diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 8b8f94f..8edb12f 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -46,6 +46,7 @@ #include "ht1200m.h" #include "TCA6416.h" // 添加TCA6416头文件 #include "DAC8568.h" +#include "dma.h" // 添加DMA头文件 // 声明外部变量 extern ad7124_analog_t ad7124_analog[AD7124_CHANNEL_EN_MAX]; @@ -158,6 +159,13 @@ volatile uint32_t dma_uart_tx_errors = 0; volatile uint32_t dma_adc_errors = 0; volatile uint32_t dma_dac_errors = 0; +// 添加信号量句柄 +osSemaphoreId tca6416_semaphoreHandle; // 添加TCA6416信号量句柄 + +// 添加DMA句柄 +DMA_HandleTypeDef hdma_uart6_rx; // UART6接收DMA句柄 +DMA_HandleTypeDef hdma_uart6_tx; // UART6发送DMA句柄 + /* USER CODE END Variables */ /* Private function prototypes -----------------------------------------------*/ @@ -177,6 +185,12 @@ void start_usart6_test_task(void const *argument); // 添加USART6测试任务 void start_io_control_task(void const *argument); // 添加IO控制任务函数声明 void start_dac_control_task(void const *argument); // 添加DAC控制任务函数声明 void start_dma_test_task(void const *argument); // 添加DMA测试任务函数声明 + +// 声明外部回调函数 +extern void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart); +extern void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart); +extern void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart); + /* USER CODE END FunctionPrototypes */ void start_tcp_task(void const *argument); @@ -184,6 +198,7 @@ void start_led_toggle_task(void const *argument); void start_adc_task(void const *argument); void start_io_control_task(void const *argument); void start_dac_control_task(void const *argument); +void start_dac161s997_test_task(void const *argument); extern void MX_LWIP_Init(void); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ @@ -226,6 +241,10 @@ void MX_FREERTOS_Init(void) osSemaphoreDef(dac_semaphore); dac_semaphoreHandle = osSemaphoreCreate(osSemaphore(dac_semaphore), 1); + // 创建TCA6416信号量 + osSemaphoreDef(tca6416_semaphore); + tca6416_semaphoreHandle = osSemaphoreCreate(osSemaphore(tca6416_semaphore), 1); + /* Create the thread(s) */ /* definition and creation of lwip_task */ osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512); @@ -240,16 +259,16 @@ void MX_FREERTOS_Init(void) adc_taskHandle = osThreadCreate(osThread(adc_task), NULL); /* IO控制任务 - 合并TCA6416和GPIO控制 */ - osThreadDef(io_control_task, start_io_control_task, osPriorityNormal, 0, 384); + osThreadDef(io_control_task, start_io_control_task, osPriorityNormal, 0, 256); io_control_taskHandle = osThreadCreate(osThread(io_control_task), NULL); /* DAC控制任务 - 合并DAC161S997和DAC8568控制 */ - osThreadDef(dac_control_task, start_dac_control_task, osPriorityBelowNormal, 0, 384); + osThreadDef(dac_control_task, start_dac_control_task, osPriorityBelowNormal, 0, 256); dac_control_taskHandle = osThreadCreate(osThread(dac_control_task), NULL); - /* DMA测试任务 - 使用较高优先级以确保及时处理DMA事件 */ - osThreadDef(dma_test_task, start_dma_test_task, osPriorityAboveNormal, 0, 384); - dma_test_taskHandle = osThreadCreate(osThread(dma_test_task), NULL); + /* DAC161S997测试任务 - 使用较高优先级以确保及时处理 */ + osThreadDef(dac161s997_test_task, start_dac161s997_test_task, osPriorityAboveNormal, 0, 