新增下位机主动上发状态，只要DI有电平变化主动上发一次

.vscode/settings.json

@@ -41,6 +41,7 @@
         "freertosconfig.h": "c",
         "communication_protocol.h": "c",
         "user_gpio.h": "c",
-        "user_lib.h": "c"
+        "user_lib.h": "c",
+        "init.h": "c"
     }
 }

Core/Src/freertos.c

@@ -30,6 +30,8 @@
 #include "usart.h"
 #include "communication_protocol.h"
 #include "tim.h"
+#include "gpio.h"
+#include "tcpserverc.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -61,22 +63,25 @@ osThreadId ec11_taskHandle;
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
 extern float current_buff[2];
+extern uint8_t tcp_echo_flags_control;
 int direction = 0;
 int encode_num = 0;
+uint8_t di_state_last[DI_MAX] = {0};
+uint8_t di_state_now[DI_MAX] = {0};
 /* USER CODE END FunctionPrototypes */
 
-void start_tcp_task(void const * argument);
+void start_tcp_task(void const *argument);
-void start_led_toggle_task(void const * argument);
+void start_led_toggle_task(void const *argument);
-void start_dac_task(void const * argument);
+void start_dac_task(void const *argument);
-void start_adc_task(void const * argument);
+void start_adc_task(void const *argument);
-void start_gpio_di_do_task(void const * argument);
+void start_gpio_di_do_task(void const *argument);
-void start_ec11_task(void const * argument);
+void start_ec11_task(void const *argument);
 
 extern void MX_LWIP_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* GetIdleTaskMemory prototype (linked to static allocation support) */
-void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
 
 /* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
 static StaticTask_t xIdleTaskTCBBuffer;
@@ -96,7 +101,8 @@ 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 */
@@ -145,7 +151,6 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
-
 }
 
 /* USER CODE BEGIN Header_start_tcp_task */
@@ -155,7 +160,7 @@ void MX_FREERTOS_Init(void) {
  * @retval None
  */
 /* USER CODE END Header_start_tcp_task */
-void start_tcp_task(void const * argument)
+void start_tcp_task(void const *argument)
 {
   /* init code for LWIP */
   MX_LWIP_Init();
@@ -176,7 +181,7 @@ void start_tcp_task(void const * argument)
  * @retval None
  */
 /* USER CODE END Header_start_led_toggle_task */
-void start_led_toggle_task(void const * argument)
+void start_led_toggle_task(void const *argument)
 {
   /* USER CODE BEGIN start_led_toggle_task */
   /* Infinite loop */
@@ -195,7 +200,7 @@ void start_led_toggle_task(void const * argument)
  * @retval None
  */
 /* USER CODE END Header_start_dac_task */
-void start_dac_task(void const * argument)
+void start_dac_task(void const *argument)
 {
   /* USER CODE BEGIN start_dac_task */
   dac161s997_init();
@@ -218,7 +223,7 @@ void start_dac_task(void const * argument)
  * @retval None
  */
 /* USER CODE END Header_start_adc_task */
-void start_adc_task(void const * argument)
+void start_adc_task(void const *argument)
 {
   /* USER CODE BEGIN start_adc_task */
   ad7124_setup();
@@ -253,13 +258,39 @@ void start_adc_task(void const * argument)
  * @retval None
  */
 /* USER CODE END Header_start_gpio_di_do_task */
-void start_gpio_di_do_task(void const * argument)
+void start_gpio_di_do_task(void const *argument)
 {
   /* USER CODE BEGIN start_gpio_di_do_task */
   /* Infinite loop */
   for (;;)
   {
-    osThreadTerminate(NULL);
+    uint8_t di_flag = 0;
+    uint8_t di_ch = 0;
+    uint8_t tx_data_len = 7 + DI_MAX;
+    uint8_t tx_data[32] = {0};
+    tx_data[0] = FRAME_HEAD;     // 帧头
+    tx_data[1] = COM_OK;         // 状态
+    tx_data[2] = DEVICE_NUM;     // 设备号
+    tx_data[3] = SEND_STATE_CMD; // 命令号
+    tx_data[4] = DI_MAX;         // 数据长度
+    for (di_ch = 0; di_ch < DI_MAX; di_ch++)
+    {
+      di_state_now[di_ch] = gpio_di_test(di_ch);
+      if (di_state_last[di_ch] != di_state_now[di_ch])
+      {
+        di_state_last[di_ch] = di_state_now[di_ch];
+        di_flag = 1;
+      }
+			tx_data[5 + di_ch] = di_state_now[di_ch];
+    }
+    if ((1 == di_flag) && (1 == tcp_echo_flags_control))
+    {
+      tx_data[5 + DI_MAX] = xor_compute(tx_data + 1, tx_data_len - 3); // 异或校验
+      tx_data[6 + DI_MAX] = FRAME_TAIL;                                // 帧尾
+      user_send_data_control(tx_data, tx_data_len);
+      di_flag = 0;
+    }
+    vTaskDelay(10);
   }
   /* USER CODE END start_gpio_di_do_task */
 }
@@ -271,7 +302,7 @@ void start_gpio_di_do_task(void const * argument)
  * @retval None
  */
 /* USER CODE END Header_start_ec11_task */
-void start_ec11_task(void const * argument)
+void start_ec11_task(void const *argument)
 {
   /* USER CODE BEGIN start_ec11_task */
   /* Infinite loop */
@@ -279,7 +310,7 @@ void start_ec11_task(void const * argument)
   {
     direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);
     encode_num = (short)__HAL_TIM_GET_COUNTER(&htim1);
-    vTaskDelay(100);
+    vTaskDelay(10);
   }
   /* USER CODE END start_ec11_task */
 }

