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positioner_testing_project
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Author SHA1 Message Date
wangxujie 2dc7c95b7a 解决通讯卡死问题 2025-04-21 08:24:18 +08:00
8 changed files with 5194 additions and 5187 deletions
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8
Core/Inc/main.h
View File

@ -23,7 +23,8 @@
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
/* Includes ------------------------------------------------------------------*/
@ -46,6 +47,11 @@ extern "C" {
extern uint8_t tcp_echo_flags_ble2;
extern uint8_t tcp_echo_flags_control;
extern uint8_t send_data_flag_cmd;
extern uint8_t uart_echo_flags_hart1;
extern uint8_t uart_echo_flags_hart2;
extern uint8_t uart_echo_flags_ble1;
extern uint8_t uart_echo_flags_ble2;
#define ARRAY_LEN(arr) (sizeof(arr)) / (sizeof(arr[0]))
typedef struct
{

12
Core/Src/freertos.c
View File

@ -111,7 +111,8 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void) {
void MX_FREERTOS_Init(void)
{
/* USER CODE BEGIN Init */
/* USER CODE END Init */
@ -160,7 +161,6 @@ void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_start_tcp_task */
@ -216,7 +216,6 @@ void start_tcp_task(void const * argument)
tcp_abort(server_pcb_control); // 热插拔下线时调用
tcp_echo_flags_control = 0;
}
tcp_echo_flags_ble1 = 2;
}
else
{
@ -272,7 +271,7 @@ void start_dac_task(void const * argument)
/* Infinite loop */
for (;;)
{
osThreadSuspend(adc_taskHandle); // 暂停ADC任务，防止DAC采集时产生干<E7949F><EFBFBD>????????,因为ADC和DAC采用的是同一路SPI，但是时序不<EFBFBD><EFBFBD>????????
osThreadSuspend(adc_taskHandle); // 暂停ADC任务，防止DAC采集时产生干<E7949F>????????,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F>????????
dac161s997_output(DAC161S997_1, current_buff[0]);
dac161s997_output(DAC161S997_2, current_buff[1]);
osThreadResume(adc_taskHandle);
@ -295,7 +294,7 @@ void start_adc_task(void const * argument)
/* Infinite loop */
for (;;)
{
osThreadSuspend(dac_taskHandle); // 暂停DAC任务，防止ADC采集时产生干<E7949F><EFBFBD>????????,因为ADC和DAC采用的是同一路SPI，但是时序不<EFBFBD><EFBFBD>????????
osThreadSuspend(dac_taskHandle); // 暂停DAC任务，防止ADC采集时产生干<E7949F>????????,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F>????????
uint8_t ch = 0;
for (ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
{
@ -342,7 +341,8 @@ void start_ec11_task(void const * argument)
{
linear_encoder_get_data();
uart_lcd_ec11_control_current();
vTaskDelay(100);
uart_forwarding_tcp();
vTaskDelay(10);
}
/* USER CODE END start_ec11_task */
}

22
Core/Src/main.c
View File

@ -82,6 +82,10 @@ uint8_t tcp_echo_flags_ble2 = 0;
uint8_t tcp_echo_flags_control = 0;
uint8_t send_data_flag_cmd = 0;
uint8_t uart_echo_flags_hart1 = 0;
uint8_t uart_echo_flags_hart2 = 0;
uint8_t uart_echo_flags_ble1 = 0;
uint8_t uart_echo_flags_ble2 = 0;
// TEST
// uint8_t data_flag = 0;
// uint32_t receive_times1 = 0;
@ -202,8 +206,7 @@ void SystemClock_Config(void)
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
@ -272,7 +275,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
memcpy(ble1_uart6.rx_data, ble1_uart6.rx_data_temp, Size);
if (tcp_echo_flags_ble1 == 1)
{
user_send_data_ble1(ble1_uart6.rx_data, Size);
uart_echo_flags_ble1 = 1;
// user_send_data_ble1(ble1_uart6.rx_data, Size);
}
HAL_UARTEx_ReceiveToIdle_DMA(&huart6, ble1_uart6.rx_data_temp, ARRAY_LEN(ble1_uart6.rx_data_temp));
}
@ -285,7 +289,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
memcpy(ble2_uart3.rx_data, ble2_uart3.rx_data_temp, Size);
if (tcp_echo_flags_ble2 == 1)
{
user_send_data_ble2(ble2_uart3.rx_data, Size);
uart_echo_flags_ble2 = 1;
// user_send_data_ble2(ble2_uart3.rx_data, Size);
}
HAL_UARTEx_ReceiveToIdle_DMA(&huart3, ble2_uart3.rx_data_temp, ARRAY_LEN(ble2_uart3.rx_data_temp));
}
@ -297,7 +302,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
memcpy(hart1_uart5.rx_data, hart1_uart5.rx_data_temp, Size);
if (tcp_echo_flags_hart1 == 1)
{
user_send_data_hart1(hart1_uart5.rx_data, Size);
uart_echo_flags_hart1 = 1;
// user_send_data_hart1(hart1_uart5.rx_data, Size);
}
HAL_UARTEx_ReceiveToIdle_DMA(&huart5, hart1_uart5.rx_data_temp, ARRAY_LEN(hart1_uart5.rx_data_temp));
memset(hart1_uart5.rx_data_temp, 0, ARRAY_LEN(hart1_uart5.rx_data_temp));
@ -310,7 +316,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
memcpy(hart2_uart2.rx_data, hart2_uart2.rx_data_temp, Size);
if (tcp_echo_flags_hart2 == 1)
{
user_send_data_hart2(hart2_uart2.rx_data, Size);
uart_echo_flags_hart2 = 1;
// user_send_data_hart2(hart2_uart2.rx_data, Size);
}
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, hart2_uart2.rx_data_temp, ARRAY_LEN(hart2_uart2.rx_data_temp));
}
@ -368,7 +375,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM4) {
if (htim->Instance == TIM4)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */

57
MDK-ARM/semi-finished_product_testing.uvoptx
View File

@ -145,7 +145,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<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 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VGTx$CMSIS\Flash\STM32F4xx_1024.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
<Name>-U420014000D0000504A51544E -O2254 -SF1800 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint>
@ -154,7 +154,7 @@
<Type>0</Type>
<LineNumber>2413</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134234476</Address>
<Address>134234468</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
@ -165,54 +165,6 @@
<ExecCommand></ExecCommand>
<Expression>\\semi_finished_product_testing\../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c\2413</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>77</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134238496</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../LWIP/App/lwip.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\semi_finished_product_testing\../LWIP/App/lwip.c\77</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>224</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>226</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
@ -285,6 +237,11 @@
<WinNumber>1</WinNumber>
<ItemText>ip_address_flash,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>uart_echo_flags_hart1</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>

5
MDK-ARM/semi-finished_product_testing.uvprojx
View File

@ -16,8 +16,8 @@
<TargetCommonOption>
<Device>STM32F407VGTx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.16.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32F4xx_DFP.2.12.0</PackID>
<PackURL>http://www.keil.com/pack</PackURL>
<Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
@ -186,7 +186,6 @@
<RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>

10131
MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.hex
View File

File diff suppressed because it is too large Load Diff

1
User/application/inc/tcpserverc.h
View File

@ -15,4 +15,5 @@ extern void user_send_data_hart2(uint8_t *data, uint16_t len);
extern void user_send_data_ble1(uint8_t *data, uint16_t len);
extern void user_send_data_ble2(uint8_t *data, uint16_t len);
extern void user_send_data_control(uint8_t *data, uint16_t len);
extern void uart_forwarding_tcp(void);
#endif

31
User/application/src/tcpserverc.c
View File

@ -34,6 +34,11 @@ extern uint8_t tcp_echo_flags_ble2;
extern uint8_t tcp_echo_flags_control;
extern uint8_t send_data_flag_cmd;
extern uint8_t uart_echo_flags_hart1;
extern uint8_t uart_echo_flags_hart2;
extern uint8_t uart_echo_flags_ble1;
extern uint8_t uart_echo_flags_ble2;
/*接收回调函数*/
static err_t tcpecho_recv_hart1(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err)
{ // 对应接收数据连接的控制块 接收到的数据
@ -368,3 +373,29 @@ void user_send_data_control(uint8_t *data, uint16_t len)
tcp_write(server_pcb_control, data, len, 1);
}
void uart_forwarding_tcp(void)
{
if (uart_echo_flags_hart1 == 1)
{
uart_echo_flags_hart1 = 0;
user_send_data_hart1(hart1_uart5.rx_data, hart1_uart5.rx_num);
}
if (uart_echo_flags_hart2 == 1)
{
uart_echo_flags_hart2 = 0;
user_send_data_hart2(hart2_uart2.rx_data, hart2_uart2.rx_num);
}
#if (BLE2_USART6 == 1)
if (uart_echo_flags_ble1 == 1)
{
uart_echo_flags_ble1 = 0;
user_send_data_ble1(ble1_uart6.rx_data, ble1_uart6.rx_num);
}
#endif
if (uart_echo_flags_ble2 == 1)
{
uart_echo_flags_ble2 = 0;
user_send_data_ble2(ble2_uart3.rx_data, ble2_uart3.rx_num);
}
}