256); + osThreadCreate(osThread(dac161s997_test_task), NULL); /* USER CODE END RTOS_THREADS */ } @@ -265,64 +284,105 @@ void start_tcp_task(void const *argument) { /* init code for LWIP */ MX_LWIP_Init(); + /* USER CODE BEGIN start_tcp_task */ + // 等待网络初始化完成 + osDelay(1000); + + // 初始化TCP服务器 tcp_echo_init(); uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息 + + // 添加网络状态变量 + static uint8_t last_network_state = 0; + static uint32_t network_down_time = 0; + /* Infinite loop */ for (;;) { uint32_t phyreg = 0; HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg); - if (((phyreg >> 2) & 0x1) != 0x1) + uint8_t current_network_state = ((phyreg >> 2) & 0x1); + + // 网络状态发生变化 + if (current_network_state != last_network_state) { - /* When the netif link is down this function must be called */ - - netif_set_link_down(&gnetif); - netif_set_down(&gnetif); // 热插拔下线时调用 - if (tcp_echo_flags_hart1 == 1) + if (current_network_state == 0) // 网络断开 { - tcp_abort(server_pcb_hart1); // 热插拔下线时调用 - tcp_echo_flags_hart1 = 0; - } - if (tcp_echo_flags_hart2 == 1) - { - tcp_abort(server_pcb_hart2); // 热插拔下线时调用 - tcp_echo_flags_hart2 = 0; - } + /* When the netif link is down this function must be called */ + netif_set_link_down(&gnetif); + netif_set_down(&gnetif); + network_down_time = HAL_GetTick(); + + // 关闭所有TCP连接 + if (tcp_echo_flags_hart1 == 1) + { + tcp_abort(server_pcb_hart1); + tcp_echo_flags_hart1 = 0; + } + if (tcp_echo_flags_hart2 == 1) + { + tcp_abort(server_pcb_hart2); + tcp_echo_flags_hart2 = 0; + } #if (BLE2_USART6 == 1) - - if (tcp_echo_flags_ble1 == 1) - { - tcp_abort(server_pcb_ble1); // 热插拔下线时调用 - tcp_echo_flags_ble1 = 0; - } + if (tcp_echo_flags_ble1 == 1) + { + tcp_abort(server_pcb_ble1); + tcp_echo_flags_ble1 = 0; + } #endif - if (tcp_echo_flags_ble2 == 1) - { - tcp_abort(server_pcb_ble2); // 热插拔下线时调用 - tcp_echo_flags_ble2 = 0; + if (tcp_echo_flags_ble2 == 1) + { + tcp_abort(server_pcb_ble2); + tcp_echo_flags_ble2 = 0; + } + if (tcp_echo_flags_control == 1) + { + tcp_abort(server_pcb_control); + tcp_echo_flags_control = 0; + } } - if (tcp_echo_flags_control == 1) + else // 网络恢复 { - tcp_abort(server_pcb_control); // 热插拔下线时调用 - tcp_echo_flags_control = 0; + /* When the netif is fully configured this function must be called */ + netif_set_link_up(&gnetif); + netif_set_up(&gnetif); + + // 等待网络稳定 + osDelay(1000); + + // 重新初始化TCP服务器 + tcp_echo_init(); + uart_lcd_draw_ipaddr(); } + + last_network_state = current_network_state; } - else + // 网络断开超过5秒，尝试重新初始化 + else if (current_network_state == 0 && (HAL_GetTick() - network_down_time) > 5000) { - /* When the netif is fully configured this function must be called */ - netif_set_link_up(&gnetif); - netif_set_up(&gnetif); // 热插拔上线时调用 - // if (tcp_echo_flags_ble1 == 2) - // { - // tcp_echo_init(); // 热插拔上线时调用 - // // uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息 - // tcp_echo_flags_ble1 = 0; - // } + // 尝试重新初始化网络 + MX_LWIP_Init(); + osDelay(1000); + + // 重新检查网络状态 + HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg); + if (((phyreg >> 2) & 0x1) == 1) + { + netif_set_link_up(&gnetif); + netif_set_up(&gnetif); + tcp_echo_init(); + uart_lcd_draw_ipaddr(); + last_network_state = 1; + } + else + { + network_down_time = HAL_GetTick(); + } } vTaskDelay(1000); - // osThreadTerminate(NULL); } /* USER CODE END start_tcp_task */ } @@ -499,14 +559,7 @@ void start_dac_control_task(void const *argument) // 等待系统稳定 osDelay(1000); - // 初始化DAC161S997 - dac161s997_init(); - uint16_t init_status = dac161s997_read_status(DAC161S997); - if(init_status == 0xFFFF || init_status == 0x0000) { - osDelay(100); - dac161s997_init(); - } - + // 初始化DAC8568 DAC8568_Init(&hspi3); HAL_Delay(10); @@ -536,9 +589,6 @@ void start_dac_control_task(void const *argument) /* USER CODE END start_dac_control_task */ } -// 添加UART接收回调函数声明 -static void UART6_RxCpltCallback(void); - // UART接收完成回调函数 static void UART6_RxCpltCallback(void) { @@ -815,36 +865,18 @@ void test_tca6416_task(void const *argument) /* USER CODE END Header_start_dac161s997_test_task */ void start_dac161s997_test_task(void const *argument) { - /* USER CODE BEGIN start_dac161s997_test_task */ + // 等待系统稳定 osDelay(1000); // 启动延时1秒等待系统稳定 - // 初始化DAC - dac161s997_init(); - - // 读取初始状态 - uint16_t init_status = dac161s997_read_status(DAC161S997); - if(init_status == 0xFFFF || init_status == 0x0000) { - // SPI通信有问题，重新初始化 - osDelay(100); - dac161s997_init(); - } - - /* Infinite loop */ + // 初始化DAC161S997 + dac161s997_init(); + /* DAC161必须脉冲输出*/ for (;;) { - // 设置输出电流为10mA - //current_buff[0] = 12.0f; - //dac161s997_output(DAC161S997, current_buff[0]); - - // // 读取状态确认写入成功 - // uint16_t status = dac161s997_read_status(DAC161S997); - // if(status == 0xFFFF || status == 0x0000) { - // // 如果通信失败，重试写入 - // osDelay(10); - // dac161s997_output(DAC161S997, current_buff[0]); - // } - + + dac161s997_output(DAC161S997, current_buff[0]); // 输出当前电流值 + osDelay(100); // 延时100ms } /* USER CODE END start_dac161s997_test_task */ @@ -1000,28 +1032,4 @@ void start_dma_test_task(void const *argument) osDelay(100); } /* USER CODE END start_dma_test_task */ -} - -// DMA回调函数 -void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) -{ - if (huart->Instance == USART6) { - dma_uart_rx_complete = 1; - } -} - -void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) -{ - if (huart->Instance == USART6) { - dma_uart_tx_complete = 1; - } -} - -void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) -{ - if (huart->Instance == USART6) { - dma_uart_rx_errors++; - // 重新启动DMA接收 - HAL_UART_Receive_DMA(&huart6, dma_uart_rx_buffer, DMA_UART_RX_BUFFER_SIZE); - } } \ No newline at end of file diff --git a/Core/Src/main.c b/Core/Src/main.c index 2f64c85..9569a70 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -74,7 +74,7 @@ uart_t ble2_uart3 = {0}; uart_t hart2_uart2 = {0}; uart_t hart1_uart5 = {0}; uart_t usb_uart1 = {0}; -float current_buff[2] = {0, 0}; +float current_buff[2] = {12.0f, 0};//设置初始电流为12ma uint8_t tcp_echo_flags_hart1 = 0; uint8_t tcp_echo_flags_hart2 = 0; diff --git a/MDK-ARM/controller_pcba.uvguix.qiuxin b/MDK-ARM/controller_pcba.uvguix.qiuxin deleted file mode 100644 index a907da2..0000000 --- a/MDK-ARM/controller_pcba.uvguix.qiuxin +++ /dev/null @@ -1,3736 +0,0 @@ - - - - -6.1 - -