MDK-ARM/semi-finished_product_testing.uvoptx

@@ -210,6 +210,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>ec11_taskHandle</ItemText>
         </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>di_state_last</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.build_log.htm

@@ -1,194 +0,0 @@
-<html>
-<body>
-<pre>
-<h1>µVision Build Log</h1>
-<h2>Tool Versions:</h2>
-IDE-Version: ¦ÌVision V5.36.0.0
-Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: aaa Administrator, aaa, LIC=6XJT4-F8J98-8YUVV-P833R-DBAKX-Y8EU6
- 
-Tool Versions:
-Toolchain:       MDK-ARM Professional  Version: 5.36.0.0
-Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
-C Compiler:      Armcc.exe V5.06 update 7 (build 960)
-Assembler:       Armasm.exe V5.06 update 7 (build 960)
-Linker/Locator:  ArmLink.exe V5.06 update 7 (build 960)
-Library Manager: ArmAr.exe V5.06 update 7 (build 960)
-Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
-CPU DLL:         SARMCM3.DLL V5.36.0.0
-Dialog DLL:      DCM.DLL V1.17.3.0
-Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.0.9.0
-Dialog DLL:      TCM.DLL V1.53.0.0
- 
-<h2>Project:</h2>
-D:\WORK\positioner_testing\Semi-finished product testing\MDK-ARM\semi-finished_product_testing.uvprojx
-Project File Date:  02/21/2025
-
-<h2>Output:</h2>
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
-Build target 'semi-finished_product_testing'
-assembling startup_stm32f407xx.s...
-compiling lan8742.c...
-compiling main.c...
-compiling tim.c...
-compiling usart.c...
-compiling stm32f4xx_hal_msp.c...
-compiling freertos.c...
-compiling lwip.c...
-compiling stm32f4xx_hal_timebase_tim.c...
-compiling stm32f4xx_hal_rcc.c...
-compiling spi.c...
-compiling dma.c...
-compiling gpio.c...
-compiling stm32f4xx_it.c...
-compiling stm32f4xx_hal_rcc_ex.c...
-compiling ethernetif.c...
-compiling stm32f4xx_hal_flash.c...
-compiling stm32f4xx_hal_flash_ramfunc.c...
-compiling stm32f4xx_hal_flash_ex.c...
-compiling stm32f4xx_hal_gpio.c...
-compiling stm32f4xx_hal_dma.c...
-compiling stm32f4xx_hal_pwr.c...
-compiling stm32f4xx_hal_dma_ex.c...
-compiling stm32f4xx_hal_cortex.c...
-compiling stm32f4xx_hal_pwr_ex.c...
-compiling stm32f4xx_hal_exti.c...
-compiling stm32f4xx_hal.c...
-compiling stm32f4xx_hal_spi.c...
-compiling croutine.c...
-compiling stm32f4xx_hal_tim_ex.c...
-compiling event_groups.c...
-compiling list.c...
-compiling stm32f4xx_hal_eth.c...
-compiling stm32f4xx_hal_uart.c...
-compiling queue.c...
-compiling stream_buffer.c...
-compiling stm32f4xx_hal_tim.c...
-compiling timers.c...
-compiling heap_4.c...
-compiling tasks.c...
-compiling system_stm32f4xx.c...
-compiling port.c...
-compiling ccp.c...
-compiling cmsis_os.c...
-compiling auth.c...
-compiling chap_ms.c...
-compiling chap-md5.c...
-compiling eui64.c...
-compiling eap.c...
-compiling ipcp.c...
-compiling demand.c...
-compiling ipv6cp.c...
-compiling chap-new.c...
-compiling fsm.c...
-compiling lcp.c...
