueSend(msgQueue, &cmd, 0);
        }
        lastState = curState;
        vTaskDelay(pdMS_TO_TICKS(20)); /* 20ms消抖周期 */
    }
}

/* 任务3：UART日志任务——每秒上报系统状态 */
void UartTask(void *argument) {
    /* 初始化串口USART1：115200-8-N-1 */
    /* 此处省略HAL_UART_Init配置代码 */

    char buf[64];
    UBaseType_t stackHighWater;
    uint32_t tickCount = 0;

    while (1) {
        tickCount = xTaskGetTickCount();
        stackHighWater = uxTaskGetStackHighWaterMark(NULL);
        sprintf(buf, "[%lu] 系统运行中, 栈剩余: %u words\r\n",
                tickCount, stackHighWater);
        /* HAL_UART_Transmit(&huart1, (uint8_t*)buf, strlen(buf), 100); */
        vTaskDelay(pdMS_TO_TICKS(1000));
    }
}

/* 主函数：创建任务和队列，启动调度器 */
int main(void) {
    HAL_Init();
    SystemClock_Config(); /* 配置系统时钟72MHz */

    /* 创建消息队列：最多存放5个LedCommand */
    msgQueue = xQueueCreate(5, sizeof(LedCommand_t));
    configASSERT(msgQueue != NULL);

    /* 创建三个任务 */
    xTaskCreate(LedTask,  "LED控制",  128, NULL, 2, &ledTaskHandle);
    xTaskCreate(KeyTask,  "按键扫描", 128, NULL, 3, &keyTaskHandle);
    xTaskCreate(UartTask, "UART日志", 256, NULL, 1, &uartTaskHandle);

    /* 启动调度器 */
    vTaskStartScheduler();

    /* 正常情况下不会执行到这里 */
    while (1);
}