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- - - - 0 - 1920 - 1080 - - - - - - 1 - 0 - - 100 - 4 - - ../Core/Src/freertos.c - 35 - 371 - 372 - 1 - - 0 - - - ..\User\driver\DAC8568.c - 11 - 26 - 29 - 1 - - 0 - - - ../User/driver/DAC8568.h - 7 - 1 - 31 - 1 - - 0 - - - startup_stm32f407xx.s - 0 - 161 - 174 - 0 - - 0 - - - ../Core/Src/main.c - 0 - 100 - 113 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c - 0 - 313 - 326 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c - 0 - 167 - 180 - 1 - - 0 - - - ..\User\driver\dac161s997.c - 2 - 4 - 39 - 1 - - 0 - - - ..\User\application\src\TCA6416.c - 26 - 212 - 230 - 1 - - 0 - - - ..\User\system\user_spi.c - 16 - 319 - 341 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c - 0 - 1332 - 1345 - 1 - - 0 - - - ..\User\driver\ad7124.c - 16 - 480 - 515 - 1 - - 0 - - - ..\User\application\src\tcpserverc.c - 0 - 764 - 779 - 1 - - 0 - - - ../User/driver/ad7124.h - 61 - 263 - 274 - 1 - - 0 - - - - - diff --git a/User/application/src/tcpserverc.c b/User/application/src/tcpserverc.c index 8196a46..fea7360 100644 --- a/User/application/src/tcpserverc.c +++ b/User/application/src/tcpserverc.c @@ -22,6 +22,9 @@ #include "DAC8568.h" // 添加DAC8568头文件 #include "dac161s997.h" // 添加DAC161S997头文件 #include "TCA6416.h" // 添加TCA6416头文件 +#include "FreeRTOS.h" +#include "task.h" +#include "cmsis_os.h" // 添加test_adc_read_data变量定义 uint8_t test_adc_read_data[74] = {0}; // 74字节的测试数据缓冲区 @@ -47,6 +50,7 @@ extern uint8_t tcp_echo_flags_ble1; extern uint8_t tcp_echo_flags_ble2; extern uint8_t tcp_echo_flags_control; extern uint8_t send_data_flag_cmd; +extern float current_buff[2]; // 只声明，不初始化 extern uint8_t uart_echo_flags_hart1; extern uint8_t uart_echo_flags_hart2; @@ -352,7 +356,7 @@ uint16_t handle_type_85(const uint8_t *body, uint16_t body_len, uint8_t *tx) } uint16_t handle_type_86(const uint8_t *body, uint16_t body_len, uint8_t *tx) { -uint16_t total_len = 2 + 2 + 2 + 2 + 1 + 24 + 2; // 帧头+帧长+源+目标+类型+24字节输出读取+校验 + uint16_t total_len = 2 + 2 + 2 + 2 + 1 + 24 + 2; // 帧头+帧长+源+目标+类型+24字节输出读取+校验 // 帧头 tx[0] = head_00; @@ -728,83 +732,87 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf * uint16_t body_len = 24; //24个字节表示的是设置的参数（8个通道，每个通道2字节）HART电流2字节，比例阀4字节，0-15数字量输出2字节 uint16_t dac_value; uint16_t dac161s_value; - uint16_t digital_value; float voltage; uint32_t dac_out; const float SCALE_FACTOR = 1000.0f; // 新的比例系数，输入值除以1000得到实际电压值 + const float MAX_VOLTAGE = 2.5f; // 最大允许电压 + const uint16_t MAX_DAC_VALUE = 0x8000; // 最大DAC值限制为32768 - // 处理DAC8568的8个通道输出 - // 通道A (CH0) - dac_value = (tcp_rx_data[9] << 8) | tcp_rx_data[10]; - voltage = dac_value / SCALE_FACTOR; // 转换为实际电压值 - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); // 2.5V参考电压 - if(dac_out > 65535) dac_out = 65535; // 限制最大值 - DAC8568_WriteAndUpdate(CHANNEL_A, (uint16_t)dac_out); - - // 通道B (CH4) - dac_value = (tcp_rx_data[11] << 8) | tcp_rx_data[12]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_B, (uint16_t)dac_out); - - // 通道C (CH1) - dac_value = (tcp_rx_data[13] << 8) | tcp_rx_data[14]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_C, (uint16_t)dac_out); - - // 