-compiling magic.c...
-compiling mppe.c...
-compiling multilink.c...
-compiling pppapi.c...
-compiling ppp.c...
-compiling pppcrypt.c...
-compiling pppos.c...
-compiling pppol2tp.c...
-compiling pppoe.c...
-compiling upap.c...
-compiling utils.c...
-compiling vj.c...
-compiling bridgeif_fdb.c...
-compiling ethernet.c...
-compiling bridgeif.c...
-compiling lowpan6.c...
-compiling slipif.c...
-compiling lowpan6_ble.c...
-compiling lowpan6_common.c...
-compiling zepif.c...
-compiling ecp.c...
-compiling err.c...
-compiling netdb.c...
-compiling api_lib.c...
-compiling if_api.c...
-compiling netifapi.c...
-compiling netbuf.c...
-compiling api_msg.c...
-compiling altcp.c...
-compiling tcpip.c...
-compiling sockets.c...
-compiling altcp_alloc.c...
-compiling altcp_tcp.c...
-compiling def.c...
-compiling dns.c...
-compiling inet_chksum.c...
-compiling init.c...
-compiling raw.c...
-compiling ip.c...
-compiling stats.c...
-compiling memp.c...
-compiling mem.c...
-compiling sys.c...
-compiling netif.c...
-compiling pbuf.c...
-compiling tcp.c...
-compiling udp.c...
-compiling tcp_in.c...
-compiling timeouts.c...
-compiling tcp_out.c...
-compiling autoip.c...
-compiling dhcp.c...
-compiling igmp.c...
-compiling icmp.c...
-compiling etharp.c...
-compiling ip4_addr.c...
-compiling ip4.c...
-compiling ip4_frag.c...
-compiling dhcp6.c...
-compiling ethip6.c...
-compiling icmp6.c...
-compiling ble_mx_02.c...
-compiling inet6.c...
-compiling user_lib.c...
-compiling ip6.c...
-compiling ip6_addr.c...
-compiling ip6_frag.c...
-compiling mld6.c...
-compiling nd6.c...
-compiling leds.c...
-compiling sys_arch.c...
-compiling communication_protocol.c...
-compiling mqtt.c...
-compiling tcpserverc.c...
-compiling tcpclient.c...
-compiling ad7124.c...
-compiling user_gpio.c...
-compiling dac161s997.c...
-compiling user_spi.c...
-compiling ht1200m.c...
-linking...
-Program Size: Code=89400 RO-data=1472 RW-data=1540 ZI-data=62964  
-"semi-finished_product_testing\semi-finished_product_testing.axf" - 0 Error(s), 0 Warning(s).
-
-<h2>Software Packages used:</h2>
-
-Package Vendor: ARM
-                http://www.keil.com/pack/ARM.CMSIS.5.8.0.pack
-                ARM.CMSIS.5.8.0
-                CMSIS (Common Microcontroller Software Interface Standard)
-   * Component: CORE Version: 5.5.0
-
-Package Vendor: Keil
-                https://www.keil.com/pack/Keil.STM32F4xx_DFP.2.17.1.pack
-                Keil.STM32F4xx_DFP.2.17.1
-                STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
-
-<h2>Collection of Component include folders:</h2>
-  .\RTE\_semi-finished_product_testing
-  C:\Users\Administrator\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include
-  C:\Users\Administrator\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-
-<h2>Collection of Component Files used:</h2>
-
-   * Component: ARM::CMSIS:CORE:5.5.0
-      Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:08
-</pre>
-</body>
-</html>

