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positioner_testing_project
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This commit is contained in:
王绪洁 2025-03-31 13:35:32 +08:00
parent d1de706ea5
commit 43bafaf16a
4 changed files with 5868 additions and 6083 deletions
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106
Core/Src/stm32f4xx_it.c
View File

@ -89,8 +89,8 @@ extern TIM_HandleTypeDef htim4;
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@ -104,8 +104,8 @@ void NMI_Handler(void)
}
/**
* @brief This function handles Hard fault interrupt.
*/
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
@ -119,8 +119,8 @@ void HardFault_Handler(void)
}
/**
* @brief This function handles Memory management fault.
*/
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
@ -134,8 +134,8 @@ void MemManage_Handler(void)
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
@ -149,8 +149,8 @@ void BusFault_Handler(void)
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
@ -164,8 +164,8 @@ void UsageFault_Handler(void)
}
/**
* @brief This function handles Debug monitor.
*/
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
@ -184,8 +184,8 @@ void DebugMon_Handler(void)
/******************************************************************************/
/**
* @brief This function handles EXTI line1 interrupt.
*/
* @brief This function handles EXTI line1 interrupt.
*/
void EXTI1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI1_IRQn 0 */
@ -198,8 +198,8 @@ void EXTI1_IRQHandler(void)
}
/**
* @brief This function handles EXTI line3 interrupt.
*/
* @brief This function handles EXTI line3 interrupt.
*/
void EXTI3_IRQHandler(void)
{
/* USER CODE BEGIN EXTI3_IRQn 0 */
@ -212,8 +212,8 @@ void EXTI3_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream0 global interrupt.
*/
* @brief This function handles DMA1 stream0 global interrupt.
*/
void DMA1_Stream0_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
@ -226,8 +226,8 @@ void DMA1_Stream0_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
@ -240,8 +240,8 @@ void DMA1_Stream1_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream2 global interrupt.
*/
* @brief This function handles DMA1 stream2 global interrupt.
*/
void DMA1_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
@ -254,8 +254,8 @@ void DMA1_Stream2_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream3 global interrupt.
*/
* @brief This function handles DMA1 stream3 global interrupt.
*/
void DMA1_Stream3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
@ -268,8 +268,8 @@ void DMA1_Stream3_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream4 global interrupt.
*/
* @brief This function handles DMA1 stream4 global interrupt.
*/
void DMA1_Stream4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
@ -282,8 +282,8 @@ void DMA1_Stream4_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream5 global interrupt.
*/
* @brief This function handles DMA1 stream5 global interrupt.
*/
void DMA1_Stream5_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
@ -296,8 +296,8 @@ void DMA1_Stream5_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream6 global interrupt.
*/
* @brief This function handles DMA1 stream6 global interrupt.
*/
void DMA1_Stream6_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
@ -310,8 +310,8 @@ void DMA1_Stream6_IRQHandler(void)
}
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */
@ -334,8 +334,8 @@ void EXTI9_5_IRQHandler(void)
}
/**
* @brief This function handles TIM4 global interrupt.
*/
* @brief This function handles TIM4 global interrupt.
*/
void TIM4_IRQHandler(void)
{
/* USER CODE BEGIN TIM4_IRQn 0 */
@ -348,8 +348,8 @@ void TIM4_IRQHandler(void)
}
/**
* @brief This function handles USART1 global interrupt.
*/
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
@ -362,8 +362,8 @@ void USART1_IRQHandler(void)
}
/**
* @brief This function handles USART2 global interrupt.
*/
* @brief This function handles USART2 global interrupt.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
@ -375,8 +375,8 @@ void USART2_IRQHandler(void)
}
/**
* @brief This function handles USART3 global interrupt.
*/
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
@ -389,8 +389,8 @@ void USART3_IRQHandler(void)
}
/**
* @brief This function handles DMA1 stream7 global interrupt.
*/
* @brief This function handles DMA1 stream7 global interrupt.
*/
void DMA1_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
@ -403,8 +403,8 @@ void DMA1_Stream7_IRQHandler(void)
}
/**
* @brief This function handles UART4 global interrupt.
*/
* @brief This function handles UART4 global interrupt.
*/
void UART4_IRQHandler(void)
{
/* USER CODE BEGIN UART4_IRQn 0 */
@ -416,8 +416,8 @@ void UART4_IRQHandler(void)
}
/**
* @brief This function handles UART5 global interrupt.
*/
* @brief This function handles UART5 global interrupt.
*/
void UART5_IRQHandler(void)
{
/* USER CODE BEGIN UART5_IRQn 0 */
@ -428,8 +428,8 @@ void UART5_IRQHandler(void)
}
/**
* @brief This function handles DMA2 stream2 global interrupt.
*/
* @brief This function handles DMA2 stream2 global interrupt.
*/
void DMA2_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
@ -442,8 +442,8 @@ void DMA2_Stream2_IRQHandler(void)
}
/**
* @brief This function handles Ethernet global interrupt.
*/
* @brief This function handles Ethernet global interrupt.
*/
void ETH_IRQHandler(void)
{
/* USER CODE BEGIN ETH_IRQn 0 */
@ -451,13 +451,13 @@ void ETH_IRQHandler(void)
/* USER CODE END ETH_IRQn 0 */
HAL_ETH_IRQHandler(&heth);
/* USER CODE BEGIN ETH_IRQn 1 */
HAL_GPIO_TogglePin(LED2_G_GPIO_Port, LED2_G_Pin);
/* USER CODE END ETH_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream7 global interrupt.
*/
* @brief This function handles DMA2 stream7 global interrupt.
*/
void DMA2_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */

218
MDK-ARM/semi-finished_product_testing.uvoptx
View File

@ -145,233 +145,21 @@
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U090F00028316303030303032 -O2254 -SF1000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-U090F00028316303030303032 -O2254 -SF500 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO31 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>52</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134250286</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\application\src\tcpserverc.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\semi_finished_product_testing\../User/application/src/tcpserverc.c\52</Expression>
</Bp>
</Breakpoint>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>current_buff</ItemText>
<ItemText>heth</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>ad7124_analog</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>xReturn</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>direction</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>encode_num,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>htim1,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>lwip_taskHandle</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>led_taskHandle</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>dac_taskHandle</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>adc_taskHandle</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>gpio_di_do_taskHandle</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>ec11_taskHandle</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>di_state_last</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>di_state_now</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>tcp_echo_flags_control</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>state</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>IP_ADDRESS,0x10</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
<ItemText>ipaddr,0x10</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>ip_addr_str,0x0A</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>gnetif</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>MACConf</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>heth</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
<ItemText>ip_addr</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
<ItemText>tcp_rx_data</ItemText>
</Ww>
<Ww>
<count>24</count>
<WinNumber>1</WinNumber>
<ItemText>MACAddr</ItemText>
</Ww>
<Ww>
<count>25</count>
<WinNumber>1</WinNumber>
<ItemText>heth</ItemText>
</Ww>
<Ww>
<count>26</count>
<WinNumber>1</WinNumber>
<ItemText>gnetif,0x10</ItemText>
</Ww>
<Ww>
<count>27</count>
<WinNumber>1</WinNumber>
<ItemText>ipaddr</ItemText>
</Ww>
<Ww>
<count>28</count>
<WinNumber>1</WinNumber>
<ItemText>ec11_data,0x0A</ItemText>
</Ww>
<Ww>
<count>29</count>
<WinNumber>1</WinNumber>
<ItemText>uart_lcd_state</ItemText>
</Ww>
<Ww>
<count>30</count>
<WinNumber>1</WinNumber>
<ItemText>huart</ItemText>
</Ww>
<Ww>
<count>31</count>
<WinNumber>1</WinNumber>
<ItemText>huart-&gt;pTxBuffPtr</ItemText>
</Ww>
<Ww>
<count>32</count>
<WinNumber>1</WinNumber>
<ItemText>encode_direction,0x0A</ItemText>
</Ww>
<Ww>
<count>33</count>
<WinNumber>1</WinNumber>
<ItemText>encode_num,0x0A</ItemText>
</Ww>
<Ww>
<count>34</count>
<WinNumber>1</WinNumber>
<ItemText>linear_enc,0x0A</ItemText>
</Ww>
<Ww>
<count>35</count>
<WinNumber>1</WinNumber>
<ItemText>tcp_rx_data</ItemText>
</Ww>
<Ww>
<count>36</count>
<WinNumber>1</WinNumber>
<ItemText>server_pcb_hart1</ItemText>
</Ww>
<Ww>
<count>37</count>
<WinNumber>1</WinNumber>
<ItemText>LAN8742</ItemText>
</Ww>
<Ww>
<count>38</count>
<WinNumber>1</WinNumber>
<ItemText>server_pcb_ble1</ItemText>
</Ww>
<Ww>
<count>39</count>
<WinNumber>1</WinNumber>
<ItemText>server_pcb_ble2</ItemText>
</Ww>
<Ww>
<count>40</count>
<WinNumber>1</WinNumber>
<ItemText>tcp_echo_flags_hart1</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>