通道D (CH5) - dac_value = (tcp_rx_data[15] << 8) | tcp_rx_data[16]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_D, (uint16_t)dac_out); - - // 通道E (CH2) - dac_value = (tcp_rx_data[17] << 8) | tcp_rx_data[18]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_E, (uint16_t)dac_out); - - // 通道F (CH6) - dac_value = (tcp_rx_data[19] << 8) | tcp_rx_data[20]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_F, (uint16_t)dac_out); - - // 通道G (CH3) - dac_value = (tcp_rx_data[21] << 8) | tcp_rx_data[22]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_G, (uint16_t)dac_out); - - // 通道H (CH7) - dac_value = (tcp_rx_data[23] << 8) | tcp_rx_data[24]; - voltage = dac_value / SCALE_FACTOR; - dac_out = (uint32_t)((voltage / 2.5f) * 65535.0f); - if(dac_out > 65535) dac_out = 65535; - DAC8568_WriteAndUpdate(CHANNEL_H, (uint16_t)dac_out); + // 恢复合理的延时保护 + static uint32_t last_dac_update_time = 0; + uint32_t current_time = HAL_GetTick(); + if(current_time - last_dac_update_time < 50) { // 恢复到50ms + osDelay(50); + } + last_dac_update_time = current_time; - //HART电流输出 + // 确保DAC8568已初始化 + static uint8_t dac_initialized = 0; + if (!dac_initialized) { + DAC8568_Init(&hspi3); + HAL_Delay(10); + DAC8568_EnableStaticInternalRef(); + dac_initialized = 1; + } + + // 处理DAC8568的8个通道输出，增加稳定性 + for(int i = 0; i < 8; i++) { + uint8_t base_idx = 9 + i * 2; + dac_value = (tcp_rx_data[base_idx] << 8) | tcp_rx_data[base_idx + 1]; + + // 限制输入值范围并添加调试保护 + if(dac_value > MAX_DAC_VALUE) { + dac_value = MAX_DAC_VALUE; + } + + // 修改电压计算方式，确保正确的比例 + voltage = (float)dac_value / SCALE_FACTOR; + if(voltage > MAX_VOLTAGE) { + voltage = MAX_VOLTAGE; + } + + // 修改DAC输出值计算方式 + dac_out = (uint32_t)((voltage / MAX_VOLTAGE) * 65535.0f); // 使用32768作为满量程 + if(dac_out > 65535) dac_out = 65535; + + // 根据通道号选择对应的通道 + uint8_t channel; + switch(i) { + case 0: channel = CHANNEL_A; break; + case 1: channel = CHANNEL_C; break; + case 2: channel = CHANNEL_E; break; + case 3: channel = CHANNEL_G; break; + case 4: channel = CHANNEL_B; break; + case 5: channel = CHANNEL_D; break; + case 6: channel = CHANNEL_F; break; + case 7: channel = CHANNEL_H; break; + default: continue; + } + + // 写入DAC，增加稳定性 + DAC8568_WriteAndUpdate(channel, (uint16_t)dac_out); + osDelay(5); // 恢复到5ms延时 + } + + //HART电流输出，增加稳定性 dac161s_value = (tcp_rx_data[25] << 8) | tcp_rx_data[26]; - dac161s997_output(DAC161S997, dac161s_value); + if(dac161s_value > 0x4e20) // 限制最大值为20000 + { + dac161s_value = 0x4e20; + } + + // 输入值除以1000得到实际电流值 + current_buff [0] = (float)dac161s_value / 1000.0f; + - //比例阀 - //tcp_rx_data[27] - //tcp_rx_data[28] - //tcp_rx_data[29] - //tcp_rx_data[30] // 数字量输出刷新第一个芯片的输出状态 - TCA6416_WritePort(0, tcp_rx_data[27]); // 直接写入Port0的值8-15 - osDelay(10); - TCA6416_WritePort(1, tcp_rx_data[28]); // 写入Port1的值0-7 - osDelay(10); + if(tcp_rx_data[27] != 0xFF || tcp_rx_data[28] != 0xFF) { // 只在值变化时更新 + TCA6416_WritePort(0, tcp_rx_data[27]); // 直接写入Port0的值8-15 + osDelay(5); + TCA6416_WritePort(1, tcp_rx_data[28]); // 写入Port1的值0-7 + osDelay(5); + } // 保存设置的数据到adc_set_data数组 memcpy(adc_set_data, tcp_rx_data + 9, body_len);