User/application/inc/communication_protocol.h

@@ -7,6 +7,12 @@
 #define COM_AI_DATA_SIZE 11    // 模拟量数据返回帧长度
 #define FRAME_HEAD 0xAA        // 帧头
 #define FRAME_TAIL 0x3C        // 帧尾
+#define DEVICE_NUM 0x00        // 设备号
+#define READ_ANALOG_CMD 0x00   // 读模拟量命令
+#define WRITE_ANALOG_CMD 0x01  // 写模拟量命令
+#define READ_DIGITAL_CMD 0x02  // 读数字量命令
+#define WRITE_DIGITAL_CMD 0x03 // 写数字量命令
+#define SEND_STATE_CMD 0x04    // 主动上发状态命令
 
 typedef enum
 {

User/application/inc/tcpserverc.h

@@ -14,4 +14,5 @@ extern void user_send_data_hart1(uint8_t *data, uint16_t len);
 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);
 #endif

User/application/src/communication_protocol.c

@@ -47,3 +47,5 @@ void communication_set_ao(communication_ao_t *ao_data)
 {
     current_buff[ao_data->channel] = B2S_FLOAT32(ao_data->data.f);
 }
+
+

User/application/src/tcpserverc.c

@@ -137,6 +137,7 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
     {
         HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
         /* 更新窗口*/
+        tcp_echo_flags_control = 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_control = tpcb;    // 直接赋值
         memcpy(tcp_rx_data, (int *)p->payload, p->tot_len);
@@ -159,7 +160,7 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
             else
             {
                 memcpy(communication_data.data, tcp_rx_data + 5, tcp_rx_data[4]);
-                if (tcp_rx_data[3] == 0x00) // 读模拟量指令
+                if (tcp_rx_data[3] == READ_ANALOG_CMD) // 读模拟量指令
                 {
                     /*读操作，从寄存器读取数据，组包返回*/
                     tx_data_len = COM_AI_DATA_SIZE;
@@ -167,15 +168,15 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
                     communication_get_ai(user_communication_ai, tcp_tx_data, tcp_rx_data);
                     tcp_write(tpcb, tcp_tx_data, tx_data_len, 1);
                 }
-                else if (tcp_rx_data[3] == 0x01) // 写模拟量指令
+                else if (tcp_rx_data[3] == WRITE_ANALOG_CMD) // 写模拟量指令
                 {
                     /*写操作，将数据写入寄存器，组包返回*/
-                    tcp_echo_flags_control = 1;
+                    
                     user_communication_ao = &communication_data.ao_data;
                     communication_set_ao(user_communication_ao);
                     tcp_write(tpcb, tcp_rx_data, rx_data_len, 1);
                 }
-                else if (tcp_rx_data[3] == 0x02) // 读数字量指令
+                else if (tcp_rx_data[3] == READ_DIGITAL_CMD) // 读数字量指令
                 {
                     /*读操作，从寄存器读取数据，组包返回*/
 
@@ -184,7 +185,7 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
                     user_read_gpio(user_communication_di, tcp_tx_data, tcp_rx_data);
                     tcp_write(tpcb, tcp_tx_data, tx_data_len, 1);
                 }
-                else if (tcp_rx_data[3] == 0x03) // 写数字量指令
+                else if (tcp_rx_data[3] == WRITE_DIGITAL_CMD) // 写数字量指令
                 {
                     /*写操作，将数据写入寄存器，组包返回*/
                     user_communication_do = &communication_data.do_data;
@@ -336,3 +337,9 @@ void user_send_data_ble2(uint8_t *data, uint16_t len)
 
     tcp_write(server_pcb_ble2, data, len, 1);
 }
+
+void user_send_data_control(uint8_t *data, uint16_t len)
+{
+
+    tcp_write(server_pcb_control, data, len, 1);
+}