11604
MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.hex
View File

File diff suppressed because it is too large Load Diff

23
User/application/src/tcpserverc.c
View File

@ -40,7 +40,7 @@ static err_t tcpecho_recv_hart1(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
if (p != NULL)
{
/* 更新窗口*/
tcp_echo_flags_hart1 = 1;
tcp_recved(tpcb, p->tot_len); // 读取数据的控制块 得到所有数据的长度
server_pcb_hart1 = tpcb; // 直接赋值
memcpy(hart1_uart5.tx_data, (int *)p->payload, p->tot_len);
@ -65,6 +65,7 @@ static err_t tcpecho_recv_hart2(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
if (p != NULL)
{
/* 更新窗口*/
tcp_echo_flags_hart2 = 1;
tcp_recved(tpcb, p->tot_len); // 读取数据的控制块 得到所有数据的长度
server_pcb_hart2 = tpcb; // 直接赋值
memcpy(hart2_uart2.tx_data, (int *)p->payload, p->tot_len);
@ -115,6 +116,7 @@ static err_t tcpecho_recv_ble2(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
if (p != NULL)
{
/* 更新窗口*/
tcp_echo_flags_ble2 = 1;
tcp_recved(tpcb, p->tot_len); // 读取数据的控制块 得到所有数据的长度
server_pcb_ble2 = tpcb; // 直接赋值
memcpy(ble2_uart3.tx_data, (int *)p->payload, p->tot_len);
@ -142,7 +144,7 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
communication_data_u communication_data;
if (p != NULL)
{
HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
tcp_echo_flags_control = 1;
/* 更新窗口*/
tcp_recved(tpcb, p->tot_len); // 读取数据的控制块 得到所有数据的长度
server_pcb_control = tpcb; // 直接赋值
@ -228,25 +230,22 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
else if (err == ERR_OK) // 检测到对方主动关闭连接时，也会调用recv函数，此时p为空
{
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
tcp_echo_flags_control = 2;
tcp_echo_flags_control = 0;
return tcp_close(tpcb);
}
return ERR_OK;
}
static err_t tcpecho_accept_hart1(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的
// 形参的数量和类型必须一致
static err_t tcpecho_accept_hart1(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的，形参的数量和类型必须一致
{
tcp_recv(newpcb, tcpecho_recv_hart1); // 当收到数据时，回调用户自己写的tcpecho_recv
tcp_echo_flags_hart1 = 1;
tcp_recv(newpcb, tcpecho_recv_hart1); // 当收到数据时，回调用户自己写的tcpecho_recv
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_3); // 停止蜂鸣器PWM输出，用于关闭蜂鸣器发声
return ERR_OK;
}
static err_t tcpecho_accept_hart2(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的
{
tcp_recv(newpcb, tcpecho_recv_hart2); // 当收到数据时，回调用户自己写的tcpecho_recv
tcp_echo_flags_hart2 = 1;
tcp_recv(newpcb, tcpecho_recv_hart2); // 当收到数据时，回调用户自己写的tcpecho_recv
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_3); // 停止蜂鸣器PWM输出，用于关闭蜂鸣器发声
return ERR_OK;
}
@ -260,15 +259,13 @@ static err_t tcpecho_accept_ble1(void *arg, struct tcp_pcb *newpcb, err_t err) /
#endif
static err_t tcpecho_accept_ble2(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的
{
tcp_recv(newpcb, tcpecho_recv_ble2); // 当收到数据时，回调用户自己写的tcpecho_recv
tcp_echo_flags_ble2 = 1;
tcp_recv(newpcb, tcpecho_recv_ble2); // 当收到数据时，回调用户自己写的tcpecho_recv
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_3); // 停止蜂鸣器PWM输出，用于关闭蜂鸣器发声
return ERR_OK;
}
static err_t tcpecho_accept_control(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的
{
tcp_recv(newpcb, tcpecho_recv_control); // 当收到数据时，回调用户自己写的tcpecho_recv
tcp_echo_flags_control = 1;
tcp_recv(newpcb, tcpecho_recv_control); // 当收到数据时，回调用户自己写的tcpecho_recv
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_3); // 停止蜂鸣器PWM输出，用于关闭蜂鸣器发声
return ERR_OK;
}